A feeding and discharging mechanical arm for wind power generator accessories and a working method thereof

Abstract

The application belongs to the technical field of manipulators, and discloses a feeding and discharging manipulator for wind power generator accessories and a working method thereof, wherein the manipulator comprises a five-axis mechanical arm, the end of the five-axis mechanical arm is fixedly provided with an upper loading plate, a middle loading plate is arranged below the upper loading plate, a plurality of elastic connecting columns are connected between the upper loading plate and the middle loading plate, a position detection mechanism is arranged on the outer wall of the upper loading plate and the middle loading plate, a bottom loading plate is arranged below the middle loading plate, and a rotary shifting structure for driving the bottom loading plate to rotate horizontally is arranged at the bottom end of the middle loading plate; a double-shaft holding mechanism for synchronously clamping or releasing two shaft pieces in the radial direction is arranged on the bottom surface of the bottom loading plate, shaft end vertical pressing structures are arranged at both sides of the inside of the bottom loading plate, and the shaft end vertical pressing structures are used for applying vertical pressing force to the two end positions of the shaft piece after the shaft piece is in place; the application cooperatively designs vertical active pressing and radial clamping operation, realizes rigid limiting of the shaft piece, and improves the limiting effect.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically, it relates to a loading and unloading robotic arm for wind turbine parts and its working method. Background Technology

[0002] In the processing of wind turbine shaft parts, the robotic arm eliminates the uncertain stress caused by manual clamping through active posture control, ensuring that the shaft centerline is ideally aligned with the spindle throughout the loading and unloading process, and achieving seamless connection of high-precision benchmarks at each processing stage from blank to finished product. This type of robotic arm uses a large-span heavy-duty gantry truss as the main body to ensure smooth long-stroke movement. It is equipped with a gripping fixture at the end. During the operation, the robotic arm first scans the outer circle of the blank through sensors and fits it against the optimal generatrix. Then, when the shaft end is fed into the machine tool chuck, the robotic arm only performs preliminary introduction. After the chuck is slightly pre-tightened, it actively retracts to release the shaft part, and then the shaft part is finally clamped firmly on the machine tool.

[0003] The gripper at the end of the aforementioned robotic arm mainly applies force to wind turbine shaft-type workpieces from the left and right radial directions. Its force direction is mainly limited to radial compression in the horizontal plane, achieving rough centering and lifting of the shaft's horizontal posture. This configuration does not have any active force-applying elements in the vertical direction. Once the robotic arm performs actions such as emergency stop, rapid start, or mid-air flip and turn, the huge vertical inertial force generated by the shaft cannot be actively suppressed. If a pressure arm is added above the gripper, the pressure arm must span across the top of the shaft and be equipped with a drive unit, which will increase the overall overhang length of the robotic arm and lengthen the lever arm several times. Moreover, most existing robotic arms are single-station picking structures, meaning that only one shaft can be gripped in one cycle, making it difficult to apply in station change scenarios for continuous processing of large batches of shafts. Summary of the Invention

[0004] The purpose of this invention is to provide a loading and unloading robot for wind turbine components and its working method. The five-axis robotic arm moves the dual-axis holding mechanism above the two shafts to be transferred and suspends it. When picking up the components, the robotic arm drives the holding mechanism to descend, allowing the shafts to enter the holding space. During this process, the elastic connecting column between the upper and middle plates is compressed to accommodate the difference in shaft diameter. When the position detection mechanism confirms that the outer contour of the shaft has abutted against the vertical pressure structure at the shaft end, the dual-axis holding mechanism first performs a radial clamping action to complete the horizontal constraint of the shaft. Subsequently, the vertical pressure structure at the shaft end actively applies a vertical clamping force to the shaft to achieve vertical locking. After both shafts have been picked up, the five-axis robotic arm synchronously transfers the two shafts to the next processing station, completing one batch material change cycle, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A loading and unloading robot for wind turbine components includes a five-axis robotic arm. An upper loading plate is fixedly installed at the end of the five-axis robotic arm, and a middle loading plate is set directly below the upper loading plate. The upper loading plate and the middle loading plate are elastically connected by multiple elastic connecting columns. Position detection mechanisms are set on both outer walls of the upper loading plate and the middle loading plate. The position detection mechanisms are used to detect whether the shaft has reached the predetermined position and output a positioning signal. A bottom loading plate is set directly below the middle loading plate. A rotation positioning structure for driving the bottom loading plate to rotate horizontally is installed at the bottom end of the middle loading plate. A dual-shaft clamping mechanism for synchronously clamping or releasing two shafts radially is installed on the bottom surface of the bottom loading plate. Vertical pressure structures for shaft ends are set on both sides inside the bottom loading plate. The vertical pressure structures for shaft ends are used to apply vertical clamping force to both ends of the shaft after it has reached the position.

[0006] The following are further optimizations of the above technical solution by the present invention: The vertical pressure structure at the shaft end includes a U-shaped frame fixed at the corner of the base plate. A support arm is fixedly installed on one outer wall of the U-shaped frame. A crimping arm is installed inside the support arm through a hinge shaft. A connecting beam is fixedly connected between the upper ends of the two crimping arms on the same side. An automatic telescopic rod is hinged inside one of the U-shaped frames. The lower end of the telescopic rod is hinged to the connecting beam. The bottom ends of the support arm and the crimping arm are provided with notches that match the outer diameter of the shaft.

[0007] Further optimization: The groove surface of the notch is inlaid with a gasket made of polytetrafluoroethylene, the crimping arm is made of aluminum alloy, and through grooves for accommodating the connecting beam are opened at the corresponding positions on the bottom plate.

[0008] Further optimization: The elastic connecting column is composed of an I-shaped guide column, a spring and a hollow sleeve. The upper end of the I-shaped guide column is fixedly connected to the upper plate. The hollow sleeve is fixed at the corner of the top of the middle plate and is concentrically fitted with the I-shaped guide column. The spring is fitted on the I-shaped guide column, and the upper and lower ends of the spring are respectively connected to the corresponding hollow sleeve and the upper plate.

[0009] Further optimization: The position detection mechanism includes brackets fixedly installed on the outer walls of both sides of the upper plate, probe frames fixedly installed on the outer walls of both sides of the middle plate, a laser position switch installed at the lower position of the brackets, and an L-shaped bend integrally formed at the top of the probe frame located directly in front of the detection end of the laser position switch.

[0010] Further optimization: The reversing positioning structure includes a sinking platform and a servo motor. The sinking platform is fixedly installed at the center of the bottom surface of the intermediate carrier plate, and the servo motor is fixedly installed in the middle of the sinking platform. The interior of the intermediate carrier plate is provided with a hollow part for the servo motor to pass through upwards. The power output end of the servo motor is fixedly connected to the bottom carrier plate.

[0011] Further optimization: The dual-axis holding mechanism includes a frame fixedly installed on the left and right outer walls of the base plate. Four short shafts are rotatably installed on the bottom surface of one frame, and four short shafts are rotatably installed on the bottom surface of the other frame. Holding arms are fixedly installed between the opposite ends of the short shafts in the same radial direction. The holding arms are located below the recess, and two adjacent holding arms form a set of shaft clamping claws.

[0012] Further optimization: Gears for transmission connection are installed on the two short shafts that are close to each other in the two sets of shaft clamping claws. A reduction motor for driving one of the short shafts is fixedly installed on one side inside the base plate. A connecting rod counter-rotation structure is installed between the two short shafts in each set of shaft clamping claws.

[0013] Further optimization: The top of the holding arm is provided with a recessed part for avoiding the support arm seat, and the outer walls of two adjacent holding arms are provided with arc-shaped openings.

[0014] This invention also provides a method for operating a loading and unloading robot for wind turbine components. The method includes the following steps: S1: The five-axis robotic arm moves the dual-axis holding mechanism to the top of the rack containing the two shafts to be transferred. The two sets of vertical pressure structures at the shaft ends are in the retracted standby position. Then, the five-axis robotic arm drives the entire dual-axis holding mechanism to descend smoothly in the vertical direction, so that the two shafts slowly enter the holding space enclosed by the dual-axis holding mechanism and the vertical pressure structures at the shaft ends. The outer contour of the shaft first contacts the vertical pressure structures at the shaft ends on the bottom plate. As the robotic arm continues to descend, the elastic connecting column connecting the upper plate and the middle plate begins to be axially contracted by the reaction force from the shaft. After the shaft enters the holding space, the position detection mechanism triggers the positioning signal. S2: After confirming that the shaft has abutted against the vertical pressure structure at the shaft end, the double shaft holding mechanism applies a horizontal clamping force to the outer circle of the shaft from both sides, completing the centering and constraint of the shaft in the horizontal plane, until the vertical pressure structure at the shaft end applies a pre-set vertical clamping force to both ends of the shaft. The direction of the vertical clamping force is perpendicular to the shaft axis, pressing the shaft against the support surface of the double shaft holding mechanism. At this time, the shaft is simultaneously subjected to radial clamping force and vertical pressure at the axial end. S3: After both shafts have been picked up and locked securely, the five-axis robotic arm drives the clamped workpiece to rise smoothly in the vertical direction, so that the shafts are removed from the original material rack and transported to the receiving platform of the next processing station, and then perform a second hovering alignment according to the positioning reference of the station. S4: After reaching the workstation, the five-axis robotic arm slowly descends, allowing the two axes to land smoothly on the target workstation. At this point, the clamping force of the vertical pressure structure at the shaft end is first released and the arm returns to the standby position. Then, the dual-axis gripping mechanism is released, and finally, the five-axis robotic arm rises vertically, completely detaching it from the axis area.

[0015] The present invention, by adopting the above technical solution, has at least the following beneficial effects: 1. In this invention, the timing logic of radial clamping first and vertical pressure application later is set so that after the shaft is horizontally centered, its end is additionally limited vertically. The resulting force field makes the contact between the shaft and the holding mechanism no longer a static contact that relies on friction, but a rigid limit. Thus, no matter whether the robot performs an emergency stop, a rapid start and stop, or an aerial flip, the positional relationship between the shaft and its end remains unique and unchanged, completely eliminating the problem of jumping and swaying that is easily generated when the traditional V-shaped clamp relies solely on radial friction to counteract vertical inertial force.

[0016] 2. The dual-axis holding mechanism in this invention allows for the simultaneous processing of two shafts in a single cycle. It compresses the original lengthy serial path of unloading finished products, placing finished products, empty return, picking up blanks, and sending blanks into a continuous compound action that can be completed in a single hovering positioning and directly transferred to the next workstation. This improves the efficiency of workstation switching. At the same time, the retractable design of the elastic connecting column between the upper and middle load plates can avoid rigid jamming or hard scraping. Furthermore, the position detection mechanism only triggers the subsequent clamping and pressing operation after confirming that the shaft is against the vertical pressure structure at the shaft end, ensuring that each step of the operation is accurate and reliable and reducing the risk of operational errors. Attached Figure Description

[0017] Figure 1 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 1 ; Figure 2 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 2 ; Figure 3 This is a front view of the overall structure in an embodiment of the present invention; Figure 4 The three-dimensional vertical pressure structure at the shaft end in this embodiment of the invention. Figure 1 ; Figure 5 The three-dimensional vertical pressure structure at the shaft end in this embodiment of the invention. Figure 2 ; Figure 6 This is a schematic diagram of the structure of the elastic connecting column and the position detection mechanism in an embodiment of the present invention; Figure 7 The three-dimensional representation of the dual-axis holding mechanism in this embodiment of the invention. Figure 1 ; Figure 8The three-dimensional representation of the dual-axis holding mechanism in this embodiment of the invention. Figure 2 ; Figure 9 for Figure 4 A magnified view of a portion of point A in the middle.

[0018] In the diagram: 1-Five-axis robotic arm; 2-Upper loading plate; 3-Middle loading plate; 4-Elastic connecting column; 401-I-shaped guide column; 402-Spring; 403-Hollow sleeve; 5-Position detection mechanism; 501-Bracket; 502-Laser position switch; 503-Probe holder; 504-L-shaped bending section; 6-Reversal positioning structure; 601-Sinking platform; 602-Servo motor; 7-Bottom loading plate; 8-Vertical pressure at the shaft end. Structure; 801-U-shaped upright frame; 802-support arm base; 803-crimp arm; 804-automatic telescopic rod; 805-connecting beam; 806-notch; 9-dual-axis gripping mechanism; 901-carrier frame; 902-gear motor; 903-short shaft one; 904-gripping arm; 9041-sunken part; 9042-arc part; 905-gear; 906-short shaft two; 907-connecting rod counter-rotating structure. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] Depend on Figures 1 to 3 As shown, a loading and unloading robot for wind turbine components includes a five-axis robotic arm 1. An upper loading plate 2 is fixedly installed at the end of the five-axis robotic arm 1. A middle loading plate 3 is arranged directly below the upper loading plate 2. The upper loading plate 2 and the middle loading plate 3 are elastically connected by multiple elastic connecting columns 4. Position detection mechanisms 5 are provided on both outer walls of the upper loading plate 2 and the middle loading plate 3. The position detection mechanisms 5 are used to detect whether the shaft has reached the predetermined position and output a positioning signal. A bottom loading plate 7 is arranged directly below the middle loading plate 3. A rotation positioning structure 6 for driving the bottom loading plate 7 to rotate horizontally is installed at the bottom end of the middle loading plate 3. A double shaft holding mechanism 9 for synchronously clamping or releasing two shafts in the radial direction is installed on the bottom surface of the bottom loading plate 7. A shaft end vertical pressure structure 8 is arranged on both sides inside the bottom loading plate 7. The shaft end vertical pressure structure 8 is used to apply vertical clamping force to both ends of the shaft after the shaft is in position.

[0021] In this embodiment, the five-axis robotic arm 1, through the combined motion of five rotary joints, enables the end effector to approach the target position in any posture in three-dimensional space. Especially when facing complex working conditions with layered material racks, it can complete obstacle avoidance and positioning without relying on long-stroke linear guides like Cartesian coordinate robots.

[0022] In this embodiment, the wind turbine component loading and unloading robot also needs to include a control system. The control system mainly consists of an industrial controller, a signal input / output module, and a human-machine interface. The industrial controller receives the position signal of the position detection mechanism 5, the travel limit signal of each drive element, and the angle feedback signal of each joint of the five-axis robot arm 1 in real time through the signal input module. After internal logic calculation, it sends action commands to the drive units of the five-axis robot arm 1, the dual-axis holding mechanism 9, the shaft end vertical pressure structure 8, and the rotation conversion structure 6 through the signal output module.

[0023] Depend on Figure 4 and Figure 5 As shown, the vertical pressure structure 8 at the shaft end includes a U-shaped frame 801 fixed at the upper corner of the base plate 7. A support arm seat 802 is fixedly installed on one outer wall of the U-shaped frame 801. The support arm seat 802 is embedded in the middle of the base plate 7, and the lower end of the support arm seat 802 penetrates the lower surface of the base plate 7. A crimping arm 803 is installed inside the support arm seat 802 through a hinge shaft. A connecting beam 805 is fixedly connected between the upper ends of the two crimping arms 803 on the same side.

[0024] An automatic telescopic rod 804 is hinged inside one of the U-shaped upright frames 801. The lower end of the telescopic rod 804 is hinged to the connecting beam 805. When the automatic telescopic rod 804 is activated, its telescopic end extends or retracts. At this time, the telescopic end of the automatic telescopic rod 804 can drive the connecting beam 805 to swing. The swing of the connecting beam 805 can drive the two pressing arms 803 on the same side to swing around the hinge axis inside the support arm seat 802.

[0025] In this embodiment, both the support arm 802 and the crimping arm 803 have a notch 806 at their bottom ends. The shape of the notch 806 matches the outer diameter of the shaft to be clamped, and the notch 806 can accommodate shaft accessories of different diameters.

[0026] In this embodiment, a PTFE pad is embedded in the groove surface of the notch 806 to reduce clamping damage to the shaft surface.

[0027] In this embodiment, the crimping arm 803 is made of aluminum alloy.

[0028] A through groove is provided on the bottom plate 7 at a position corresponding to the connecting beam 805. The through groove is used to accommodate the connecting beam 805 and facilitates the swinging of the connecting beam 805.

[0029] After the dual-shaft clamping mechanism 9 clamps the two shafts, the telescopic end of the automatic telescopic rod 804 returns to its original position and drives the two crimping arms 803 on the same side to deflect through the connecting beam 805. At this time, one end of the crimping arm 803 protrudes from the support arm seat 802 and presses down, so that the shaft is further subjected to vertical pressure on the shaft in addition to being radially clamped, so as to solve the problem of the shaft jumping or moving in the dual-shaft clamping mechanism 9 during emergency stop and overturning.

[0030] In this embodiment, the automatic telescopic pole 804 is one of a hydraulic cylinder, a telescopic cylinder, or an electric telescopic pole.

[0031] Depend on Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the elastic connecting column 4 is composed of an I-shaped guide column 401, a spring 402 and a hollow sleeve 403. The upper end of the I-shaped guide column 401 is fixedly connected to the upper carrier plate 2, and the hollow sleeve 403 is fixed at the corner of the top of the middle carrier plate 3 and is concentrically fitted with the I-shaped guide column 401.

[0032] Spring 402 is mounted on I-shaped guide post 401. The upper end of spring 402 is in contact with the corresponding upper plate 2, and the lower end of spring 402 is in contact with the corresponding hollow sleeve 403. In the initial position, spring 402 outputs elastic force to the upper plate 2 and hollow sleeve 403. At this time, the distance between the upper plate 2 and the middle plate 3 is adjusted to the maximum.

[0033] When the five-axis robotic arm 1 drives the end effector to descend and the shaft begins to enter the crimping arm 803, the outer contour of the shaft will exert an upward force on the bottom carrier plate 7. This force is transmitted to the middle carrier plate 3 through the bottom carrier plate 7 and the rotary positioning structure 6, forcing the middle carrier plate 3 and the hollow sleeve 403 to move upward along the axis of the I-shaped guide post 401, which in turn causes the spring 402 to compress, causing the middle carrier plate 3 to move upward relative to the upper carrier plate 2, thereby automatically avoiding the support space and allowing the shaft to enter smoothly.

[0034] The position detection mechanism 5 includes brackets 501 fixedly installed on the outer walls of both sides of the upper plate 2, probe frames 503 fixedly installed on the outer walls of both sides of the middle plate 3, a laser position switch 502 installed at the lower position of the brackets 501, and an L-shaped bend 504 integrally formed at the top of the probe frame 503, which is located directly in front of the detection end of the laser position switch 502.

[0035] With this design, when the middle plate 3 moves upward relative to the upper plate 2, the positions of the L-shaped bend 504 and the laser position switch 502 change. The laser position switch 502 converts this distance change into an electrical signal and sends it to the control system. Only when the laser position switches 502 corresponding to the two shafts trigger the position signal can the control system allow the subsequent clamping and vertical pressing processes to be unlocked.

[0036] In this embodiment, the rotation conversion structure 6 can drive the bottom plate 7 to rotate. If there is an angular deviation between the next processing station and the current material picking position, the rotation conversion structure 6 can drive the bottom plate 7, the shaft end vertical pressure structure 8, the double shaft holding mechanism 9, and the two clamped workpieces to rotate horizontally, so that the shaft is adjusted from its original horizontal posture to the posture required for the next process, which is convenient to use.

[0037] The rotary positioning structure 6 includes a sinking platform 601 and a servo motor 602. The sinking platform 601 is fixedly installed at the center of the bottom surface of the intermediate carrier plate 3, and the servo motor 602 is fixedly installed in the middle of the sinking platform 601. The interior of the intermediate carrier plate 3 is provided with a hollow part for the servo motor 602 to pass through upwards. The power output end of the servo motor 602 is fixedly connected to the bottom carrier plate 7.

[0038] The servo motor 602 outputs rotational power to drive the base plate 7, the lower end of the shaft end vertical pressure structure 8 which serves as the load, and the dual-axis holding mechanism 9 to rotate horizontally, so that the five-axis robotic arm 1 can independently complete the horizontal angle adjustment of the shaft without changing its own arm posture.

[0039] The dual-axis clamping mechanism 9 includes a frame 901 fixedly installed on the left and right outer walls of the base plate 7. Four short shafts 903 are rotatably mounted on the bottom surface of one frame 901 via bearing seats, and four short shafts 906 are rotatably mounted on the bottom surface of the other frame 901 via bearing seats. A clamping arm 904 is fixedly installed between the opposite ends of the short shafts 903 and 906 in the same radial direction. The clamping arm 904 is located below the recess 806, and two adjacent clamping arms 904 are symmetrically arranged to form a set of shaft clamping claws.

[0040] Gears 905 are installed on two short shafts 903 that are close to each other in the two sets of shaft clamping claws. The two gears 905 mesh to enable the two sets of shaft clamping claws to achieve transmission connection.

[0041] A geared motor 902 is fixedly installed on one side inside the base plate 7 to drive one of the short shafts 903 to rotate. The geared motor 902 is started to drive the corresponding short shaft 903 to rotate, and the rotational power is transmitted to the two sets of shaft clamping claws through the cooperation of two gears 905.

[0042] A linkage counter-rotation structure 907 is installed between the two short shafts 906 in each set of shaft clamping jaws. The linkage counter-rotation structure 907 is used to enable the two gripping arms 904 to work synchronously and perform clamping actions on the shafts.

[0043] In this embodiment, the top end of the holding arm 904 is provided with a recessed portion 9041 for avoiding the support arm seat 802. The recessed portion 9041 enables the holding arm 904 to have sufficient space for movement. An arc-shaped opening 9042 is provided on the opposite outer wall of two adjacent holding arms 904.

[0044] In this embodiment, the linkage counter-rotation structure 907 includes a short handle 1 that is inclined upward and fixed to the end of one of the short shafts 906, and a short handle 2 that is inclined downward and fixed to the end of the other short shaft 906. A double U-shaped connecting rod is hinged between the short handle 1 and the short handle 2. Through the cooperation of the short handle 1, the short handle 2 and the double U-shaped connecting rod, the two gripping arms 904 in each set of shaft clamping claws can be connected in a transmission manner, so that the two gripping arms 904 can perform the clamping action on the shaft.

[0045] With this design, once both sides of the position detection mechanism 5 confirm that the workpiece shaft abuts against the notch 806 of the support arm seat 802, the reduction motor 902 drives one of the short shafts 903 to rotate under the command of the control system. At this time, through the transmission action of the two gears 905, the two sets of shaft clamping claws work synchronously, and the two holding arms 904 in each set of shaft clamping claws achieve radial clamping action under the cooperation of the connecting rod pull-rotation structure 907, thereby clamping the shaft tightly in the arc of the holding arm 904.

[0046] The dual-axis gripping mechanism 9 upgrades the traditional single-piece picking mode to dual-piece parallel processing, directly compressing the idle return stroke of the robotic arm and greatly improving the efficiency of batch conversion at the workstation.

[0047] This invention also provides a method for operating a loading and unloading robot for wind turbine components. The method includes the following steps: S1: The five-axis robotic arm 1 moves the dual-axis holding mechanism 9 to the top of the material rack where the two shafts to be transferred are located. The two sets of shaft end vertical pressure structures 8 are in the retracted standby position. Then, the five-axis robotic arm 1 drives the entire dual-axis holding mechanism 9 to descend smoothly in the vertical direction, so that the two shafts slowly enter the holding space enclosed by the dual-axis holding mechanism 9 and the shaft end vertical pressure structure 8. The outer contour of the shaft first contacts the shaft end vertical pressure structure 8 on the bottom plate 7. As the robotic arm continues to descend, the elastic connecting column 4 connecting the upper plate 2 and the middle plate 3 begins to be axially contracted by the reaction force from the shaft. After the shaft enters the holding space, the position detection mechanism 5 triggers the positioning signal.

[0048] In step S1, the working principle of the elastic connecting column 4 and the position detection mechanism 5 is as follows: When the five-axis robotic arm 1 drives the end effector to perform a descent action, the outer contour of the shaft will generate an upward force on the bottom plate 7. This force is transmitted to the middle plate 3 via the bottom plate 7 and the rotation and positioning structure 6, forcing the middle plate 3 and the hollow sleeve 403 to move upward along the axis of the I-shaped guide column 401, which in turn causes the spring 402 to compress, causing the middle plate 3 to generate an upward displacement relative to the upper plate 2, thereby automatically avoiding the support space and allowing the shaft to enter smoothly.

[0049] When the middle carrier plate 3 moves upward relative to the upper carrier plate 2, the positions of the L-shaped bend 504 and the laser position switch 502 change. The laser position switch 502 converts this distance change into an electrical signal and sends it to the control system. When the laser position switches 502 corresponding to the two shafts trigger the position signal, the control system allows the subsequent clamping process and vertical pressing process to be unlocked.

[0050] S2: After confirming that the shaft has abutted against the vertical pressure structure 8 at the shaft end, the double shaft holding mechanism 9 applies a horizontal clamping force to the outer circle of the shaft from both sides, completing the centering and constraint of the shaft in the horizontal plane, until the vertical pressure structure 8 at the shaft end applies a pre-set vertical clamping force to both ends of the shaft. The direction of the vertical clamping force is perpendicular to the shaft axis, pressing the shaft against the support surface of the double shaft holding mechanism 9. At this time, the shaft is simultaneously subjected to radial clamping force and vertical pressure at the axial end.

[0051] In step S2, the working principle of the dual-shaft clamping mechanism 9 is as follows: after confirming that the workpiece shaft abuts against the notch 806 of the support arm seat 802, the reduction motor 902 drives one of the short shafts 903 to rotate under the command of the control system. At this time, through the transmission action of the two gears 905, the two sets of shaft clamping claws work synchronously, and the two clamping arms 904 in each set of shaft clamping claws achieve radial clamping action under the cooperation of the connecting rod pull-rotation structure 907, thereby clamping the shaft in the arc of the clamping arm 904.

[0052] In step S2, the working principle of the vertical pressure structure 8 at the shaft end is as follows: after the dual shaft holding mechanism 9 clamps the two shafts, the telescopic end of the automatic telescopic rod 804 returns to its original position and drives the two pressing arms 803 on the same side to deflect through the connecting beam 805. At this time, one end of the pressing arm 803 protrudes from the support arm seat 802 and presses down, so that the shaft is radially centered and further vertical pressure is applied to the shaft to solve the problem of the shaft jumping or moving in the dual shaft holding mechanism 9 during emergency stop and overturning.

[0053] S3: After both shafts have been picked up and locked securely, the five-axis robotic arm 1 drives the clamped workpiece to rise smoothly in the vertical direction, so that the shafts are removed from the original material rack and transported to the receiving platform of the next processing station, and then perform a second hovering alignment according to the positioning reference of the station.

[0054] S4: After reaching the work station, the five-axis robotic arm 1 slowly descends, allowing the two axes to land smoothly on the target work station. At this time, the clamping force of the vertical pressure structure 8 at the shaft end is first released and it returns to the standby position. Then, the dual-axis holding mechanism 9 is released, and finally the five-axis robotic arm 1 rises vertically, completely separating it from the axis area.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A loading and unloading robot for wind turbine parts, comprising a five-axis robotic arm (1), an upper loading plate (2) fixedly mounted at the end of the five-axis robotic arm (1), and a middle loading plate (3) disposed directly below the upper loading plate (2), characterized in that: The upper plate (2) and the middle plate (3) are elastically connected by multiple elastic connecting columns (4). Position detection mechanisms (5) are provided on both outer walls of the upper plate (2) and the middle plate (3). The position detection mechanisms (5) are used to detect whether the shaft has reached the predetermined position and output the position signal. The bottom plate (7) is provided directly below the middle plate (3). The bottom end of the middle plate (3) is equipped with a rotation positioning structure (6) for driving the bottom plate (7) to rotate horizontally. The bottom surface of the bottom plate (7) is equipped with a double shaft holding mechanism (9) for synchronously clamping or releasing the two shafts in the radial direction. The two sides inside the bottom plate (7) are respectively provided with shaft end vertical pressure structures (8). The shaft end vertical pressure structures (8) are used to apply vertical clamping force to the two ends of the shaft after the shaft is in place.

2. The loading and unloading robot for wind turbine components according to claim 1, characterized in that: The vertical pressure structure (8) at the shaft end includes a U-shaped frame (801) fixed at the upper corner of the base plate (7). A support arm seat (802) is fixedly installed on one side of the outer wall of the U-shaped frame (801). A crimping arm (803) is installed inside the support arm seat (802) through a hinge shaft. A connecting beam (805) is fixedly connected between the upper ends of the two crimping arms (803) on the same side. An automatic telescopic rod (804) is hinged inside one of the U-shaped frames (801). The lower end of the telescopic end of the automatic telescopic rod (804) is hinged to the connecting beam (805). The bottom ends of the support arm seat (802) and the crimping arm (803) are both provided with a notch (806) that matches the outer diameter of the shaft.

3. The loading and unloading robot for wind turbine components according to claim 2, characterized in that: The groove surface of the notch (806) is inlaid with a PTFE gasket, the crimping arm (803) is made of aluminum alloy, and the bottom plate (7) is provided with through grooves at positions corresponding to the connecting beam (805) to accommodate the connecting beam (805).

4. The loading and unloading robot for wind turbine components according to claim 3, characterized in that: The elastic connecting column (4) is composed of an I-shaped guide column (401), a spring (402) and a hollow sleeve (403). The upper end of the I-shaped guide column (401) is fixedly connected to the upper plate (2). The hollow sleeve (403) is fixed at the corner of the top of the middle plate (3) and is concentrically fitted with the I-shaped guide column (401). The spring (402) is fitted on the I-shaped guide column (401), and the upper and lower ends of the spring (402) are respectively connected to the corresponding hollow sleeve (403) and the upper plate (2).

5. The loading and unloading robot for wind turbine components according to claim 4, characterized in that: The position detection mechanism (5) includes a bracket (501) fixedly installed on the outer walls of both sides of the upper plate (2), a probe frame (503) fixedly installed on the outer walls of both sides of the middle plate (3), a laser position switch (502) installed on the lower part of the bracket (501), and an L-shaped bend (504) integrally formed at the top of the probe frame (503) located directly in front of the detection end of the laser position switch (502).

6. The loading and unloading robot for wind turbine components according to claim 5, characterized in that: The reversing positioning structure (6) includes a sinking platform (601) and a servo motor (602). The sinking platform (601) is fixedly installed at the center of the bottom surface of the intermediate plate (3), and the servo motor (602) is fixedly installed in the middle of the sinking platform (601). The interior of the intermediate plate (3) is provided with a hollow part for the servo motor (602) to pass through upwards. The power output end of the servo motor (602) is fixedly connected to the bottom plate (7).

7. The loading and unloading robot for wind turbine components according to claim 6, characterized in that: The dual-axis holding mechanism (9) includes a frame (901) fixedly installed on the left and right outer walls of the base plate (7). Four short shafts (903) are rotatably installed on the bottom surface of one frame (901), and four short shafts (906) are rotatably installed on the bottom surface of the other frame (901). A holding arm (904) is fixedly installed between the opposite ends of the short shafts (903) and the short shafts (906) in the same radial direction. The holding arm (904) is located below the notch (806), and two adjacent holding arms (904) form a set of shaft clamping claws.

8. The loading and unloading robot for wind turbine components according to claim 7, characterized in that: Two short shafts (903) in the two sets of shaft clamping claws that are close to each other are equipped with gears (905) for transmission connection. A geared motor (902) for driving one of the short shafts (903) to rotate is fixedly installed on one side of the bottom plate (7). A connecting rod counter-rotation structure (907) is installed between the two short shafts (906) in each set of shaft clamping claws.

9. A loading and unloading robot for wind turbine components according to claim 8, characterized in that: The top of the holding arm (904) is provided with a recessed part (9041) for avoiding the arm support (802), and the outer walls of two adjacent holding arms (904) are provided with arc-shaped openings (9042).

10. A method for operating a loading and unloading robot for wind turbine components, using the loading and unloading robot for wind turbine components as described in any one of claims 1-9, characterized in that: Includes the following steps: S1: The five-axis robotic arm (1) moves the dual-axis holding mechanism (9) to the material rack above the two shafts to be transferred. The two sets of shaft end vertical pressure structures (8) are in the retracted standby position. Then the five-axis robotic arm (1) drives the entire dual-axis holding mechanism (9) to descend smoothly in the vertical direction, so that the two shafts slowly enter the holding space enclosed by the dual-axis holding mechanism (9) and the shaft end vertical pressure structure (8). The outer contour of the shaft first contacts the shaft end vertical pressure structure (8) on the bottom plate (7). As the robotic arm continues to descend, the elastic connecting column (4) connected between the upper plate (2) and the middle plate (3) begins to be subjected to the reaction force from the shaft and undergoes axial contraction. After the shaft enters the holding space, the position detection mechanism (5) triggers the positioning signal. S2: After confirming that the shaft has abutted against the vertical pressure structure (8) at the shaft end, the double shaft holding mechanism (9) applies a horizontal clamping force to the outer circle of the shaft from both the left and right sides, completing the centering and constraint of the shaft in the horizontal plane, until the vertical pressure structure (8) at the shaft end applies a pre-set vertical clamping force to both ends of the shaft. The direction of the vertical clamping force is perpendicular to the shaft axis, pressing the shaft against the support surface of the double shaft holding mechanism (9). At this time, the shaft is simultaneously subjected to radial clamping force and vertical pressure at the axial end. S3: After both shafts have been picked up and the locking is confirmed to be reliable, the five-axis robotic arm (1) drives the clamped workpiece to rise steadily in the vertical direction, so that the shafts are removed from the original material rack and transported to the receiving platform of the next processing station, and perform secondary suspension and alignment according to the positioning reference of the station. S4: After reaching the work station, the five-axis robotic arm (1) slowly descends, so that the two shafts fall smoothly on the target work station. At this time, the clamping force of the vertical pressure structure (8) at the shaft end is released and it returns to the standby position. Then the double shaft holding mechanism (9) is released. Finally, the five-axis robotic arm (1) rises vertically, so that it completely leaves the shaft area.

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