A wind turbine blade auxiliary manufacturing system and manufacturing device

Abstract

The present invention relates to an auxiliary manufacturing system and a manufacturing device for wind turbine blades. The system comprises a first auxiliary system installed above a blade mold. The first auxiliary system comprises a first laser projection device for projecting a first operation guide graphic and a structured light for assisting three-dimensional measurement on the blade, and a first optical imaging device for acquiring the first operation guide graphic projected on the blade, the structured light image, and the image of the blade under ambient light. The first laser projection device and the first optical imaging device are arranged in pairs. Compared with the prior art, the present invention has the advantages of high projection accuracy, no need for reflective target auxiliary positioning, and no intrusion on the original blade production process.

Description

Technical Field

[0001] The invention relates to the field of wind turbine blade manufacturing, and in particular to a wind turbine blade auxiliary manufacturing system and a manufacturing device. Background Art

[0002] A wind turbine is a turbine that uses wind energy as its power. In the manufacturing of wind turbine blades, many processes, such as the laying of fiber cloth, are still completed manually by workers. The problem is that in these manual procedures, workers lack sufficient guidance, such as the laying position of the fiber, which leads to low manufacturing efficiency and poor quality. Summary of the invention

[0003] The purpose of the present invention is to provide a wind turbine blade auxiliary manufacturing system and manufacturing device in order to overcome the defects of the prior art.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A wind turbine blade auxiliary manufacturing system is used to cooperate with a blade mold to realize auxiliary manufacturing of the blade. The blade mold includes at least one mold groove matching the shape of the blade. The system includes a first auxiliary system installed above the blade mold. The first auxiliary system includes a first laser projection device for projecting a first operation guidance graphic and a structured light for assisting three-dimensional measurement on the blade, and a first optical imaging device for acquiring the first operation guidance graphic projected on the blade, the structured light image, and the image of the blade under ambient light. The first laser projection device and the first optical imaging device are arranged in pairs.

[0006] The first laser projection device and the first optical imaging device both have adjustable pitch angles, yaw angles and roll angles.

[0007] The first auxiliary system also includes a control device integrated in the first optical imaging device or the first optical imaging device, which is used to read the blade drawing information and obtain a three-dimensional model of the blade and / or blade mold during the blade manufacturing process based on the imaging information obtained from the first optical imaging device, and a control device that controls the first laser projection device to project a first operation guidance graphic based on the blade drawing information and the three-dimensional model. The control device is configured to identify the end face of the blade root based on the structured light located at the blade root, and use this as the reference point of the first operation guidance graphic.

[0008] The system also includes an independently arranged control device, specifically a computer, a server or a single-chip microcomputer, which is used to read the blade drawing information and obtain a three-dimensional model of the blade and / or the blade mold during the blade manufacturing process based on the imaging information obtained from the first optical imaging device, and a control device that controls the first laser projection device to project a first operation guidance graphic based on the blade drawing information and the three-dimensional model. The control device is configured to identify the end face of the blade root based on the structured light located at the blade root, and use this as the reference point of the first operation guidance graphic.

[0009] The imaging information includes imaging of structured light used to assist three-dimensional measurement and imaging of the blade under ambient light.

[0010] When two pairs of the first laser projection device and the first optical imaging device are provided, the first laser projection device and the first optical imaging device are located at different positions in the longitudinal axis direction of the blade mold.

[0011] The first optical imaging device is closer to the mold root corresponding to the mold groove and the blade root than the first laser projection device, or the first laser projection device is closer to the mold root corresponding to the mold groove and the blade root than the first optical imaging device.

[0012] The blade mold is divided into multiple adjacent sections from the mold root to the mold tip. The first section is projected and imaged by a first auxiliary system, and subsequent sections are projected and imaged by corresponding auxiliary systems, and the auxiliary system structure corresponding to the subsequent sections is the same as the first auxiliary system.

[0013] The second section is projected and imaged by a second auxiliary system including at least one pair of second laser projection devices and second optical imaging devices. When the second auxiliary system includes two pairs of second laser projection devices and second optical imaging devices, in the extension direction of the longitudinal axis of the blade mold, the second optical imaging device is arranged between the first optical imaging device and the first laser projection device, and the first laser projection device is arranged between the second laser projection device and the second optical imaging device, so as to make the projection areas of the first auxiliary system and the second auxiliary system overlap.

[0014] The first auxiliary system is configured to project a mark on the blade at a set distance from the root end face of the blade through a first laser projection device, and the mark is located within the overlapping projection area. The second auxiliary system is configured to identify the mark through a second optical imaging device and determine the projection position of the second operation guidance graphic based on the mark.

[0015] For the first auxiliary system, the first laser projection device and the first optical imaging device are both provided with a base, and two groups of orthogonally arranged deep tube groups are opened on the base for passing the calibration laser emitted by the calibration laser, and each group of deep tube groups is composed of two parallel deep tubes.

[0016] The first laser projection device or the first optical imaging device is provided with a pair of calibration lasers for emitting two parallel calibration laser beams. When the first laser projection device is aligned with the corresponding first optical imaging device, the two parallel calibration laser beams respectively pass through the corresponding deep tubes in parallel, so that during use, the pitch angle, yaw angle and roll angle between the first laser projection device and the first optical imaging device remain consistent.

[0017] The first laser projection device and the second laser projection device are MEMS laser projectors or galvanometer laser projectors, and the first optical imaging device and the second optical imaging device are industrial cameras.

[0018] A blade manufacturing device comprises a blade mold for manufacturing a wind turbine blade and a blade manufacturing auxiliary system.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. The present invention sets an independent or integrated control device to read the blade drawing information, reconstruct the three-dimensional model of the blade mold, and accurately project the operation guide laser (operation guide graphics and structured light imaging to assist three-dimensional measurement) on the mold surface in all directions, with high projection accuracy;

[0021] 2. During the projection process, the present invention uses the mark projected at the set position as the docking reference point for two adjacent operation guide graphics, so that the operation guide graphics of two adjacent sections are perfectly docked, achieving the image closed-loop projection effect, without arranging reflective targets on the blade mold to assist in projection positioning, and without intrusion on the production process.

[0022] 3. During position calibration, the present invention uses two pairs of orthogonal deep tubes in conjunction with a calibration laser that can emit two parallel horizontal calibration lasers, which can accurately perform horizontal calibration to prevent any of the pitch angles, yaw angles and roll angles between the optical imaging device and the laser projection device from being inconsistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional schematic diagram of a blade manufacturing device according to an embodiment of the present invention.

[0024] Figure 2 for Figure 1 Schematic diagram of top view observed from the Z direction.

[0025] Figure 3 for Figure 1 Schematic diagram of the side surface viewed in the X direction.

[0026] Figure 4 It is a side schematic diagram of a blade manufacturing device according to an embodiment of the present invention.

[0027] Figure 5 for Figure 4 Top view of the .

[0028] Figure 6 2 is a top view of a manufacturing device according to an embodiment of the present invention.

[0029] Figure 7 It is a three-dimensional schematic diagram of a laser projection device and an optical imaging device.

[0030] Figure 8 Schematic diagram of the principle of posture calibration using laser.

[0031] Description of the markings in the figure:

[0032] 10. Blade manufacturing device, 20. Blade mold, 30. Blade manufacturing auxiliary system, 20A. First section, 20B. Second section, 21. Blade mold, 22. Mold root, 31. First auxiliary system, 310. First laser projection device, 311. First optical imaging device, 32. Second auxiliary system, 320. Second laser projection device, 321. Second optical imaging device, 3110. Base, 3111. Mounting surface, 3100. Base, 3101. Mounting surface, 40. Calibration laser, 50. Deep tube. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0034] In the description of the present invention, it is to be understood that the possible terms such as “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0039] The present invention provides a blade manufacturing device, comprising a blade mold for manufacturing a wind turbine blade, and an auxiliary system which cooperates with the blade mold to assist in manufacturing the blade.

[0040] Ginseng Figure 1 and Figure 2 The blade manufacturing device 10 includes a blade mold 20 and a blade manufacturing auxiliary system 30. The blade mold 20 includes a pair of substantially parallel and longitudinally extending mold grooves 21, which can simultaneously process and manufacture two blade components. Each mold groove 21 includes a mold root 22 at one end and a mold tip (not shown) at the other end, which respectively correspond to the blade root and blade tip of the blade (not shown) formed in the mold groove 21. Of course, those skilled in the art can understand through the introduction of the following technical solutions that the concept of the present application can also be applied to a single-groove blade mold.

[0041] Example 1

[0042] As a first embodiment of the present invention, the blade manufacturing auxiliary system 30 includes a first auxiliary system 31. The first auxiliary system 31 includes at least one first laser projection device 310 and at least one first optical imaging device 311. The first laser projection device 310 is installed above the blade mold 20 to project a first operation guide graphic and a structured light for assisting three-dimensional measurement on the blade. The first optical imaging device 311 is installed above the blade mold 20 to obtain the first operation guide graphic projected on the blade, the structured light image, and the image of the blade under ambient light. Thus, through the above structure of the first laser projection device 310 and the first optical imaging device 311, a first operation guide graphic that is convenient for manual operation can be formed on the blade, thereby helping to improve the operation efficiency and improve the product quality. For example, in the fiber cloth laying procedure, the worker can work according to the projected first operation guide graphic, thereby ensuring the laying accuracy and improving the laying efficiency. Of course, it can be understood that the first operation guide graphic is not limited to the application in guiding the laying of the fiber cloth, but can also be extended to the installation of other components, such as various support, reinforcement or filling structures of the blade.

[0043] In actual operation, the first laser projection device 310 projects structured light onto the blade and / or blade mold 20, for example, for scanning the three-dimensional dimensions of the blade and / or blade mold. The first laser projection device 310 obtains imaging of the structured light and imaging of the blade under ambient light during the manufacturing process, and generates a first operation guidance graphic based on the structured light imaging and blade imaging, and projects it onto the blade through the first laser projection device 310.

[0044] Example 2

[0045] In this embodiment, the first auxiliary system 31 includes two first laser projection devices 310 respectively located on both sides above the blade mold 20, and two first optical imaging devices 311 respectively located on both sides above the blade mold 20, and the first laser projection device 310 and the first optical imaging device 311 are located at different positions along the longitudinal axis L of the blade mold 20. In practice, in order to accurately capture the laser projection image and the blade manufacturing process, the camera device needs to use a telephoto lens. Due to the limited field of view, and considering that the area near the root end face of the blade is small, the root can be arranged at the near end of the camera area, and the middle or tip of the blade can be arranged at the far end of the camera area. In summary, in this embodiment, preferably, the first optical imaging device 311 is located at the mold root 22 closer to the blade mold 20, and the first laser projection device 310 is located at the mold tip closer to the blade mold 20. Of course, optionally, the first laser projection device 310 and the first optical imaging device 311 can be interchanged, that is, the first laser projection device 310 is located closer to the mold root 22 of the blade mold 20, and the first optical imaging device 311 is located closer to the mold tip of the blade mold 20, which can also achieve the corresponding functions.

[0046] In addition, preferably, the two first laser projection devices 310 are at the same height and are equidistant from the longitudinal center line of the blade mold 20 (coincident with the longitudinal axis L in the diagram); the two first optical imaging devices 311 are at the same height and are equidistant from the longitudinal center line of the blade mold 20.

[0047] Figure 3 is from Figure 1 The side view observed in the X direction is a schematic diagram observed from the mold root 22 of the blade mold 20 toward the mold tip. Figure 3It can be seen that due to the large curvature of the cross-section of the blade, especially in the area near the mold root 22, when a pair of first laser projection devices 310 located on both sides above the blade mold 20 are used to project lasers at the same time, compared with a single laser projection, the blind spot problem can be overcome, that is, a pair of first laser projection devices 310 located on both sides above the blade mold 20 are used to project lasers at the same time, which can comprehensively project to all positions on the blade surface. Similarly, a pair of first optical imaging devices 311 located on both sides above the blade mold 20 can avoid visual blind spots, thereby better capturing the image of the blade under ambient light and the image of the projected operation guidance graphics.

[0048] Example 3

[0049] In this embodiment, if Figure 4 and Figure 5 As shown, the blade mold 20 is divided into an adjacent first section 20A and a second section 20B, wherein the first section includes the mold root 22 of the aforementioned blade mold 20, and the aforementioned first auxiliary system 30 is used to project and image the first section 20A. In addition, the blade manufacturing auxiliary system 30 also includes a second auxiliary system 32, which projects and images the second section 20B and includes at least one second laser projection device 320 and at least one second optical imaging device 321. The second laser projection device 320 is installed above the blade mold 20 to project a second operation guide graphic and a structured light for assisting three-dimensional measurement on the blade. The second optical imaging device 321 is installed above the blade mold 20 to obtain the second operation guide graphic projected on the blade, the structured light image, and the imaging of the blade under ambient light during the manufacturing process.

[0050] In this embodiment, similar to the first auxiliary system 31, there can be two second laser projection devices 320 in the second auxiliary system 32, which are respectively located on both sides above the blade mold 20, and there can be two second optical imaging devices 321, which are also respectively located on both sides above the blade mold 20. The second laser projection device 320 and the second optical imaging device 321 are located at different positions in the direction of the longitudinal axis L of the blade mold 20. Therefore, referring to the above description of the first auxiliary system 31, the use of two second laser projection devices 320 and second optical imaging devices 321 respectively located on both sides above the blade mold can overcome the problem of visual blind spots, thereby better performing laser projection and optical imaging.

[0051] Specific reference Figure 4Preferably, along the longitudinal axis direction of the blade mold 20, the second optical imaging device 321 is located between the first optical imaging device 311 and the first laser projection device 310, and the first laser projection device 310 is located between the second laser projection device 320 and the second laser imaging device 321. With this configuration, the laser projection device and the optical imaging device are arranged in the effective projection area, and a relatively stable parallax angle can be maintained, so that when using, for example, the parallax method for three-dimensional precise measurement, the accuracy in the entire projection area is relatively consistent.

[0052] Of course, considering the structural shape of the blade, the curvature of the blade is smaller at the tail part farther away from the root of the blade, that is, the visual blind spot problem of laser projection and optical imaging is smaller. Therefore, according to actual conditions, a single second laser projection device 320 and / or second optical imaging device 321 can be used in the second auxiliary system 32. Figure 6 As shown, in one embodiment, the second auxiliary system 32 includes only a second laser projection device 320 and a second optical imaging device 321 , and the second laser projection device 320 and the second optical imaging device 321 are located above the longitudinal center line L of the two mold cavities 21 .

[0053] Using the two auxiliary systems described above to perform laser projection and imaging on different sections of the blade respectively can solve the problem of limited coverage area of ​​the laser projection device and the optical imaging device in a single auxiliary system. This problem is particularly obvious when performing laser projection and optical imaging on longer objects such as wind turbine blades. Therefore, the combination of the first auxiliary system 31 and the second auxiliary system 32 described above can be better suitable for application scenarios of auxiliary manufacturing of blades with longer lengths.

[0054] Example 4

[0055] In this embodiment, the blade manufacturing auxiliary system 30 also includes a control device (not shown), which is connected to the first laser projection device 310 and the first optical imaging device 311 for communication, and is used to read the blade drawing information, and obtain the three-dimensional model of the blade and / or the blade mold 20 during the blade manufacturing process through the imaging information collected from the first optical imaging device, and control the first laser projection device 310 to project the required first operation guide graphic based on the blade drawing information and the three-dimensional model. Among them, the imaging information includes the imaging of structured light for assisting three-dimensional measurement and the imaging of the blade under ambient light. Furthermore, the imaging information can also include the first operation guide graphic, and the position of the first operation guide graphic is adjusted based on the error of the projected first operation guide graphic, so as to realize closed-loop control based on feedback.

[0056] Of course, it is understandable that the control device can also be used in conjunction with the second auxiliary system 32. The basic principle is the same as above and will not be described in detail here.

[0057] Example 5

[0058] In this embodiment, the blade drawing information mentioned above may be CAD drawing information or drawing information in other engineering drawing formats, and may be input into the first laser projection device 310 and the second laser projection device 320 by manual input.

[0059] In terms of physical form, the control device can exist independently, for example, in the form of a computer, a server, a single-chip microcomputer, etc., or it can be integrated as a control unit in a laser projection device or an optical imaging device.

[0060] In this embodiment, the control device is configured to identify the starting end face of the blade root based on the laser pattern projected by the first projection device 310 captured by the first optical imaging device 311, and use it as the reference point of the projected first operation guidance pattern. In an exemplary operation mode, the criterion for judging the existence of the end face can be based on the sudden change of the projected laser pattern on the blade end face.

[0061] In this embodiment, if Figure 5 As shown, the projection area T1 of the first laser projection device 310 and the projection area T2 of the second laser projection device 320 are allowed to overlap, thereby providing a certain adjustment space in actual operation. In actual operation, the second operation guidance graphic projected by the second laser projection device 320 cannot naturally dock with the first operation guidance graphic projected by the first laser projection device 310, so it is necessary to adjust its projection so that the projection starting point of the second operation guidance graphic is exactly the projection end point of the first operation guidance graphic, so as to provide a clear and accurate overall operation projection graphic. Therefore, in the present invention, the first laser projection device 310 is further configured to project a mark R in a predetermined area, and the second auxiliary system 32 is further configured to identify the mark R, for example, by the second optical imaging device 321, and as a reference point for the projection position of the second section 20B. In this way, the second laser projection device 320 uses the mark as a projection reference, so that the guidance graphics projected by the two auxiliary systems are perfectly docked, forming a clear and accurate overall operation guidance graphic.

[0062] Specifically, in this embodiment, a position at a preset distance from the end face of the blade root (usually the end face of the mold root 22) is used as the projection point of the mark. In other embodiments, the mark can be located at any position in the projection area that has a specific positional relationship with the first operation guide graphic.

[0063] The logo may be of any shape and pattern as long as it can be accurately identified. In addition, the number of logos may be one or more.

[0064] According to the above description of the present invention, it can be understood that the present application may not be limited to the use of one or two groups of auxiliary systems, but the appropriate number of auxiliary systems may be selected according to needs, such as the actual length of the blade and the effective working range of the laser projection device and the optical imaging device used. At the same time, between adjacent auxiliary systems, the connection of different laser projection patterns is achieved by utilizing the method described above.

[0065] Example 6

[0066] In this embodiment, the first laser projection device 310 and the first optical imaging device 311 are adjustably mounted above the blade mold 20 to have adjustable pitch angles, yaw angles, and roll angles. In the actual working process, it is necessary to ensure that the pitch angles, yaw angles, and roll angles of the first laser projection device 310 and the first optical imaging device 311 are respectively kept consistent, so the relative posture of the first laser projection device 310 and the first optical imaging device 311 needs to be adjusted during the system installation process.

[0067] In this embodiment, the first optical imaging device 311 and the first laser projection device 310 may have substantially similar structures. Figure 7 The first optical imaging device 311 shown in the figure is used as an example to illustrate that it includes a base 3110, and the base 3110 is further provided with a mounting surface 3111. Figure 8 As shown in the calibration principle diagram, in one embodiment, the first optical imaging device 311 includes a pair of calibration lasers 40, and the calibration lasers 40 are configured to emit two parallel calibration laser beams. The base 3110 of the first laser projection device 310 includes two deep tubes 50 for the calibration lasers to pass through respectively, and the two deep tubes 50 are constructed so that when the first laser projection device 310 and the first optical imaging device 311 are aligned, the two parallel calibration laser beams pass through the corresponding deep tubes 50 in parallel. For example, the plane formed by the two laser beams is parallel to the mounting surface 3111, the two deep tubes 50 are parallel to each other and the plane formed is parallel to the corresponding mounting surface 3101, and the distance between the calibration laser and the mounting surface 3111 is equal to the distance between the deep tube 50 and the mounting surface 3101. Therefore, when the first laser projection device 310 and the first optical imaging device 311 are aligned, the calibration laser can pass through the deep tubes 50 in parallel, thereby forming a regular light spot. At the same time, it can be understood that once any one of the pitch angle, yaw angle and roll angle between the first optical imaging device 311 and the first laser projection device 310 is not kept consistent, the calibration laser cannot pass through the deep tube 50 or the light spot formed after passing through is not regular enough.

[0068] The first optical imaging device 311 may also include two deep tubes 50, in which the calibration lasers 40 are respectively located, and the two calibration lasers 40 are configured to emit two parallel calibration laser beams. The deep tubes 50 of the first laser projection device 310 and the first optical imaging device 311 are constructed so that when the first laser projection device 310 and the first optical imaging device 311 are aligned, the two parallel calibration laser beams emitted by the two calibration lasers 40 respectively pass through the deep tubes 50 in parallel.

[0069] Furthermore, refer to Figure 7 The structure of the first optical imaging device 311 shown in the figure includes two groups of intersecting deep tubes 50, and the two groups of deep tubes are respectively responsible for aligning with other components in two intersecting directions. Preferably, the two groups of deep tubes are arranged perpendicular to each other, and each group of deep tubes includes two deep tubes 50 parallel to each other. Optionally, a calibration laser 40 is installed in each deep tube 50, or the calibration laser 40 is arranged outside the deep tube 50. One group of deep tubes 50 and the corresponding calibration laser 40 are as described above, and are used to perform posture calibration (along the first laser projection device 310) with the corresponding Figure 1 Another set of deep tubes 50 and corresponding calibration lasers 40 can be located in the following manner: Figure 1-2 In the embodiment shown, the position calibration (along the blade mold 20) between the two first optical imaging devices 311 is respectively located on both sides of the blade mold 20. Figure 1 y direction indicated in ).

[0070] In the above-described embodiment, the calibration laser 40 is located in the first optical imaging device 311. It is understandable that the calibration laser 40 may also be located in the first laser projection device 310, which can also realize the posture judgment and calibration functions.

[0071] Similar to the configuration described above, in the second auxiliary system 32 , the second laser projection device 320 and the second optical imaging device 321 may also be configured to perform the posture calibration described above.

[0072] In this embodiment, the first laser projection device and / or the second laser projection device used in the present invention can be a MEMS laser projector, a galvanometer laser projector, etc., and the first optical imaging device and / or the second optical imaging device can be a general industrial camera device.

[0073] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A wind turbine blade auxiliary manufacturing system, used for cooperating with a blade mold (20) to realize auxiliary manufacturing of the blade, wherein the blade mold (20) comprises at least one mold groove (21) matching the shape of the blade, characterized in that: The system comprises a first auxiliary system (31) installed above the blade mold (20), the first auxiliary system (31) comprising a first laser projection device (310) for projecting a first operation guidance pattern and structured light for assisting three-dimensional measurement on the blade, and a first optical imaging device (311) for acquiring the first operation guidance pattern projected on the blade, the structured light image, and an image of the blade under ambient light, the first laser projection device (310) and the first optical imaging device (311) being arranged in pairs correspondingly; The first laser projection device (310) and the first optical imaging device (311) both have adjustable pitch angles, yaw angles and roll angles; When two pairs of the first laser projection device (310) and the first optical imaging device (311) are provided, the first laser projection device (310) and the first optical imaging device (311) are located at different positions in the longitudinal axis direction of the blade mold (20); The first optical imaging device (311) is closer to the mold root (22) corresponding to the mold groove (21) and the blade root than the first laser projection device (310), or the first laser projection device (310) is closer to the mold root (22) corresponding to the mold groove (21) and the blade root than the first optical imaging device (311), so that the projection areas of the first auxiliary system and the second auxiliary system overlap; The blade mold (20) is divided into a plurality of adjacently arranged sections from the mold root (22) to the mold tip, the first section is projected and imaged by a first auxiliary system (31), and the subsequent sections are projected and imaged by corresponding auxiliary systems, and the auxiliary system structures corresponding to the subsequent sections are the same as those of the first auxiliary system (31).

2. A wind turbine blade auxiliary manufacturing system according to claim 1, characterized in that: The first auxiliary system (31) also includes a control device integrated on the first optical imaging device (310) or the first optical imaging device (311), which is used to read blade drawing information and obtain a three-dimensional model of a blade and / or a blade mold during the blade manufacturing process based on the imaging information obtained from the first optical imaging device (310), and a control device that controls the first laser projection device (310) to project a first operation guidance graphic based on the blade drawing information and the three-dimensional model. The control device is configured to identify the end face of the blade root based on the structured light located at the blade root, and use this as a reference point for the first operation guidance graphic.

3. The wind turbine blade auxiliary manufacturing system according to claim 1, characterized in that: The system also includes an independently arranged control device, specifically a computer, a server or a single chip microcomputer, for reading blade drawing information and obtaining a three-dimensional model of a blade and / or a blade mold in a blade manufacturing process according to imaging information obtained from a first optical imaging device (310), and a control device for controlling a first laser projection device (310) to project a first operation guidance graphic based on the blade drawing information and the three-dimensional model, wherein the control device is configured to identify an end face of the blade root based on structured light located at the blade root, and use this as a reference point of the first operation guidance graphic.

4. A wind turbine blade auxiliary manufacturing system according to any one of claims 2 or 3, characterized in that: The imaging information includes imaging of structured light used to assist three-dimensional measurement and imaging of the blade under ambient light.

5. The wind turbine blade auxiliary manufacturing system according to claim 1, characterized in that: The second section is projected and imaged by a second auxiliary system (32) comprising at least one pair of second laser projection devices (320) and second optical imaging devices (321) arranged in pairs. When the second auxiliary system (32) comprises two pairs of second laser projection devices (320) and second optical imaging devices (321) arranged in pairs, in the extension direction of the longitudinal axis of the blade mold (20), the second optical imaging device (321) is arranged between the first optical imaging device (311) and the first laser projection device (310), and the first laser projection device (310) is arranged between the second laser projection device (320) and the second optical imaging device (321).

6. A wind turbine blade auxiliary manufacturing system according to claim 5, characterized in that: The first auxiliary system (31) is configured to project a mark on a blade at a set distance from the root end face of the blade through a first laser projection device (310), and the mark is located in an overlapping projection area. The second auxiliary system (32) is configured to identify the mark through a second optical imaging device (320) and determine the projection position of the second operation guidance graphic based on the mark.

7. A wind turbine blade auxiliary manufacturing system according to claim 4, characterized in that: For the first auxiliary system (31), the first laser projection device (310) and the first optical imaging device (311) are both provided with a base, and two groups of orthogonally arranged deep tube groups are opened on the base for passing the calibration laser emitted by the calibration laser, and each group of deep tube groups is composed of two parallel deep tubes (50).

8. A wind turbine blade auxiliary manufacturing system according to claim 7, characterized in that: The first laser projection device (310) or the first optical imaging device (311) is provided with a pair of calibration lasers (40) for emitting two parallel calibration laser beams. When the first laser projection device (310) is aligned with the corresponding first optical imaging device (311), the two parallel calibration laser beams respectively pass through the corresponding deep tube (50) in parallel, so that during use, the pitch angle, yaw angle and roll angle between the first laser projection device (310) and the first optical imaging device (311) are kept consistent.

9. The wind turbine blade auxiliary manufacturing system according to claim 5, characterized in that: The first laser projection device (310) and the second laser projection device (320) are MEMS laser projectors or galvanometer laser projectors, and the first optical imaging device (311) and the second optical imaging device (321) are industrial cameras.

10. A blade manufacturing device, characterized in that: The device comprises a blade mold for manufacturing a wind turbine blade and a blade manufacturing auxiliary system according to any one of claims 1-9.

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