Wind turbine blade flash cutting robot

Abstract

The invention discloses a wind turbine blade flash cutting robot, which relates to the field of robot technology. The robot comprises a chassis, a rotating platform, a lifting device, a telescopic device, a ball screw module, a cutting device and a sensor assembly, wherein the rotating platform is arranged on the chassis, the lifting device is arranged on the rotating platform, and the lifting device can rotate on the chassis through the rotating platform, the telescopic device is arranged on the lifting device, the telescopic device can be telescoped in the horizontal direction, and the telescopic device can slide freely in the height direction of the lifting device, the ball screw module is connected to the end of the telescopic device, the cutting device is fixed on the ball screw module, and the sensor assembly is arranged on the cutting device; thereby solving the problem in the prior art that the cutting effect is poor and the safety hazard to the health of the operator is caused by the manual handheld cutting machine.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically to a wind turbine blade flash cutting robot. Background Art

[0002] In today's rapidly developing economy, due to the tight energy supply, the world's energy structure is undergoing a major transformation, that is, the mineral energy system is transforming into a sustainable energy system based on renewable energy. In this context, wind energy has strong advantages in both technology and cost, but the corresponding wind power industry supporting equipment manufacturing industry has developed relatively slowly, especially in the subsequent flash cutting process of the blades, there is still no effective equipment to realize the automation of flash cutting. One of the manufacturing processes of wind turbine blades is: the upper shell of the blade and the lower shell of the blade are bonded and molded. After the mold is solidified, the part of the adhesive and glass fiber cloth at the bonding of the blade mold seam that exceeds the blade contour is usually called the "flash" of the blade. The flash of the blade must be cut to meet the contour requirements of the industry standard.

[0003] At present, the most common flash removal method in the traditional wind power industry is: manual marking, followed by manual cutting with a handheld cutting machine. Although it can achieve the final requirements, there will be some problems. The effect of flash cutting depends entirely on the operator of the cutting machine, which places high demands on the operator. Otherwise, it is very likely that the length of the blade flash after cutting will be different, increasing the workload in the later stage, and even damaging the blade due to operational reasons. In addition, during the cutting process, the cutting machine will produce a large amount of glass fiber powder, which poses a great hidden danger to the health of the operator.

[0004] Therefore, how to solve the problem in the prior art that manual handheld cutting machines result in poor cutting effects and pose safety hazards to the health of operators has become an important technical problem to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to provide a wind turbine blade flash cutting robot to solve the technical problems in the prior art of manual handheld cutting machines resulting in poor cutting effects and potential safety hazards to the health of operators. The preferred technical solutions among the many technical solutions provided by the present invention can produce a number of technical effects as described below.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a wind turbine blade flash cutting robot, comprising:

[0008] Chassis;

[0009] A rotating platform, wherein the rotating platform is arranged on the chassis;

[0010] A lifting device, the lifting device is arranged on the rotating platform, and the lifting device can be rotated on the chassis through the rotating platform;

[0011] A telescopic device, the telescopic device is arranged on the lifting device, the telescopic device can be telescoped in the lateral direction, and the telescopic device can slide freely in the height direction of the lifting device;

[0012] A ball screw module, the ball screw module being connected to the end of the telescopic device;

[0013] A cutting device, wherein the cutting device is fixed on the ball screw module;

[0014] A sensor component is arranged on the cutting device.

[0015] Based on the above technical solution, the present invention can also be improved as follows.

[0016] Furthermore, the chassis includes a support plate, protective covers fixed on both sides of the support plate, a steering wheel assembly fixed on the four corners of the support plate, and a drawer fixed on the support plate, the drawer is used to place a control module, a power module and other related accessories, the steering wheel assembly includes a motor and a reducer, and the motor is transmission-connected to the reducer.

[0017] Furthermore, the lifting device includes columns symmetrically arranged on both sides, an envelope plate fixed to the back of the columns, a dust shield plate symmetrically fixed to the front of the columns, a fixing frame fixed to the dust shield plate, and a dust shield brush arranged on the fixing frame.

[0018] Furthermore, the telescopic device includes a first servo motor, a first planetary reducer transmission-connected to the first servo motor, a flange fixed on the first planetary reducer, an inner square tube fixedly connected to the flange at one end, an outer square tube slidably sleeved on the outside of the inner square tube, a nylon block arranged between the outer square tube and the inner square tube, an electric cylinder arranged on the outer square tube, and a connecting plate fixedly connected to the inner square tube, and the connecting plate is arranged at an end away from the first servo motor, and the front push rod of the electric cylinder is hinged to the inner square tube.

[0019] Furthermore, the ball screw module is fixedly connected to the connecting plate, and the ball screw module includes a second servo motor, a second planetary reducer transmission-connected to the second servo motor, a slide rail fixedly connected to the second planetary reducer, a dust cover plate fixedly connected above the slide rail, and a right-angle plate arranged on the slide rail, and the right-angle plate can slide freely along the length direction of the slide rail.

[0020] Furthermore, the cutting device includes a fixed plate fixedly connected to the right-angle plate, a worm gear reducer connected to the fixed plate, a third servo motor drivingly connected to the worm gear reducer, a slewing bearing fixed to the fixed plate, a mounting frame fixedly connected to the slewing bearing, and a cutting machine fixed to the mounting frame, and the cutting machine can perform rotational motion through the slewing bearing.

[0021] Furthermore, the sensor component is an LVDT displacement sensor.

[0022] The technical solution provided by this application includes the following beneficial effects:

[0023] In the technical solution provided by the present invention, the wind turbine blade flash cutting robot includes a chassis, a rotating platform, a lifting device, a telescopic device, a ball screw module, a cutting device and a sensor assembly, wherein the rotating platform is arranged on the chassis, the lifting device is arranged on the rotating platform, and the lifting device can rotate on the chassis through the rotating platform, the telescopic device is arranged on the lifting device, the telescopic device can be telescoped in the horizontal direction, and the telescopic device can slide freely in the height direction of the lifting device, the ball screw module is connected to the end of the telescopic device, the cutting device is fixed on the ball screw module, and the sensor assembly is arranged on the cutting device. With such arrangement, the robot adopts rocker control, and performs cutting movement in the form of three-coordinate motion, which has the advantages of stable operation, efficient cutting, and environmental protection and reliability, effectively reduces the labor intensity of workers, and can absorb scattered dust during the cutting process, and compared with the previous working conditions, the factory environment has been greatly improved; thereby solving the problem that the manual handheld cutting machine used for cutting in the prior art leads to poor cutting effect and causes safety hazards to the health of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 12 is a schematic diagram of the overall structure of a wind turbine blade flash cutting robot according to an embodiment of the present invention;

[0026] Figure 2 is a schematic structural diagram of a chassis in an embodiment of the present invention;

[0027] Figure 3 is a schematic structural diagram of a lifting device in an embodiment of the present invention;

[0028] Figure 4 is a schematic structural diagram of a telescopic device in an embodiment of the present invention;

[0029] Figure 5 It is a structural schematic diagram of a ball screw module and a cutting device in an embodiment of the present invention.

[0030] Reference numerals:

[0031] 1. Chassis; 2. Rotating platform; 3. Lifting device; 4. Telescopic device; 5. Ball screw module; 6. Cutting device; 7. Sensor assembly; 8. Support plate; 9. Protective cover; 10. Drawer; 11. Motor; 12. Reducer; 13. Column; 14. Envelope plate; 15. Dust shield; 16. Fixed frame; 17. Dust brush; 18. First servo motor; 19. First planetary reducer; 20. Flange; 21. Inner square tube; 22. Outer square tube; 23. Connecting plate; 24. Second servo motor; 25. Second planetary reducer; 26. Slide rail; 27. Dust cover; 28. Right-angle plate; 29. ​​Fixed plate; 30. Third servo motor; 31. Slewing bearing; 32. Mounting frame; 33. Cutting machine. DETAILED DESCRIPTION

[0032] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0033] The purpose of this specific embodiment is to provide a wind turbine blade flash cutting robot, thereby solving the problem in the prior art that manual handheld cutting machines are used for cutting, resulting in poor cutting effects and potential safety hazards to the health of operators.

[0034] The following is an explanation of the embodiments with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the invention described in the claims. In addition, the entire contents of the configurations shown in the following embodiments are not limited to the solutions required as the invention described in the claims.

[0035] See also Figure 1-Figure 5 The present embodiment provides a wind turbine blade flash cutting robot. An external gear slewing bearing 31 is fixedly arranged above the center of the chassis 1. Below the slewing bearing 31, a third servo motor 30 and a worm gear reducer are arranged to provide power for the external gear slewing bearing 31. Above the external gear slewing bearing 31, a lifting frame is arranged to provide a lifting function for the cutting device 6. The screw power in the lifting frame comes from the motor 11 and the reducer 12 at the bottom of the chassis 1. The rotation of the screw drives the slide of the lifting part to move up and down. The lifting device 3 is connected to the telescopic device 4, which can realize movement in the left and right directions. At the end of the telescopic device 4, a ball screw module 5 that can slide along the length direction of the blade is arranged. The ball screw module 5 can drive the cutting device 6 to perform cutting movement along the flash of the blade. The lifting device 3, the telescopic device 4, and the ball screw module 5 can realize the goal of moving in three directions of xyz in space, and can better fit the curve of the blade flash.

[0036] As an optional implementation, the steering wheel assembly on the chassis 1 can realize the working requirements of the equipment moving in all directions. A protective cover 9 is provided on the side of the support plate 8, and forklift holes are provided on both sides of the support plate 8 to facilitate transportation by forklift.

[0037] As an optional embodiment, a lead screw and two guide columns are arranged between two symmetrically arranged columns 13 inside the lifting device 3. The slide table rises and falls by the rotation of the lead screw. A copper sleeve is installed on the slide table to reduce the friction between the guide column and the guide column. The guide column is fixed to the lower platform and the upper platform by a stud through an internal thread, and the lead screw shaft fixes the lead screw to the lower platform and the upper platform through a seat bearing. The copper sleeve installed on the slide table contacts and realizes sliding friction on the guide column. The slide table rises and falls by the rotation of the lead screw, which can ensure accuracy under the requirements of bearing capacity. The symmetrically installed dust shield 15 and brush strip can block dust in the cutting process to the maximum extent. The lifting distance of the slide table relative to the plane of the support plate 8 is S1. At the same time, the lifting part relies on the displacement sensor to monitor the distance between the slide table and the plane of the support plate 8 in real time, so that it is always within the appropriate height range.

[0038] As an optional implementation, there is an electric cylinder connected by bolts inside the outer square tube 22, the first servo motor 18 transmits power to the first planetary reducer 19, and is connected to the electric cylinder through the connecting flange 20. The tail of the electric cylinder is connected to the inner square tube 21 in a hinged form. At the same time, a limit switch is installed on the cylinder body of the electric cylinder, which can protect the stroke of the screw. The outer square tube 22 and the inner square tube 21 are in contact through a fixed nylon block, and the outer square tube 22 is connected to the slide of the lifting device 3 through a special triangular mounting plate.

[0039] In a more specific embodiment, the ball screw module 5 is fixedly connected to the connecting plate 23 on the inner square tube 21, a mechanical limit device is provided in the ball screw module 5, and a limit switch is arranged on the ball screw, which can ensure that the slide moves within a specified range and ensure the position accuracy of the cutting device 6. The power source of the ball screw module 5 is the second servo motor 24, which transmits the power to the inside of the ball screw module 5 after being decelerated by the second planetary reducer 25.

[0040] In a more specific embodiment, the cutting device 6 includes a third servo motor 30 for providing power for the rotating platform. The third servo motor 30 is installed on the platform fixing plate 29 through a worm gear reducer. A slewing bearing 31 is installed on the platform fixing plate 29 through bolts. A mounting frame 32 for fixing the cutting machine 33 is installed on the slewing bearing 31. The cutting machine 33 is fixed on the mounting frame 32 through mounting screws, and two top rods support the body of the cutting machine 33. The slewing bearing 31 can drive the cutting machine 33 to rotate, which can better meet the needs of equipment cutting. The lvdt displacement sensor is fixed on the mounting frame of the lvdt displacement sensor. The lvdt displacement sensors are installed perpendicularly on the platform fixing plate 29. The lvdt displacement sensor can make the blade of the cutting machine 33 close to the root of the blade flash. When cutting, the two vertically arranged lvdt displacement sensors can accurately locate the cutting part of the blade, realizing automatic positioning of the cutting process. The dust collection cover on the cutting machine 33 can absorb the dust generated during the cutting process, thereby meeting the dust collection requirements of the working environment and protecting the health of personnel.

[0041] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, 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 should not be understood as a limitation on the present invention.

[0042] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A wind turbine blade flash cutting robot, characterized in that: include: Chassis (1); A rotating platform (2), wherein the rotating platform (2) is arranged on the chassis (1); A lifting device (3), wherein the lifting device (3) is arranged on the rotating platform (2), and the lifting device (3) can be rotated on the chassis (1) through the rotating platform (2); A telescopic device (4), wherein the telescopic device (4) is arranged on the lifting device (3), the telescopic device (4) can be telescoped in the lateral direction, and the telescopic device (4) can slide freely in the height direction of the lifting device (3); A ball screw module (5), wherein the ball screw module (5) is connected to the end of the telescopic device (4); A cutting device (6), wherein the cutting device (6) is fixed on the ball screw module (5); A sensor component (7), wherein the sensor component (7) is arranged on the cutting device (6); The lifting device (3) comprises columns (13) symmetrically arranged on both sides, an envelope plate (14) fixed to the back of the columns (13), a dust shield (15) symmetrically fixed to the front of the columns (13), a fixing frame (16) fixed to the dust shield (15), and a dust shield brush (17) arranged on the fixing frame (16); The cutting device (6) comprises a fixing plate (29) fixedly connected to the right-angle plate (28), a worm gear reducer connected to the fixing plate (29), a third servo motor (30) drivingly connected to the worm gear reducer, a slewing bearing (31) fixed to the fixing plate (29), a mounting frame (32) fixedly connected to the slewing bearing (31), and a cutting machine (33) fixed to the mounting frame (32), wherein the cutting machine (33) can perform rotational motion via the slewing bearing (31).

2. The wind turbine blade flash cutting robot according to claim 1, characterized in that: The chassis (1) comprises a support plate (8), a protective cover (9) fixed on both sides of the support plate (8), a steering wheel assembly fixed on the four corners of the support plate (8), and a drawer (10) fixed on the support plate (8), wherein the drawer (10) is used for placing tools, and the steering wheel assembly comprises a motor (11) and a reducer (12), wherein the motor (11) is transmission-connected to the reducer (12).

3. The wind turbine blade flash cutting robot according to claim 1, characterized in that: The telescopic device (4) comprises a first servo motor (18), a first planetary reducer (19) drivingly connected to the first servo motor (18), a flange (20) fixed on the first planetary reducer (19), an inner square tube (21) fixedly connected to the flange (20) at one end, an outer square tube (22) slidably sleeved outside the inner square tube (21), a nylon block arranged between the outer square tube (22) and the inner square tube (21), an electric cylinder arranged on the outer square tube (22), and a connecting plate (23) fixedly connected to the inner square tube (21), wherein the connecting plate (23) is arranged at an end away from the first servo motor (18), and a front push rod of the electric cylinder is hinged to the inner square tube (21).

4. The wind turbine blade flash cutting robot according to claim 3, characterized in that: The ball screw module (5) is fixedly connected to the connecting plate (23), and comprises a second servo motor (24), a second planetary reducer (25) drivingly connected to the second servo motor (24), a slide rail (26) fixedly connected to the second planetary reducer (25), a dust cover plate (27) fixedly connected above the slide rail (26), and a right-angle plate (28) arranged on the slide rail (26), and the right-angle plate (28) can slide freely along the length direction of the slide rail (26).

5. The wind turbine blade flash cutting robot according to claim 1, characterized in that: The sensor component (7) is an LVDT displacement sensor.

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