A robot and method for removing residual glue in wind turbine blades

Abstract

The present invention provides a robot and method for removing residual glue from wind turbine blades, which relates to wind turbine blade processing and includes: a mobile trolley; a glue storage module; two glue removal modules, namely a web side glue removal module and a leading edge side glue removal module, each glue removal module including a collecting mechanism, a conforming mechanism and a transporting mechanism, the collecting mechanism including a shell, two rollers, two scrapers and a first driving component, the rollers being provided with multiple grooves, the front ends of the scrapers being provided with convex teeth, the convex teeth of each scraper being inserted into the grooves of a roller, the first driving component connecting the two rollers, the conforming mechanism connecting the rear end of the shell, the transporting mechanism connecting the conforming mechanism and the glue storage module; a first adjusting mechanism for adjusting the height of the web side glue removal module; and a second adjusting mechanism for adjusting the deflection angle and horizontal displacement of the leading edge side glue removal module. The beneficial effects of the present invention are as follows: by driving the glue removal module to move by the mobile trolley, residual glue on the wind turbine blades can be continuously removed, thereby achieving continuous and efficient removal of residual glue.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade processing, and in particular to a robot and a method for removing residual glue in a wind turbine blade. Background Art

[0002] Wind turbine blades are made by bonding shells together with adhesive. The adhesive is manually applied to the webs, spar caps, and leading and trailing edges. The blades are then molded together using a tooling tool. Excess glue overflows after the mold is closed. A lot of glue squeezes out of the leading edge, the middle of the web, and the trailing edge, and hangs on the edges of the bonding corners. The narrow and dim interior of the wind turbine blade makes it difficult for workers to clean up the excess glue. This residual glue can fall off during blade operation, creating noise and damaging the partitions and blade tip housings, lightning protection systems, and drain holes, posing a significant quality risk. Therefore, removing residual glue from wind turbine blades has become a challenging issue in wind turbine blade processing. Summary of the Invention

[0003] In view of this, in order to solve the problem that residual glue is difficult to remove due to the narrow and dim environment inside the wind turbine blade, an embodiment of the present invention provides a robot and method for removing residual glue inside a wind turbine blade.

[0004] An embodiment of the present invention provides a robot for removing residual adhesive from wind turbine blades, comprising:

[0005] Mobile trolley;

[0006] A glue storage module is provided on the mobile vehicle;

[0007] The two glue removal modules are a web side glue removal module and a leading edge side glue removal module respectively arranged on both sides of the mobile trolley, each of the glue removal modules comprises a collecting mechanism, a conforming mechanism and a transporting mechanism, the collecting mechanism comprises a shell, and two rollers, two scrapers and a first driving component arranged in the shell, the front end of the shell is open, the two rollers are arranged side by side, the surface of each roller is provided with a plurality of grooves, each scraper is arranged behind one of the rollers, the front end of the scraper is provided with convex teeth, the convex teeth of each scraper are inserted into the grooves of one of the rollers, the first driving component connects the two rollers to drive the two rollers to rotate in opposite directions, roll the residual glue inside the wind turbine blade into the grooves, and the grooves move along the convex teeth to scrape out the residual glue, the conforming mechanism is connected to the rear end of the shell so that the shell can rotate, and the transporting mechanism is connected to the conforming mechanism and the glue storage module to transport the residual glue in the shell to the glue storage module;

[0008] a first adjusting mechanism, which is provided on the mobile trolley and connected to the web side adhesive removal module to adjust the height of the web side adhesive removal module;

[0009] and a second adjusting mechanism, which is arranged on the moving trolley and connected to another of the leading edge side glue removal modules to adjust the deflection angle and horizontal displacement of the leading edge side glue removal module.

[0010] Furthermore, the grooves include circumferential grooves, each of the circumferential grooves is arranged around the circumference of the roller, and the circumferential grooves are arranged at intervals along the axial direction of the roller.

[0011] Furthermore, the first driving component includes a first driving motor and a first gear set driven by the first driving motor, the first gear set includes a plurality of first gears meshing in sequence, wherein two of the first gears are respectively connected to the two rollers so that the two rollers can rotate in opposite directions.

[0012] Furthermore, the compliant mechanism includes a base plate and a plurality of sliding parts, the base plate is provided with a plurality of arc-shaped slide grooves, each of the sliding parts is arranged in a slide groove, each of the sliding parts includes a slider and two elastic parts, the slider is slidably arranged in the slide groove and the two ends are respectively connected to one end of the two elastic parts, the other ends of the two elastic parts are respectively connected to the two ends of the slide groove, each slider is connected to the rear end of the shell, and the rear end of the base plate is connected to the transfer mechanism.

[0013] Furthermore, the transfer mechanism includes a rubber transfer tube, a spiral blade and a second driving component. The front end of the rubber transfer tube is connected to the compliance mechanism, and the rear end is connected to the second driving component. The spiral blade is arranged in the rubber transfer tube. A rubber outlet pipe is provided on one side of the rubber transfer tube. The second driving component is connected to the rear end of the spiral blade to drive the spiral blade to rotate so that the residual rubber is output from the rubber outlet pipe.

[0014] Furthermore, the front end of the glue transfer hose of the leading edge side glue removal module is connected to the compliance mechanism through an elbow.

[0015] Furthermore, the first adjustment mechanism includes a rotating seat, a third driving component, a first screw assembly and a telescopic cylinder. The rotating seat is fixedly arranged, and the rear end of the transfer mechanism of the web side degumming module is rotatably connected to the rotating seat. The third driving component and the first screw assembly are arranged on the rotating seat. The upper end of the telescopic cylinder is connected to the first screw assembly, and the lower end is rotatably connected to the front end of the transfer mechanism. The third driving component is connected to the first screw assembly to drive the telescopic cylinder to extend and retract, thereby driving the transfer mechanism to rotate, so that the web side degumming module is raised or lowered.

[0016] Furthermore, the second adjustment mechanism includes a fourth drive component, a second screw assembly, a mounting plate, a second gear set and a fifth drive component, the fourth drive component is connected to the second screw assembly, the second screw assembly is connected to the mounting plate, the second gear set and the fifth drive component are both installed on the mounting plate, and the fifth drive component is connected to the second gear set, the second gear set is connected to the transfer mechanism of the leading edge side degumming module, the fourth drive component can drive the leading edge side degumming module to move horizontally, and the fifth drive component can drive the leading edge side degumming module to rotate.

[0017] Furthermore, the mobile cart includes a tractor and a chassis connected to the front of the tractor, a steering wheel frame, a plurality of steering wheels and a steering wheel driving component are provided at the bottom of the front end of the chassis, all steering wheels are installed side by side in the steering wheel frame, and the steering wheel driving component is arranged on the upper part of the steering wheel frame to drive the steering wheel frame to rotate; the glue storage module includes a glue storage bin arranged on the chassis, and two glue inlet pipes are provided on the top of the glue storage bin, and the two glue inlet pipes are respectively connected to the transfer mechanisms of the two glue removal modules.

[0018] In addition, an embodiment of the present invention further provides a method for removing residual adhesive from a wind turbine blade, using the aforementioned residual adhesive removal robot, and comprising the following steps:

[0019] S1. Before the wind turbine blade is molded, the mobile carriage is controlled to move from the root of the wind turbine blade to the tip of the blade, so that the web-side debonding module is close to the inner web side of the wind turbine blade, and the leading edge-side debonding module is close to the inner leading edge side of the wind turbine blade;

[0020] S2. Adjusting the height of the web-side adhesive removal module by the first adjustment mechanism so that the front end of the housing of the collection mechanism of the web-side adhesive removal module is continuously in contact with the adhesive removal surface on one side of the web, thereby collecting the residual adhesive on one side of the web, and transporting the collected residual adhesive to the adhesive storage module by the transfer mechanism;

[0021] S3. Adjust the deflection angle and horizontal displacement of the leading edge side glue removal module through the second adjustment mechanism so that the front end of the shell of the leading edge side glue removal module continues to fit with the glue removal surface on the leading edge side, collect the residual glue on the leading edge side, and transport the collected residual glue to the glue storage module through the transfer mechanism.

[0022] The beneficial effects brought about by the technical solution provided by the embodiments of the present invention are:

[0023] 1. The present invention provides a robot and method for removing residual glue from wind turbine blades. The collection mechanism of the glue removal module squeezes the residual glue into the grooves on the surfaces of the two rollers, and then squeezes out the residual glue in the grooves through the scraper. The collected residual glue is then output through the transfer mechanism. This solves the problem that the residual glue is highly viscous and has poor fluidity and is difficult to collect, as well as the problem of removing residual glue in areas of wind turbine blades that are inaccessible to humans. By driving the glue removal module with a mobile trolley, the residual glue on the wind turbine blades can be continuously removed, thereby achieving continuous and efficient removal of residual glue.

[0024] 2. The present invention provides a robot and method for removing residual glue in wind turbine blades. When the curvature and slope of the glue removal surface in the wind turbine blade change, the collection mechanism of the glue removal module moves along with the change of the glue removal surface. The collection mechanism drives the slider in the compliance mechanism to slide, causing the elastic member to expand and contract to adjust the state, thereby making the collection mechanism comply with the change of the glue removal surface. At the same time, the elastic member also provides a pre-tightening force for the collection mechanism, so that it can better fit the glue removal surface, thereby enhancing the adaptability of the glue removal module and ensuring that the residual glue can still be cleaned when the glue removal surface changes.

[0025] 3. A robot and method for removing residual glue from wind turbine blades of the present invention adjusts the height of the web side glue removal module through a first adjusting mechanism, and cooperates with a compliance mechanism to adjust the position of a collecting mechanism so that the collecting mechanism of the web side glue removal module is always in contact with the glue removal surface on one side of the web, so that the web side glue removal module continuously removes the residual glue on one side of the web, and adjusts the deflection angle and horizontal displacement of the leading edge side glue removal module through a second adjusting mechanism, and cooperates with the compliance mechanism to adjust the position of the collecting mechanism so that the collecting mechanism of the leading edge side glue removal module is in contact with the glue removal surface on one side of the leading edge on the gradually narrowing leading edge side, so that the leading edge side glue removal module continuously removes the residual glue on one side of the leading edge, thereby realizing active compliance of the glue removal module when the curvature of the glue removal surface where the residual glue inside the wind turbine blade is located changes, thereby improving the efficiency and effect of removing the residual glue.

[0026] 4. The present invention provides a robot and method for removing residual glue from wind turbine blades. The rollers of the mobile trolley cooperate with the steering wheel at the bottom of the base plate, and utilize the principle that three points form a plane to achieve the robot's passive compliance to changes in the curved surface and flexible omnidirectional movement with three degrees of freedom in two dimensions on the curved surface. This can effectively prevent the wheels from being suspended in the air, effectively prevent the vehicle body from overturning, and improve the stability of the movement. In addition, the steering wheel can independently control the steering, so that the steering wheel has the ability to steer, thereby enabling the robot to patrol the line in the narrow environment inside the wind turbine blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of a robot for removing residual glue from wind turbine blades according to the present invention;

[0028] Figure 2 It is a schematic diagram of the mobile cart;

[0029] Figure 3 is a schematic diagram of the glue storage module;

[0030] Figure 4 It is a three-dimensional view of the web side debonding module;

[0031] Figure 5 It is a three-dimensional diagram of the leading edge side glue removal module;

[0032] Figure 6 This is an exploded view of the web side debonding module;

[0033] Figure 7 It is a schematic diagram of the scraper and roller;

[0034] Figure 8 It is a schematic diagram of the compliance mechanism;

[0035] Figure 9 It is a schematic diagram of the transfer mechanism;

[0036] Figure 10 is a perspective view of the first adjustment mechanism;

[0037] Figure 11 is a front view of the first adjustment mechanism;

[0038] Figure 12 is a perspective view of the second adjustment mechanism;

[0039] Figure 13 is a front view of the second adjustment mechanism;

[0040] Figure 14 The present invention is a schematic diagram of the working of a robot for removing residual glue in wind turbine blades.

[0041] In the figure: 1. Mobile trolley; 101. Tractor; 102. Roller; 103. Cable; 104. Chassis; 105. Steering wheel frame; 106. Steering wheel; 107. Steering wheel drive component; 2. Glue storage module; 201. Glue storage bin; 202. Glue inlet pipe; 3. Glue removal module; 3a. Web side glue removal module; 3b. Leading edge side glue removal module; 31. Collection mechanism; 311. Housing; 312. Upper cover; 313. Roller; 313a. Circumferential groove; 313b. Axial groove; 314. First gear; 315. Gear Cover; 316, first drive motor; 317, scraper; 317a, convex teeth; 318, rotating shaft; 32, compliance mechanism; 321, base plate; 322, slideway; 323, slider; 324, elastic member; 33, transfer mechanism; 331, rubber transfer hose; 331a, rubber outlet hose; 331b, side connecting plate; 332, spiral blade; 333, second drive motor; 334, connecting flange; 335, motor base; 336, motor conversion shaft; 337, motor blade connector; 338, second bearing; 339, oil seal;

[0042] 4. First adjustment mechanism; 401. Rotating seat; 402. Third drive component; 403. First screw assembly; 404. Telescopic cylinder; 405. Third bearing; 5. Second adjustment mechanism; 501. Synchronous belt; 502. Fourth drive motor; 503. Second screw assembly; 504. Mounting plate; 505. Second gear; 506. Fifth drive component; 100. Wind turbine blade; 100a. Web; 100b. Leading edge. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the present invention more apparent, embodiments of the present invention will be further described below with reference to the accompanying drawings. The following describes a preferred embodiment of the present invention among multiple possible embodiments, which is intended to provide a basic understanding of the present invention but is not intended to identify the key or decisive elements of the present invention or to limit the scope of protection.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0046] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual scale.

[0047] In the description of the present invention, it should be noted that the circuits, electronic components and modules involved in the present invention are all existing technologies and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to the internal structure and methods.

[0048] It should be further noted that, unless otherwise expressly specified or limited, the terms "mounted" and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0049] Please refer to Figure 1 An embodiment of the present invention provides a robot for removing residual glue from wind turbine blades, which mainly includes a mobile car 1, a glue storage module 2, two glue removal modules 3, a first adjustment mechanism and a second adjustment mechanism 5.

[0050] The mobile car 1 is used to pull the robot for removing residual glue from wind turbine blades. Figure 2 and 3 As shown, the mobile vehicle 1 mainly includes a tractor 101 and a chassis 104. The tractor 101 can be a four-wheeled walking robot or a two-wheeled walking robot. In this embodiment, the tractor 101 is a four-wheeled walking robot. A cable 103 is provided at the rear end of the tractor 101 to supply power to the tractor 101. If the tractor 101 becomes stuck or otherwise unable to move, the cable 103 can be used to pull the tractor 101 out. In addition, considering the working environment, the tractor 101 can be waterproof and dustproof.

[0051] The chassis 104 is connected to the front of the tractor 101. A steering wheel frame 105, a plurality of steering wheels 106, and a steering wheel drive component 107 are provided at the bottom of the front end of the chassis 104. The steering wheel frame 105 is provided in the middle of the front end of the chassis 104. The steering wheels 106 can be provided in a plurality according to actual needs. For example, in this embodiment, the steering wheels 106 are provided in three. The steering wheel frame 105 is a U-shaped frame, and all the steering wheels 106 are rotatably installed side by side in the steering wheel frame 105. The steering wheels support the front end of the chassis 104, and the steering wheels 106 cooperate with the two rollers 102 at the front end of the tractor 101 to form a stable supporting triangle. By utilizing the principle that three points form a plane, the steering wheels and the rollers 102 of the tractor 101 can stably move on the curved surface with constantly changing curvature inside the wind turbine blade.

[0052] The steering wheel driving component 107 is arranged on the upper part of the steering wheel frame 105. The steering wheel driving component 107 is generally a steering gear. The steering gear is connected to the steering wheel frame 105 and drives the steering wheel frame 105 to rotate, thereby driving each steering wheel 106 to rotate. In this way, the steering of the chassis 104 can be controlled by the steering gear.

[0053] Continue as Figure 3 As shown, the glue storage module 2 is disposed on the mobile vehicle 1. The glue storage module 2 mainly includes a glue storage bin 201, which is approximately a rectangular parallelepiped and has two glue inlet pipes 202 at the top. The glue storage bin 201 is fixedly mounted on the chassis 104. The glue storage bin 201 has a large volume and can store collected residual glue for reuse.

[0054] like Figure 4 and 5 As shown, the two adhesive removal modules 3 are a web-side adhesive removal module 3a and a leading-edge-side adhesive removal module 3b, respectively provided on both sides of the mobile vehicle 1. The web-side adhesive removal module 3a is used to remove adhesive residue on the web side of the wind turbine blade, while the leading-edge-side adhesive removal module 3b is used to remove adhesive residue on the leading edge side of the wind turbine blade.

[0055] Specifically, each of the adhesive removal modules 3 mainly includes a collecting mechanism 31 , a conforming mechanism 32 and a transporting mechanism 33 .

[0056] like Figure 6 and 7 As shown, the collecting mechanism 31 is used to collect residual adhesive inside the wind turbine blade. The collecting mechanism 31 mainly includes a shell, two rollers 313, two scrapers 317 and a first driving component arranged in the shell.

[0057] The front end of the shell is open, and the residual glue to be collected can enter from the front end of the shell. The shell can be flexibly set to various shapes according to actual application needs. For example, in this embodiment, the front part of the shell is a rectangular parallelepiped, and the rear part is provided with a cylindrical rear joint, which is arranged at an angle. The shell is specifically composed of a lower shell 311 and an upper cover plate 312. The upper cover plate 312 covers the upper port of the shell 311. In order to facilitate the entry of residual glue into the shell, the edges of the front port of the shell are all set with cutting edges.

[0058] The two rollers 313 are arranged side by side, both of which are vertically arranged and approximately in contact with each other. The surface of each roller 313 is provided with multiple grooves. When the two rollers 313 rotate, the residual film in front of the two rollers 313 is rolled up and squeezed into the grooves.

[0059] like Figure 7 As shown, the grooves include circumferential grooves 313a, each of which is disposed circumferentially around the roller 313 and is evenly spaced along the axial direction of the roller 313. Furthermore, the grooves may also include axial grooves 313b, each of which is disposed axially along the roller 313 and is spaced circumferentially along the roller 313. The axial grooves 313b cooperate with the circumferential grooves 313a to entrain more residual adhesive.

[0060] Each scraper 317 is positioned behind one of the rollers 313. A protruding tooth 317a is provided at the front end of each scraper 317, which inserts into a groove in one of the rollers 313. The shape of the protruding tooth 317a matches the shape of the groove, specifically the shape of the circumferential groove 313a, so that the protruding tooth 317a fits within the groove. As the two rollers 313 rotate, the protruding tooth 317a precisely scrapes away residual adhesive from the circumferential groove 313a. The shapes of the protruding teeth 317a and the circumferential groove 313a can be flexibly configured based on the actual application scenario. For example, in this embodiment, the cross-section of the circumferential groove 313a is rectangular, and the protruding teeth 317a are rectangular blocks.

[0061] The first driving component is connected to the two rollers 313 to drive the two rollers 313 to rotate in opposite directions. The first driving component includes a first driving motor 316 and a first gear set driven by the first driving motor 316.

[0062] The first gear set includes a plurality of first gears 314 meshed in sequence. Figure 6As shown, in this embodiment, the first gear set includes four first gears 314 that are meshed in sequence. The four first gears 314 are installed on the upper part of the upper cover plate 312 and are arranged in a straight line. A gear cover 315 is provided above the upper cover plate 312, and the four first gears 314 are arranged in the gear cover 315.

[0063] Furthermore, the two first gears 314 are respectively connected to the two rollers 313. The two first gears 314, located at the edges, are respectively mounted on two rotating shafts 318. The lower end of each rotating shaft 318 is rotatably mounted on the bottom surface of the housing 311 via a first bearing. The two rollers 313 are respectively mounted on the two rotating shafts 318. The first drive motor 316 is fixed to the gear cover 315, and the output shaft of the first drive motor 316 extends into the gear cover 315 and is connected to the upper end of one of the rotating shafts 318 via a coupling. In this way, the first drive motor 316 can drive the first gear train, causing the two rollers 313 to rotate in opposite directions.

[0064] Recombination Figure 6 and 8 As shown, the compliant mechanism 32 is connected to the collection mechanism 31 so that the collection mechanism 31 can rotate adaptively. The compliant mechanism 32 mainly includes a base plate 321 and a plurality of sliding parts. The base plate 321 is provided with a plurality of arc-shaped chutes 322. The base plate 321 is a hollow flange plate. The chutes 322 are coaxially arranged with the base plate 321. Generally, the number of the chutes 322 can be flexibly set to multiple, and the arc lengths of the chutes 322 are the same and are evenly distributed on a circumference. As described in this embodiment, the number of chutes 322 is set to three.

[0065] The number of the sliding members is consistent with the number of the chute 322. Each sliding member is disposed in a chute 322 and includes a slider 323 and two elastic members 324. The slider 323 is slidably disposed in the chute 322. The slider 323 is an arc-shaped block with a diameter and width substantially the same as those of the chute 322, so that the slider 323 is embedded in the chute 322 and can slide along the chute 322.

[0066] The elastic members 324 are generally springs. The two ends of the slider 323 are respectively connected to one end of the two elastic members 324, and the other ends of the two elastic members 324 are respectively connected to the two ends of the chute 322. Each slider 323 is connected to the rear end of the shell, specifically, it is tightly connected to the rear joint of the shell. When the collection mechanism 31 is not rotating, the elastic members 324 maintain their normal length. When the collection mechanism 31 rotates, one elastic member 324 in each chute 322 extends and the other elastic member 324 compresses, causing the compliance mechanism 32 to automatically adapt to the rotation of the collection mechanism 31.

[0067] like Figure 9 As shown, the transfer mechanism 33 is used to output the residual rubber collected at the rear of the housing of the collection mechanism 31. The transfer mechanism 33 can generally be a screw conveyor. In this embodiment, the screw conveyor includes a rubber transfer hose 331, a spiral blade 332, and a second drive component.

[0068] The front end of the transfer tube 331 is connected to the compliance mechanism 32. Specifically, the outer wall of the front end of the transfer tube 331 is provided with a connecting flange 334, the front end of the transfer tube 331 is inserted into the base plate 321 and docked with the rear joint, and the connecting flange 334 is attached to and tightly connected to the base plate 321.

[0069] The rear end of the second driving component is connected to the second driving component. The spiral blade 332 is arranged in the rubber transfer tube 331. A rubber outlet tube 331a is provided on one side of the rubber transfer tube 331. The second driving component is connected to the rear end of the spiral blade 332.

[0070] Specifically, the second drive component primarily comprises a second drive motor 333, a motor base 335, a motor conversion shaft 336, a motor blade connector 337, and bearings. The second drive motor 333 is typically a brushless motor. The motor base 335 is fixedly connected to the upper end of the transfer hose 331. The second drive motor 333 is mounted on the motor base 335, and the motor conversion shaft 336 and motor blade connector 337 are disposed within the motor base 335. The output end of the second drive motor 333 is connected to the motor conversion shaft 336, which is configured as a rectangular block. The motor blade connector 337 is cylindrical with a rectangular slot at its upper end. The motor conversion shaft 336 is inserted into the upper end of the motor blade connector 337 and is securely connected thereto.

[0071] The second bearing 338 is mounted inside the upper end of the rubber transfer tube 331. The upper end of the spiral blade 332 passes through the second bearing 338 and is securely connected to the lower end of the motor blade connector 337. An oil seal 339 is also mounted on the second bearing 338. The second drive motor 333 drives the spiral blade 332 to rotate, causing residual rubber at the lower end of the spiral blade 332 to spiral upward and be squeezed out of the rubber outlet tube 331a.

[0072] Here, the two glue inlet pipes 202 of the glue storage bin 201 are respectively connected to the transfer mechanisms 33 of the two glue removal modules 3, that is, the glue outlet pipe 331a of each glue removal module 3 is connected to one glue inlet pipe 202 of the glue storage bin 201, so that the residual glue squeezed out from the glue outlet pipe 331a is transported to the glue storage bin 201 for storage.

[0073] When the glue removal module 3 is working, it moves inside the wind turbine blade, so that the lower edge of the front port of the shell of the collection mechanism 31 fits with the glue removal surface inside the wind turbine blade, so that the residual glue on the glue removal surface enters the shell and gradually accumulates. Then, under the driving action of the first driving mechanism, the two rollers 313 rotate in opposite directions, rolling up the residual glue in the shell, so that the residual glue is squeezed into the circumferential groove 313a and the axial groove 313b on the surface of the roller 313. At the same time, the scraper 317 uses the convex teeth 317a to scrape out the residual glue in the circumferential groove 313a, and the residual glue in the axial groove 313b will fall after the residual glue in the circumferential groove 313a is scraped out. In this way, the residual glue is collected at the rear of the shell, located at the lower end of the glue transfer tube 331. Thereafter, driven by the second driving motor 333 , the spiral blades 332 convey the collected residual glue in a spiral upward direction, and under the squeezing effect, the residual glue is output from the glue outlet pipe 331 a to the glue storage bin 201 .

[0074] like Figure 10 and 11 As shown, the web side degumming module 3a is installed on the mobile trolley 1 through the first adjusting mechanism 4. Specifically, the first adjusting mechanism 4 includes a rotating seat 401, a third driving component 402, a first screw assembly 403 and a telescopic cylinder 404. The rotating seat 401 is fixedly arranged, and here it is in contact with and tightly connected to the side of the storage bin. The motor seat 335 of the transfer mechanism 33 of the web side degumming module 3a is arranged on the outside of the rotating seat 401, and is rotatably connected to the rotating seat 401 through the third bearing 405, so that the rear end of the transfer mechanism 33 can rotate around the rotating seat 401.

[0075] The third drive component 402 is a rotary drive component. In this embodiment, a third drive motor is selected. The third drive component 402 and the first screw assembly 403 are fixedly arranged on the rotating seat 401. The third drive component 402 is connected to the screw of the first screw assembly 403, and the upper end of the telescopic cylinder 404 is connected to the slide of the first screw assembly 403. The lower end of the telescopic cylinder 404 is hingedly connected to the inner side of the glue transfer barrel, so that the lower end of the telescopic cylinder 404 can be rotatably connected to the front end of the transfer mechanism 33. In this way, under the drive of the third drive, the first screw assembly 403 drives the telescopic cylinder 404 to extend and retract, driving the glue transfer barrel to rotate, so that the web side glue removal module 3a is raised or lowered as a whole, realizing the height adjustment of the web side glue removal module 3a.

[0076] like Figure 12 and 13 As shown, the leading edge side glue removal module 3b is mounted on the mobile vehicle 1 via a second adjustment mechanism 5 and is specifically disposed at the rear end of the storage bin. It should be noted that, since the leading edge side glue removal module 3b is mounted at the rear end of the storage bin, in order to position the front end of the housing of the collection mechanism 31 of the leading edge side glue removal module 3b toward the front, the front end of the glue transfer hose 331 of the leading edge side glue removal module 3b is connected to the compliance mechanism 32 via an elbow.

[0077] The second adjustment mechanism 5 mainly includes a fourth driving component, a second screw assembly 503 , a mounting plate 504 , a second gear 505 set and a fifth driving component 506 .

[0078] The fourth driving component is a rotation driving component. In this embodiment, the fourth driving component includes a fourth driving motor 502 and a synchronous belt 501 . The fourth driving motor 502 is connected to the synchronous belt 501 to drive the synchronous belt 501 for transmission.

[0079] The fourth driving component is connected to the second screw assembly 503, that is, the synchronous belt 501 is specifically connected to the screw of the second screw assembly 503, so as to drive the screw of the second screw assembly 503 to rotate. The slide of the second screw assembly 503 is connected to the mounting plate 504. The fourth driving component can drive the second screw assembly 503 to drive the mounting plate 504 to move linearly.

[0080] The second gear 505 group and the fifth drive component 506 are both mounted on the mounting plate 504, and the fifth drive component 506 is connected to the second gear 505 group. The fifth drive component 506 is a rotation drive component, and in this embodiment, the fifth drive component 506 is a servo. The second gear 505 group includes two second gears 505 that mesh with each other. One of the second gears 505 is connected to the fifth drive component 506, and the other second gear 505 is connected to the transfer mechanism 33 of the leading edge side degumming module 3b. In this embodiment, a side connecting plate 331b is provided on the side surface of the rear end of the transfer tube 331 of the transfer mechanism 33 of the leading edge side degumming module 3b, and the side connecting plate 331b is in contact with and tightly connected to the second gear 505. In this way, the fourth drive component can drive the leading edge side degumming module 3b to move horizontally, and the fifth drive component 506 can drive the leading edge side degumming module 3b to rotate.

[0081] like Figure 14 As shown, an embodiment of the present invention further provides a method for removing residual adhesive from a wind turbine blade, using the aforementioned residual adhesive removal robot for a wind turbine blade, and comprising the following steps:

[0082] S1. Before the wind turbine blade 100 is molded, the mobile trolley 1 is controlled to move from the root of the wind turbine blade 100 to the tip of the blade, so that the web-side debonding module 3a is close to the inner web 100a side of the wind turbine blade 100, and the leading edge-side debonding module 3b is close to the inner leading edge side of the wind turbine blade 100.

[0083] As the mobile trolley 1 moves, the residual glue on one side of the web 100a will enter the web side glue removal module 3a, and at the same time, the residual glue on the leading edge side will enter the leading edge side glue removal module 3b. The residual glue entering the two glue removal modules will be collected by the collecting mechanism 31 and output through the transfer mechanism 33.

[0084] S2. Adjust the height of the web side glue removal module 3a through the first adjustment mechanism so that the front end of the shell of the collection mechanism 31 of the web side glue removal module 3a continues to fit with the glue removal surface on one side of the web 100a, collect the residual glue on one side of the web 100a, and transport the collected residual glue to the glue storage module 2 through the transfer mechanism 33.

[0085] The bottom surface of one side of the web 100a of the wind turbine blade 100 is approximately an inclined plane, and the residual glue mainly changes in height. Therefore, the height of the web side glue removal module 3a is adjusted by the first adjustment mechanism, that is, the height of the front port of the shell of the collection mechanism 31 is adjusted, so that the front port of the shell is always in contact with the glue removal surface on one side of the web 100a, so as to realize continuous collection of the residual glue on one side of the web 100a.

[0086] S3. Adjust the deflection angle and horizontal displacement of the leading edge side glue removal module 3b through the second adjustment mechanism 5 so that the front end of the shell of the leading edge side glue removal module 3b continues to fit with the glue removal surface on the side of the leading edge 100b, collect the residual glue on the side of the leading edge 100b, and transport the collected residual glue to the glue storage module 2 through the transfer mechanism 33.

[0087] The bottom surface on one side of the leading edge 100b of the wind turbine blade 100 is a curved surface with a constantly changing curvature, and the height and horizontal position of the residual glue will change. Therefore, the fourth driving component of the second adjusting mechanism 5 is used to adjust the horizontal movement of the leading edge side glue removal module 3b, and the fifth driving component 506 is used to adjust the rotation of the leading edge side glue removal module 3b to adjust the position of the front port of the shell of the collection mechanism 31, so that the front port of the shell is always in contact with the glue removal surface on the side of the leading edge 100b, so as to realize continuous collection of the residual glue on one side of the leading edge 100b.

[0088] In this document, directional terms such as front, back, top, and bottom are defined based on the positions of components in the accompanying drawings and relative to each other, and are intended for clarity and convenience in describing the technical solution. It should be understood that these terms are relative and may vary depending on usage and placement. The use of these directional terms should not limit the scope of protection claimed in this application.

[0089] The above embodiments and features of the embodiments may be combined with each other unless they conflict. The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A robot for removing residual glue from wind turbine blades, characterized in that: include: Mobile trolley; A glue storage module is provided on the mobile vehicle; The two glue removal modules are respectively a web side glue removal module and a leading edge side glue removal module arranged on both sides of the mobile trolley, each of the glue removal modules comprises a collecting mechanism, a conforming mechanism and a transporting mechanism, the collecting mechanism comprises a shell, and two rollers, two scrapers and a first driving component arranged in the shell, the front end of the shell is open, the two rollers are arranged side by side, the surface of each roller is provided with a plurality of grooves, each scraper is arranged behind one of the rollers, the front end of the scraper is provided with convex teeth, the convex teeth of each scraper are inserted into the grooves of one of the rollers, the first driving component connects the two rollers to drive the two rollers to rotate in opposite directions, roll the residual glue inside the wind turbine blade into the groove, and the groove moves along the convex teeth to scrape out the residual glue, the conforming mechanism is connected to the rear end of the shell to make the shell rotatable, and the transporting mechanism is connected to the conforming mechanism and the glue storage module to transport the residual glue in the shell to the glue storage module; The compliant mechanism includes a base plate and a plurality of sliding members, the base plate is provided with a plurality of arc-shaped slide grooves, each of the sliding members is arranged in one of the slide grooves, each of the sliding members includes a slider and two elastic members, the slider is slidably arranged in the slide groove and its two ends are respectively connected to one end of the two elastic members, and the other ends of the two elastic members are respectively connected to the two ends of the slide groove, each of the sliders is connected to the rear end of the shell, and the rear end of the base plate is connected to the transfer mechanism; The transfer mechanism includes a rubber transfer tube, a spiral blade, and a second driving component. The front end of the rubber transfer tube is connected to the compliance mechanism, and the rear end is connected to the second driving component. The spiral blade is arranged in the rubber transfer tube. A rubber outlet pipe is provided on one side of the rubber transfer tube. The second driving component is connected to the rear end of the spiral blade to drive the spiral blade to rotate so that the residual rubber is discharged from the rubber outlet pipe. a first adjusting mechanism, which is provided on the mobile trolley and connected to the web side adhesive removal module to adjust the height of the web side adhesive removal module; and a second adjusting mechanism, which is arranged on the moving trolley and connected to another of the leading edge side glue removal modules to adjust the deflection angle and horizontal displacement of the leading edge side glue removal module.

2. The robot for removing residual adhesive from wind turbine blades according to claim 1, characterized in that: The grooves include circumferential grooves, each of which is arranged around the circumference of the roller, and the circumferential grooves are arranged at intervals along the axial direction of the roller.

3. The robot for removing residual adhesive from wind turbine blades according to claim 1, characterized in that: The first driving component includes a first driving motor and a first gear set driven by the first driving motor. The first gear set includes a plurality of first gears meshing in sequence, wherein two of the first gears are respectively connected to the two rollers so that the two rollers can rotate in opposite directions.

4. The robot for removing residual adhesive from wind turbine blades according to claim 1, characterized in that: The front end of the glue transfer pipe of the leading edge side glue removal module is connected to the compliance mechanism through an elbow.

5. The robot for removing residual adhesive from wind turbine blades according to claim 1, characterized in that: The first adjustment mechanism includes a rotating seat, a third driving component, a first screw assembly and a telescopic cylinder. The rotating seat is fixedly arranged, and the rear end of the transfer mechanism of the web side degumming module is rotatably connected to the rotating seat. The third driving component and the first screw assembly are arranged on the rotating seat. The upper end of the telescopic cylinder is connected to the first screw assembly, and the lower end is rotatably connected to the front end of the transfer mechanism. The third driving component is connected to the first screw assembly to drive the telescopic cylinder to extend and retract, thereby driving the transfer mechanism to rotate, so that the web side degumming module is lifted or lowered.

6. The robot for removing residual adhesive from wind turbine blades according to claim 1, characterized in that: The second adjustment mechanism includes a fourth drive component, a second screw assembly, a mounting plate, a second gear set and a fifth drive component. The fourth drive component is connected to the second screw assembly, the second screw assembly is connected to the mounting plate, the second gear set and the fifth drive component are both installed on the mounting plate, and the fifth drive component is connected to the second gear set, the second gear set is connected to the transfer mechanism of the leading edge side degumming module, the fourth drive component can drive the leading edge side degumming module to move horizontally, and the fifth drive component can drive the leading edge side degumming module to rotate.

7. The robot for removing residual adhesive from wind turbine blades according to claim 1, characterized in that: The mobile trolley includes a tractor and a chassis connected to the front of the tractor, a steering wheel frame, a plurality of steering wheels and a steering wheel driving component are provided at the bottom of the front end of the chassis, all steering wheels are installed side by side in the steering wheel frame, and the steering wheel driving component is provided on the upper part of the steering wheel frame to drive the steering wheel frame to rotate; the glue storage module includes a glue storage bin arranged on the chassis, and two glue inlet pipes are provided on the top of the glue storage bin, and the two glue inlet pipes are respectively connected to the transfer mechanisms of the two glue removal modules.

8. A method for removing residual adhesive from a wind turbine blade, characterized by: Using a robot for removing residual glue from a wind turbine blade according to any one of claims 1 to 7, and comprising the following steps: S1. Before the wind turbine blade is molded, the mobile carriage is controlled to move from the root of the wind turbine blade to the tip of the blade, so that the web-side debonding module is close to the inner web side of the wind turbine blade, and the leading edge-side debonding module is close to the inner leading edge side of the wind turbine blade; S2. Adjusting the height of the web-side adhesive removal module by the first adjustment mechanism so that the front end of the housing of the collection mechanism of the web-side adhesive removal module is continuously in contact with the adhesive removal surface on one side of the web, thereby collecting the residual adhesive on one side of the web, and transporting the collected residual adhesive to the adhesive storage module by the transfer mechanism; S3. Adjust the deflection angle and horizontal displacement of the leading edge side glue removal module through the second adjustment mechanism so that the front end of the shell of the leading edge side glue removal module continues to fit with the glue removal surface on the leading edge side, collect the residual glue on the leading edge side, and transport the collected residual glue to the glue storage module through the transfer mechanism.

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