Wind power blade glass fiber cloth roll feeding device and control method

Abstract

The invention provides a wind power blade glass fabric roll feeding device and a control method, the wind power blade glass fabric roll feeding device comprises a discharging system, a lifting system, a shaft changing system, an unwinding system and a transfer system, the discharging system, the lifting system, the shaft changing system and the unwinding system are arranged in sequence, the discharging system transfers a glass fabric roll placed in the discharging system to the lifting system, and the transferring system transfers the glass fabric roll to the shaft changing system; and then the glass fabric roll is lifted to the shaft changing system by the lifting system, and the shaft changing system intelligently controls the connection of the glass fabric roll and the unwinding system, so that the glass fabric roll on the unwinding system is transferred to a next preset station by the transfer system. Continuous unwinding is achieved through the two unwinding systems, the shutdown waiting time is shortened, and the production efficiency is improved. Installation of the inflatable shaft is automatically completed through the shaft replacement system, manual shaft replacement is omitted, the labor intensity is lowered, and the safety risk is lowered. Automatic operation of the glass fabric roll from the storage tray to the unwinding system is achieved through the discharging system, the feeding system and the transferring system, manual operation of crane hoisting operation is omitted, the automation degree is improved, the labor intensity is reduced, and the safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to the field of wind turbine blade manufacturing, and in particular to a wind turbine blade glass fiber cloth roll feeding device and a control method. Background Art

[0002] Glass fiber cloth is widely used in wind turbine blades because of its excellent physical properties and its indispensable role in improving the rigidity and strength of wind turbine blades. After the production of glass fiber cloth products, most of them are stored in rolls and sealed in plastic bags or packed in cartons.

[0003] Fiberglass cloth rolls cannot be used directly in wind turbine blade production. They need to be cut and processed according to demand. Before cutting, the fiberglass cloth rolls need to be placed on the unwinding bracket. Currently, the cloth rolls are manually removed from the packaging, placed on the air shaft, and transported to the unwinding bracket by a crane or cantilever crane.

[0004] In order to improve cutting efficiency, the industry generally cuts four layers of cloth rolls at the same time, and four cloth rolls need to be replaced at a time. This process requires the cutting equipment to stop and wait, which affects production efficiency; if it is done manually, the inflatable shaft is a cylindrical rod with a weight of more than 50kg, and it requires two people to carry and replace it, which is labor-intensive and poses safety risks. Summary of the invention

[0005] In view of this, the present invention aims to propose a wind turbine blade glass fiber cloth roll feeding device and control method to solve the problems of low production efficiency, manual labor and safety risks of the feeding device in the prior art.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] A glass fiber cloth roll feeding device for wind turbine blades comprises a discharging system, a lifting system, a shaft changing system, an unwinding system and a transfer system. The discharging system, the lifting system, the shaft changing system and the unwinding system are arranged in sequence. The discharging system transfers the glass fiber cloth roll placed inside to the lifting system, and then the lifting system lifts the glass fiber cloth roll to the shaft changing system. The shaft changing system intelligently controls the connection between the glass fiber cloth roll and the unwinding system, so that the transfer system transfers the glass fiber cloth roll on the unwinding system to a predetermined workstation for the next step.

[0008] Furthermore, the unloading system includes a unloading bin, in which the fiberglass cloth roll is placed, the bottom surface of the unloading bin forms a turning platform, an end baffle is arranged on one side of the unloading bin close to the lifting system, and an opening is arranged at the lower part of the end baffle.

[0009] Furthermore, side baffles are provided on both sides of the flip platform, and the accommodating cavity formed with the end baffles constitutes a unloading bin.

[0010] Furthermore, the shaft changing system includes two shaft changing devices, which are respectively arranged on both sides of the lifting system, and an shaft changing bracket is arranged between the two shaft changing devices. When the shaft changing control of the glass fiber cloth roll is performed, the glass fiber cloth roll is located on the shaft changing bracket.

[0011] Furthermore, the shaft changing device is provided with a hole position identification device to identify the core shaft position of the glass fiber cloth roll.

[0012] Furthermore, the shaft changing device is provided with an inflatable shaft, and the shaft changing device inserts the left and right short inflatable shafts into the core shaft of the glass fiber cloth roll.

[0013] Furthermore, the unwinding system is also configured as two groups, which are respectively located at the axial ends of the fiberglass cloth roll and are used to fix the two ends of the fiberglass cloth roll. Each group of fiberglass cloth roll includes multiple unwinding brackets. The upper ends of the unwinding brackets are in contact with the air shafts at the two ends of the fiberglass cloth roll and are used to fix the fiberglass cloth roll.

[0014] Furthermore, the plurality of unwinding brackets are arranged in a staggered manner in height.

[0015] Furthermore, the transfer system is arranged on the upper part of the unwinding system, and the transfer system includes a truss track and a beam. The truss track is arranged as two parallel tracks. A beam is arranged on the truss track. The beam is perpendicular to the truss tracks on both sides. A robotic arm is installed on the beam. The robotic arm is perpendicular to the beam and the truss track. The robotic arm extends downward, and the end of the robotic arm is connected to the inflatable shaft at both ends of the fiberglass cloth roll.

[0016] Compared with the prior art, the wind turbine blade glass fiber cloth roll feeding device of the present invention has the following advantages:

[0017] (1) Continuous unwinding is achieved through two sets of unwinding systems, which reduces downtime and waiting time and improves production efficiency;

[0018] (2) The present invention automatically completes the installation of the pneumatic shaft through the shaft changing system, eliminating manual shaft changing, reducing labor intensity and safety risks;

[0019] (3) Through the unloading system, loading system and transfer system, the glass fiber cloth roll is automatically operated from the storage pallet to the unwinding system, eliminating the manual operation of the crane hoisting operation, improving the degree of automation, reducing labor intensity and reducing safety risks.

[0020] The present invention also provides a method for controlling the feeding of a glass fiber cloth roll of a wind turbine blade, using the feeding device described above, the control method comprises the following steps:

[0021] Step S110, loading the wind turbine blade glass fiber cloth roll raw material in the unloading system, lifting the hydraulic cylinder, and the glass fiber cloth roll 800 passes through the baffle opening in turn and falls into the lifting system;

[0022] Step S120, identifying the state of the shaft changing system, starting the lifting system, lifting the glass fiber cloth roll from the unloading system to the shaft changing bracket, and the shaft changing device performs shaft changing processing on the glass fiber cloth roll;

[0023] Step S130, identifying the state of the axis changing system, starting the transfer system, and moving the robot arm 510 of the transfer system from the origin position to above the axis changing bracket of the axis changing system;

[0024] Step S140, identifying the cloth roll state and the mandrel position;

[0025] Step S150, the shaft changing system is started, and the position of the inflatable shaft is adjusted according to the position of the core shaft, and the position of the inflatable shaft and the cloth roll is identified at the same time. After they are in place, the inflatable shaft is inflated;

[0026] Step S160, the robot arm moves, identifies the position of the inflatable shaft, adjusts the position of the robot arm, and clamps the inflatable shaft;

[0027] Step S170, determining the state of the cloth roll on the unwinding bracket, calculating the current cloth roll placement position, and lifting the mechanical arm 510 to transfer the cloth roll;

[0028] Step S180, identifying the position of the unwinding support, adjusting the position of the robot arm, and loading the cloth roll;

[0029] Step S190, determine the state of the unwinding system, determine the state of the shaft changing system, calculate the end position of the robot arm, and move the robot arm to the end position. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of a feeding device according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the upstream part of the feeding device according to an embodiment of the present invention;

[0032] Figure 3 It is a flow chart of the automatic feeding control method described in an embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 100 unloading system, 110 opening, 120 flip platform, 121 side baffle, 122 end baffle, 130 bottom bracket, 200 lifting system, 300 shaft changing system, 310 cloth roll, 320 air shaft, 330 shaft changing bracket, 400 unwinding system, 410 unwinding bracket, 500 transfer system, 510 mechanical arm, 520 truss track, 530 crossbeam, 600 cloth cutting machine, 700 winding platform, 800 fiberglass cloth roll DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0036] like Figure 1 As shown, the automatic feeding device for glass fiber cloth rolls of wind turbine blades includes a discharging system 100, a lifting system 200, a shaft changing system 300, an unwinding system 400, and a transfer system 500. The discharging system 100, the lifting system 200, the shaft changing system 300 and the unwinding system 400 are arranged in sequence. The discharging system 100 transfers the glass fiber cloth roll 800 placed therein to the lifting system 200, and then the lifting system 200 lifts the glass fiber cloth roll 800 to the shaft changing system 300. The shaft changing system 300 intelligently controls the connection between the glass fiber cloth roll 800 and the unwinding system 400, so that the transfer system 500 transfers the glass fiber cloth roll 800 on the unwinding system 400 to the next predetermined workstation.

[0037] The unloading system 100 includes an unloading bin, in which the fiberglass cloth roll 800 is placed, and a flipping platform 120 is formed on the bottom surface of the unloading bin. An end baffle 122 is provided on the side of the unloading bin close to the lifting system 200, and an opening 110 is provided at the bottom of the end baffle 122. The unloading system 100 uses hydraulic oil as a power source, and the hydraulic oil is pumped to the cylinders on both sides by a hydraulic pump to realize the up and down movement of the pistons on the cylinders. The flipping platform 120 is connected to the bottom bracket 130 on one side (the side close to the lifting system) through a hinged support. When the stroke of the hydraulic oil cylinder changes, the flipping platform 120 realizes unilateral tipping. Specifically, side baffles 121 are provided on both sides of the flipping platform 120, and the accommodating cavity formed with the end baffle 122 constitutes the unloading bin to limit the placement position of the fiberglass cloth roll raw material. Preferably, the size of the opening 110 is adapted to the volume of the fiberglass cloth roll 800, allowing a fiberglass cloth roll to pass through at a time, avoiding the accumulation of cloth rolls and affecting the continuous and stable progress of the automatic feeding process.

[0038] The lifting system 200 is configured as an inclined ramp structure, and a driving structure is provided at the bottom of the lifting system 200 to drive the lifting system to operate. After the glass fiber cloth roll 800 enters the lifting system 200 from the unloading bin and enters the lower part of the lifting system, it is lifted from the lower part of the lifting system to a platform close to or basically level with the axis changing system, and then the axis changing system 300 controls the axis changing of the glass fiber cloth roll 800.

[0039] The shaft changing system 300 is arranged at the rear of the lifting system 200. The shaft changing system 300 includes two shaft changing devices. The two shaft changing devices are respectively arranged at the left and right sides of the rear of the lifting system 200 (the axial ends of the glass fiber cloth roll 800). A shaft changing bracket 330 is arranged between the two shaft changing devices. When the glass fiber cloth roll 800 is controlled to change the shaft, the glass fiber cloth roll is on the shaft changing bracket 330. When changing the shaft, the shaft changing device inserts the left and right short inflatable shafts 310 into the core shaft of the glass fiber cloth roll 800, and inflates and fixes the inflatable shaft 310. Furthermore, the shaft changing device is equipped with a hole position recognition device to recognize the position of the core shaft of the glass fiber cloth roll, and then adjust the position of the inflatable shaft 310 so that the inflatable shaft accurately enters the core shaft of the glass fiber cloth roll. The shaft changing device is also equipped with a distance sensor to detect the length of the inflatable shaft 310 inserted into the core shaft, so as to achieve the same position of the inflatable shaft each time it is inserted. Preferably, the short-section air shaft on the shaft changing device is a short air shaft, and the mandrel is inserted from both ends. At the same time, air is supplied to the air shaft through an automatic air nozzle to fix the air shaft on the mandrel. After the shaft changing system completes the shaft change for the fiberglass cloth roll 800, the fiberglass cloth roll is transferred to the unwinding system 400.

[0040] The unwinding system 400 is also arranged in two groups, which are respectively located at the axial ends of the fiberglass cloth roll 800, and are used to fix the two ends of the fiberglass cloth roll 800. Specifically, each group of fiberglass cloth roll 800 includes a plurality of unwinding brackets 410, and the upper ends of the unwinding brackets 410 are in contact with the air shafts at the two ends of the fiberglass cloth roll, and are used to fix the fiberglass cloth roll. Preferably, the unwinding system is in two groups, and each group can store four cloth rolls. During use, a group of fiberglass cloth rolls is first installed on the unwinding system 400, and during operation, a second group of fiberglass cloth rolls is installed on the unwinding system 400. Through cross-operation, the cloth cutting machine can keep working continuously. Preferably, the plurality of unwinding brackets 410 are arranged in a staggered manner, so as to facilitate the placement of multiple fiberglass cloth rolls on the unwinding system 400.

[0041] The transfer system 500 is arranged on the upper part of the unwinding system 400, and is used to transfer the glass fiber cloth roll fixed on the unwinding bracket 410 to the next predetermined station. The transfer to the next predetermined station can be that the transfer system 500 transfers the glass fiber cloth roll after the shaft change system to the unwinding station for unwinding; or the transfer system 500 transfers the glass fiber cloth roll that has been unwound at the unwinding station to the shaft change station to extract the air shaft.

[0042] Specifically, the transfer system 500 includes a truss track 520 and a crossbeam 530. The truss track 520 is configured as two parallel tracks. The crossbeam 530 is disposed on the truss track 520. The crossbeam 530 is perpendicular to the truss tracks 520 on both sides. A mechanical arm 510 is installed on the crossbeam 530. The mechanical arm 510 is perpendicular to the crossbeam 530 and the truss track 520. The mechanical arm 510 extends downward, and the end of the mechanical arm 510 is connected to the inflatable shaft 320 at both ends of the glass fiber cloth roll. The crossbeam moves along the truss track 520 under the drive of the driving device, and drives the mechanical arm 510 to move at the same time. Further, a driving structure is also disposed on the mechanical arm 510. In the process of the crossbeam 530 driving the mechanical arm 510 to move, the driving structure on the mechanical arm 510 can drive the mechanical arm 510 to rise and fall synchronously to connect with the glass fiber cloth rolls on the unwinding bracket 410 of different heights. Furthermore, the robot arm is provided with an identification device, which can identify the position of the inflatable shaft 310, clamp the inflatable shaft, and transport the cloth roll through the truss track 520.

[0043] The transfer system 500 identifies the mandrel of the unwinding fiberglass cloth roll 800 and transfers the mandrel to the shaft changing bracket 330 of the shaft changing system 300. The shaft changing system 300 identifies the position of the mandrel and removes the left and right short inflatable shafts 310 from the mandrel of the fiberglass cloth roll 800. The mandrel falls from the shaft changing bracket 330 into the recycling frame below.

[0044] A crawler-type cloth cutting machine 600 and a crawler-type winding platform 700 are arranged downstream of the transfer system 500. The cloth cutting machine 600 is used to cut the fiberglass cloth unwound by the unwinding system 400, cut the fiberglass cloth into small pieces as needed, and transport them to the winding platform 700 at the same time. After the winding is completed on the winding platform 700, it is transported to the cloth laying operation station.

[0045] like Figure 2 As shown, Figure 2 Schematic diagram of the process of the automatic feeding control method of the wind turbine blade glass fiber cloth roll provided in the embodiment of the present application. The following automatic feeding control method of the wind turbine blade glass fiber cloth roll in the embodiment of the present application can be used for the automatic feeding device of the wind turbine blade glass fiber cloth roll.

[0046] The operation control method for automatically feeding the glass fiber cloth roll of a wind turbine blade according to the embodiment of the present application comprises the following steps:

[0047] Step S110 , loading the wind turbine blade glass fiber cloth roll raw material in the unloading system 100 , lifting by the hydraulic cylinder, and the glass fiber cloth roll 800 passes through the baffle opening 110 in sequence and falls into the lifting system 200 .

[0048] Step S120, identifying the state of the shaft changing system 300, starting the lifting system 200, lifting the glass fiber cloth roll from the unloading system to the shaft changing bracket 330, and the shaft changing device performs shaft changing processing on the glass fiber cloth roll.

[0049] Step S130 , identifying the state of the axis changing system 300 , starting the transfer system 500 , and moving the robot arm 510 of the transfer system 500 from the origin position to above the axis changing bracket 330 of the axis changing system 300 .

[0050] Step S140, identifying the cloth roll state and the core shaft position.

[0051] Step S150, the shaft changing system 300 is started, and the position of the inflatable shaft is adjusted according to the position of the core shaft, and the position of the inflatable shaft and the cloth roll are identified at the same time. After they are in place, the inflatable shaft is inflated.

[0052] Step S160, the robot arm 510 moves, identifies the position of the inflatable shaft, adjusts the position of the robot arm, and clamps the inflatable shaft.

[0053] Step S170, determine the state of the cloth roll on the unwinding bracket 410, calculate the current position of the cloth roll, and lift the robot arm 510 to transfer the cloth roll.

[0054] Step S180, identifying the position of the unwinding bracket 410, adjusting the position of the robot arm 510, and loading the cloth roll.

[0055] Step S190, determine the state of the unwinding system 500, determine the state of the shaft changing system 300, calculate the end position of the robot arm 510, and move the robot arm 510 to the end position.

[0056] Figure 3 This is a structural block diagram of the automatic feeding control system for wind turbine blade glass fiber cloth rolls provided in an embodiment of the present application.

[0057] The wind turbine blade glass fiber cloth roll automatic feeding control system of this embodiment includes:

[0058] The S210 hydraulic control module is used to control the lifting of the unloading system to achieve tipping unloading, so that the fiberglass cloth roll automatically enters the lifting system 200.

[0059] The S220 lifting module is used to lift the glass fiber cloth roll and transport it to the shaft changing bracket 330.

[0060] S230 is an identification template used to obtain the status information of the shaft changing system 300, the position information of the cloth roll core shaft, the position information of the air shaft, and the position information of the unwinding bracket.

[0061] The S240 shaft changing module is used to control the shaft changing mechanism to install the shaft according to the position information of the cloth roll shaft.

[0062] The S250 transfer module is used to transfer the glass fiber cloth roll according to the position information of the air shaft and the position information of the unwinding bracket 410.

[0063] The S260 unwinding module is used to store fiberglass cloth rolls and provide unwinding power for subsequent processes.

[0064] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A wind turbine blade glass fiber cloth roll feeding device, It is characterized in that The invention comprises a discharging system (100), a lifting system (200), an axis changing system (300), an unwinding system (400), and a transfer system (500). The discharging system (100), the lifting system (200), the axis changing system (300), and the unwinding system (400) are arranged in sequence. The discharging system (100) transfers a glass fiber cloth roll (800) placed therein to the lifting system (200), and then the lifting system (200) lifts the glass fiber cloth roll (800) to the axis changing system (300). The axis changing system (300) intelligently controls the connection between the glass fiber cloth roll (800) and the unwinding system (400), so that the transfer system (500) transfers the glass fiber cloth roll (800) on the unwinding system (400) to a predetermined workstation for the next step.

2. The feeding device according to claim 1, It is characterized in that The unloading system (100) comprises a unloading bin, in which a fiberglass cloth roll (800) is placed, a bottom surface of the unloading bin forms a turning platform (120), an end baffle (122) is arranged on a side of the unloading bin close to the lifting system (200), and an opening (110) is arranged at the bottom of the end baffle (122).

3. The feeding device according to claim 2, It is characterized in that Side baffles (121) are arranged on both sides of the turning platform (120), and the accommodating cavity formed with the end baffles (122) constitutes a material unloading bin.

4. The feeding device according to claim 1, It is characterized in that The shaft changing system (300) comprises two shaft changing devices, which are respectively arranged on both sides of the lifting system (200), and a shaft changing bracket (330) is arranged between the two shaft changing devices. When the shaft changing control of the glass fiber cloth roll (800) is performed, the glass fiber cloth roll is placed on the shaft changing bracket (330).

5. The feeding device according to claim 4, It is characterized in that The shaft changing device is provided with a hole position identification device to identify the core shaft position of the glass fiber cloth roll.

6. The feeding device according to claim 4, It is characterized in that The shaft changing device is provided with an inflatable shaft (310), and the shaft changing device inserts the left and right short inflatable shafts (310) into the core shaft of the glass fiber cloth roll (800).

7. The feeding device according to claim 1, It is characterized in that The unwinding system (400) is also configured as two groups, which are respectively located at the axial ends of the glass fiber cloth roll (800) and are used to fix the two ends of the glass fiber cloth roll (800). Each group of glass fiber cloth roll (800) includes a plurality of unwinding brackets (410). The upper ends of the unwinding brackets (410) are in contact with the air shafts at the two ends of the glass fiber cloth roll and are used to fix the glass fiber cloth roll.

8. The feeding device according to claim 7, It is characterized in that The plurality of unwinding brackets (410) are arranged in a staggered manner in height.

9. The feeding device according to claim 1, It is characterized in that The transfer system (500) is arranged on the upper part of the unwinding system (400), and the transfer system (500) includes a truss track (520) and a crossbeam (530). The truss track (520) is arranged as two parallel tracks. The truss track (520) is provided with a crossbeam (530), and the crossbeam (530) is perpendicular to the truss tracks (520) on both sides. A mechanical arm (510) is installed on the crossbeam (530), and the mechanical arm (510) is perpendicular to the crossbeam (530) and the truss track (520). The mechanical arm (510) extends downward, and the end of the mechanical arm (510) is connected to the air shaft (320) at both ends of the glass fiber cloth roll.

10. A method for controlling the feeding of glass fiber cloth rolls for wind turbine blades. It is characterized in that Using the feeding device according to any one of claims 1 to 9, the control method comprises the following steps: Step S110, loading the wind turbine blade glass fiber cloth roll raw material in the unloading system, lifting the hydraulic cylinder, and the glass fiber cloth roll 800 passes through the baffle opening in sequence and falls into the lifting system; Step S120, identifying the state of the shaft changing system, starting the lifting system, lifting the glass fiber cloth roll from the unloading system to the shaft changing bracket, and having the shaft changing device perform shaft changing processing on the glass fiber cloth roll; Step S130, identifying the state of the axis changing system, starting the transfer system, and moving the robot arm 510 of the transfer system from the origin position to above the axis changing bracket of the axis changing system; Step S140, identifying the cloth roll state and the mandrel position; Step S150, the shaft changing system is started, and the position of the inflatable shaft is adjusted according to the position of the core shaft, and the position of the inflatable shaft and the cloth roll is identified at the same time. After they are in place, the inflatable shaft is inflated; Step S160, the robot arm moves, identifies the position of the inflatable shaft, adjusts the position of the robot arm, and clamps the inflatable shaft; Step S170, determining the state of the cloth roll on the unwinding bracket, calculating the current cloth roll placement position, and lifting the mechanical arm 510 to transfer the cloth roll; Step S180, identifying the position of the unwinding support, adjusting the position of the robot arm, and loading the cloth roll; Step S190, determine the state of the unwinding system, determine the state of the shaft changing system, calculate the end position of the robot arm, and move the robot arm to the end position.

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