Blade root machining system

Abstract

The invention discloses a blade root machining system which is used for machining a blade root. The blade root comprises a skin, a core body and a flange, the blade root machining system comprises an assembly platform, the assembly platform is provided with a cloth paving station, an assembly station and a glue injection station, and tracks are arranged between the cloth paving station and the assembly station, between the assembly station and the glue injection station and between the cloth paving station and the glue injection station; the bearing device is arranged on the track and can reciprocate between the cloth paving station and the assembling station, between the assembling station and the glue injecting station and between the cloth paving station and the glue injecting station along the track; the mold is arranged on the bearing device; the cloth paving module is arranged at the cloth paving station, and the cloth paving module is configured to pave a skin on the mold; the assembling module is arranged on the assembling station and is configured to assemble the flange and the core body and place the flange and the core body on the mold. According to the blade root machining system, the labor intensity of workers can be effectively reduced, and the production efficiency and the qualified rate of blade roots are improved.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and in particular to a blade root processing system. Background Art

[0002] In recent years, wind energy has attracted widespread attention as a large-scale commercial clean renewable energy. Wind turbine blades are one of the important components of wind turbine generator sets. The rotation of wind turbine blades drives the generator to generate electricity. The blade root, as an important component of wind turbine blades, plays a role in bearing loads.

[0003] At present, the production of blade roots is mainly achieved by manual production and assembly. With the rapid development of the wind power industry, the size of wind turbines continues to increase, and wind turbine blades are also developing in large sizes, resulting in increasing difficulty in the production and assembly of blade roots and increasing labor intensity. At the same time, due to problems such as high staff mobility and unstable operating level, the production efficiency and pass rate of blade roots are seriously affected. Summary of the invention

[0004] The present application provides a blade root processing system, which can effectively reduce the labor intensity of personnel and improve the production efficiency and qualification rate of the blade root.

[0005] The present application provides a blade root processing system for processing a blade root, wherein the blade root comprises a skin, a core and a flange, and the blade root processing system comprises:

[0006] The assembly platform has at least one cloth laying station, at least one assembly station and at least one glue injection station, and tracks are arranged between the cloth laying station and the assembly station, between the assembly station and the glue injection station, and between the cloth laying station and the glue injection station;

[0007] A carrying device is arranged on the track, and the carrying device can reciprocate along the track between the cloth laying station and the assembly station, between the assembly station and the glue injection station, and between the cloth laying station and the glue injection station;

[0008] A mold, arranged on the carrying device;

[0009] A cloth laying module, disposed at the cloth laying station, and configured to lay the skin on the mold;

[0010] An assembly module is arranged at the assembly station, and is configured to assemble the flange and the core and place them on the mold.

[0011] The blade root processing system as described above, wherein the assembly module comprises:

[0012] A bracket, used for supporting the flange, wherein along the axial direction of the flange, the bracket has a first side and a second side opposite to each other, and the bracket has a first assembly position;

[0013] A first mechanical arm, movably disposed on a first side of the bracket, the first mechanical arm being used to assemble the bolts to the flange;

[0014] A core assembly unit is movably disposed on the second side of the bracket at the first assembly position, and is used to assemble the core with the flange.

[0015] As described above, the blade root processing system, wherein a bolt supply device and a first guide rail extending along a first horizontal direction are provided on the first side of the bracket, the first robot arm is installed on the first guide rail and can reciprocate along the first horizontal direction, and the first robot arm can grab the bolt from the bolt supply device and assemble it to the flange.

[0016] The blade root processing system as described above, wherein the core body comprises a plurality of bolt sleeves, a plurality of wedge blocks and a plurality of pultrusion rods;

[0017] The core assembly unit comprises:

[0018] A second mechanical arm, used for screwing each of the bolt sleeves onto one of the bolts;

[0019] a third mechanical arm, used for assembling the wedge block between every two adjacent bolt sleeves, wherein a portion of the wedge block is sandwiched between the two adjacent bolt sleeves, and another portion of the wedge block extends in a direction away from the flange;

[0020] The fourth mechanical arm is used to assemble a pultruded rod on a side of each bolt sleeve away from the flange, and to clamp the pultruded rod between the two wedge blocks located on both sides of the corresponding bolt sleeve.

[0021] The blade root processing system as described above, wherein the assembly module further comprises a second guide rail extending along a second horizontal direction, the axial direction of the flange is parallel to the second horizontal direction, and the bracket is mounted on the second guide rail and can reciprocate along the second horizontal direction;

[0022] The bracket further has a second assembly position, which is spaced apart from the first assembly position along the second horizontal direction, and at the second assembly position, the core assembly unit is located at a second side of the bracket;

[0023] When the bracket is located at the second assembly position, it can dock with the carrying device located at the assembly station.

[0024] The blade root processing system as described above, wherein a laser aligner is provided between the bracket and the carrying device;

[0025] And / or, the bracket is provided with a first buckle, and the carrier is provided with a second buckle, and when the bracket is located at the second assembly position, the first buckle can be positioned and engaged with the second buckle of the carrier device located at the assembly station.

[0026] The blade root processing system as described above, wherein the assembly module further comprises at least one set of first trusses, wherein the first trusses comprise:

[0027] At least two support columns extending in a vertical direction and spaced apart in a first horizontal direction;

[0028] A support beam extending along the first horizontal direction, and the upper ends of the support columns are connected to the support beam, and the second mechanical arm, the third mechanical arm and the fourth mechanical arm are all installed on the support beam and can reciprocate along the support beam in the first horizontal direction;

[0029] The support column and the support beam are combined to form an assembly channel that runs through the second horizontal direction. When the mold is placed at the assembly station, the flange and the core can move along the second horizontal direction and pass through the assembly channel to be placed in the mold;

[0030] The first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other.

[0031] The blade root processing system as described above, wherein the laying module comprises:

[0032] Two support trusses are spaced apart along a first horizontal direction, a portion of the track extends between the two support trusses along the first horizontal direction, and a distance between the two support trusses along the first horizontal direction is greater than a dimension of the mold along the first horizontal direction;

[0033] A movable truss extending along the first horizontal direction, two ends of the movable truss being respectively connected to the two supporting trusses, and the movable truss being capable of reciprocating along the second horizontal direction;

[0034] A cloth supply device, when the mold is provided between the two support trusses, the cloth supply device can move around the periphery of the mold, and the cloth supply device is used to carry the glass fiber cloth roll;

[0035] A cloth-laying device connected to the movable truss, the cloth-laying device can reciprocate along the first horizontal direction relative to the movable truss, and lays the glass fiber cloth on the mold to form the skin;

[0036] The first horizontal direction is perpendicular to the second horizontal direction.

[0037] The blade root processing system as described above, wherein the spreading device comprises:

[0038] A lifting assembly is extended in the vertical direction and is movably connected to the movable truss;

[0039] A cloth spreading assembly is rotatably connected to the lower end of the lifting assembly, and the lifting assembly can drive the cloth spreading assembly to move back and forth in the vertical direction;

[0040] The first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other.

[0041] The blade root processing system as described above, wherein the cloth laying assembly comprises:

[0042] A cloth taking unit, used for clamping the glass fiber cloth roll;

[0043] A glue spraying unit, disposed on one side of the cloth taking unit, and used for spraying adhesive onto one side surface of the glass fiber cloth;

[0044] The cloth pulling unit is arranged on a side of the cloth taking unit away from the glue spraying unit, and is used for clamping the end of the glass fiber cloth and laying it on the mold.

[0045] The blade root processing system as described above, wherein the cloth pulling unit comprises:

[0046] The guide mechanism can be extended and retracted along the direction in which the cloth taking unit, the glue spraying unit and the cloth pulling unit are arranged at intervals;

[0047] A cloth pulling mechanism, movably mounted on the guide mechanism, the cloth pulling mechanism can move along the guide mechanism toward the cloth taking unit and dock with the cloth taking unit to grab the end of the glass fiber cloth, and the cloth pulling mechanism can move along the guide mechanism toward the direction away from the cloth taking unit to unfold the glass fiber cloth;

[0048] A cloth suction mechanism, fixedly mounted on the guide mechanism, the cloth suction mechanism can absorb the stretched and tensioned glass fiber cloth;

[0049] A cloth pressing mechanism, fixedly mounted on the guide mechanism, capable of pressing the tensioned glass fiber cloth flat onto the mold;

[0050] A cutting mechanism is fixedly mounted on the guide mechanism, and the cutting mechanism can cut the glass fiber cloth.

[0051] The blade root processing system of the present application, by arranging at least one laying station, at least one assembly station and at least one glue injection station on an assembly platform, and arranging tracks between the laying station and the assembly station, between the assembly station and the glue injection station, and between the laying station and the glue injection station, can move a carrying device carrying a mold to any laying station, assembly station or glue injection station, and at the same time, a laying module can be used to lay a skin on the mold located on the laying station, and an assembly module can be used to assemble a flange and a core body onto the mold, so that the flange, core body and skin are combined to form a complete blade root, thereby realizing automated and standardized production of blade roots, improving the production efficiency and pass rate of blade roots, and at the same time reducing the proportion of manual assembly processes in the blade root production process and reducing the labor intensity of staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0053] Figure 1 A schematic diagram of the structure of a blade root processing system provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of the partial structure of a blade root processing system provided in an embodiment of the present application;

[0055] Figure 3 A schematic diagram of the partial structure of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0056] Figure 4 Another partial structural schematic diagram of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of another partial structure of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0058] Figure 6 A schematic diagram of another partial structure of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0059] Figure 7 A schematic structural diagram of a core assembly unit of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0060] Figure 8 A schematic structural diagram of a second robot arm and a third robot arm of a core assembly unit of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0061] Fig. 9 A schematic structural diagram of a fourth robot arm of a core assembly unit of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0062] Fig.10 A schematic structural diagram of a core supply device of an assembly module of a blade root processing system provided in an embodiment of the present application;

[0063] Fig.11 A schematic diagram of the structure of a laying module of a blade root processing system provided in an embodiment of the present application;

[0064] Fig.12 A schematic structural diagram of a cloth taking unit of a cloth spreading assembly of a cloth spreading module of a blade root processing system provided in an embodiment of the present application;

[0065] Fig.13 A schematic structural diagram of a glue spraying unit of a spreading assembly of a spreading module of a blade root processing system provided in an embodiment of the present application;

[0066] Fig.14 A schematic structural diagram of a cloth-pulling unit of a cloth-pulling module of a blade root processing system provided in an embodiment of the present application;

[0067] Fig.15 Another structural schematic diagram of a cloth-pulling unit of a cloth-pulling module of a blade root processing system provided in an embodiment of the present application;

[0068] Fig.16 A schematic structural diagram of a guide mechanism and a cloth pulling mechanism of a cloth pulling unit of a cloth pulling module of a blade root processing system provided in an embodiment of the present application;

[0069] Fig.17 A schematic structural diagram of a guide mechanism, a cloth pulling mechanism and a cloth suction mechanism of a cloth pulling unit of a cloth spreading module of a blade root processing system provided in an embodiment of the present application;

[0070] Fig.18 A schematic structural diagram of a cloth pressing mechanism of a cloth pulling unit of a cloth spreading module of a blade root processing system provided in an embodiment of the present application;

[0071] Fig.19 A schematic structural diagram of a cutting mechanism of a cloth spreading unit of a cloth spreading module of a blade root processing system provided in an embodiment of the present application;

[0072] Fig. 20 A schematic structural diagram of the cloth rod mechanism of the cloth pulling unit of the cloth spreading module of the blade root processing system provided in an embodiment of the present application.

[0073] In the drawings, the drawings are not necessarily drawn to scale.

[0074] Description of Figure Numbers:

[0075] 1. Assembly platform; 11. Fabric spreading station; 12. Assembly station; 13. Glue injection station; 14. Track; 2. Carrying device; 21. Second buckle; 3. Mold; 4. Fabric spreading module; 41. Support truss; 411. Crossbeam; 42. Moving truss; 43. Fabric supply device; 44. Fabric spreading device; 441. Lifting assembly; 442. Fabric spreading assembly; 4421. Fabric taking unit; 4422. Glue spraying unit; 4423. Fabric pulling unit; 44231. Guide mechanism; 442311. Fixed section; 442312. Telescopic section; 44232. Fabric pulling mechanism; 44233. Fabric suction mechanism; 44234. Fabric pressing mechanism; 44235. Cutting mechanism; 442351. Knife head; 44236 , rod-cloth mechanism; 442361, rod-cloth strip; 442362, rod-cloth brush; 5, assembly module; 51, bracket; 511, first buckle; 52, first mechanical arm; 53, bolt supply device; 54, first guide rail; 55, core assembly unit; 551, second mechanical arm; 552, third mechanical arm; 553, fourth mechanical arm; 554, core supply device; 56, second guide rail; 57, laser aligner; 58, first truss; 581, support column; 582, support beam; 583, assembly channel; 59, flange supply device; 6, core; 61, bolt sleeve; 62, wedge block; 621, first section; 622, second section; 63, pultrusion rod; 7, flange; 8, fiberglass cloth roll;

[0076] X, first horizontal direction; Y, second horizontal direction; Z, vertical direction. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0078] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0079] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0080] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0081] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0082] The term "plurality" used in the present application refers to two or more (including two).

[0083] The first horizontal direction X, the second horizontal direction Y, and the vertical direction Z that appear in the present application are only used to more clearly illustrate the structure of the present application in conjunction with the drawings, and the present application is not limited thereto. Optionally, the first horizontal direction X and the second horizontal direction Y are both parallel to the horizontal plane, the vertical direction Z is perpendicular to the horizontal plane, and the first horizontal direction X, the second horizontal direction Y, and the vertical direction Z are perpendicular to each other.

[0084] like Figure 1 and Figure 2 As shown, the present application provides a blade root processing system for processing a blade root.

[0085] The blade root includes a skin, a core 6 and a flange 7. The core 6 is an annular structure. The skin includes an inner skin and an outer skin. The inner skin is fixedly covered on the inner surface of the core 6, and the outer skin is fixedly covered on the outer surface of the core 6. The flange 7 is installed at one axial end of the annular structure to form a complete blade root. Since the core 6 is relatively large, in this application, the core 6 and the flange 7 are divided into segments along the circumferential direction and assembled to form a blade root segment, and then the blade root segment is assembled to form a complete blade root.

[0086] The blade root processing system comprises an assembly platform 1 , a carrying device 2 , a mold 3 , a spreading module 4 and an assembly module 5 .

[0087] The assembly platform 1 has an assembly plane parallel to the horizontal plane. The assembly platform 1 is divided into at least one laying station 11, at least one assembly station 12 and at least one glue injection station 13. The skin laying is completed at the laying station 11, the flange 7 and the core 6 are assembled at the assembly station 12 and the assembled flange 7 and the core 6 are placed in the mold 3 to complete the assembly of the core 6, the outer skin and the inner skin; the glue injection between the inner skin and the outer skin is completed at the glue injection station 13, and after the glue is cured, the blade root section is formed.

[0088] Tracks 14 are provided between the cloth-laying station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the cloth-laying station 11 and the glue injection station 13; the carrying device 2 is provided on the track 14, and the carrying device 2 can reciprocate along the track 14 between the cloth-laying station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the cloth-laying station 11 and the glue injection station 13; that is, the carrying device 2 can reciprocate along the guide rails between the cloth-laying station 11, the assembly station 12 and the glue injection station 13, so as to smoothly realize each assembly process.

[0089] The mold 3 is arranged on the supporting device 2. Optionally, the core 6 and the flange 7 are divided into two sections along the circumference of the blade root for assembly and processing. The axial projection of each mold 3 along the flange 7 is semicircular, so that the segmented assembly can reduce the difficulty of assembly while minimizing the number of segments, which can effectively reduce the difficulty of assembling the blade root section and improve the accuracy of the assembly machine.

[0090] The cloth laying module 4 is arranged at the cloth laying station 11, and the cloth laying module 4 is configured to lay the skin on the mold 3; the assembly module 5 is arranged at the assembly station 12, and the assembly module 5 is configured to assemble the flange 7 and the core 6 and place them on the mold 3. Specifically, the carrying device 2 first drives the mold 3 to move to the cloth laying station 11 to lay the outer skin, and then drives the mold 3 to move to the assembly station 12 to assemble the core 6 and the flange 7, and then moves to the cloth laying station 11 again to lay the inner skin on the inner side of the core 6, and then moves to the glue injection station 13 to inject glue between the inner skin and the outer skin, and finally moves to the vacant position of the assembly platform 1 except the cloth laying station 11, the assembly station 12 and the glue injection station 13, and waits for the glue to solidify to complete the processing of a blade root section.

[0091] The laying of the skin can be completed automatically by the laying module 4, the assembly of the flange 7 and the core 6 can be completed automatically by the assembly module 5, and the glue injection process can be performed manually or mechanically. The automated and standardized production of the blade root can effectively improve the production efficiency and qualified rate of the blade root, while reducing the proportion of manual assembly processes in the production process of the blade root and reducing the labor intensity of the staff.

[0092] like Figures 2 to 4As shown, the blade root processing system provided by the present application, wherein the assembly module 5 includes a bracket 51 , a first robot arm 52 and a core assembly unit 55 .

[0093] The bracket 51 is used to support the flange 7. Along the axial direction of the flange 7, the bracket 51 has a first side and a second side opposite to each other, and the bracket 51 has a first assembly position; at the first assembly position, the assembly of the bolts on the flange 7 and the assembly of the core 6 and the flange 7 are completed.

[0094] The first mechanical arm 52 is movably disposed on the first side of the bracket 51, and is used to install bolts on the flange 7; specifically, a plurality of positioning holes are provided at intervals along the circumference of the flange 7, and each bolt is passed through the first side of the bracket 51 and assembled into the positioning hole on the flange 7.

[0095] In the first assembly position, the core assembly unit 55 is movably disposed on the second side of the bracket 51 , and the core assembly unit 55 is used to connect the core 6 with bolts to assemble the flange 7 and the core 6 .

[0096] like Figures 2 to 5 As shown, the blade root processing system provided by the present application, wherein a bolt supply device 53 and a first guide rail 54 extending along a first horizontal direction X are provided on a first side of a bracket 51, the bolt supply device 53 is used to provide bolts, a first robotic arm 52 is installed on the first guide rail 54 and can reciprocate along the first horizontal direction X, and the first robotic arm 52 can grab bolts from the bolt supply device 53 to assemble the bolts into positioning holes at various positions on the flange 7.

[0097] like Figure 5 and Figure 6 As shown, the blade root processing system provided by the present application, wherein the core body 6 includes a plurality of bolt sleeves 61, a plurality of wedge blocks 62 and a plurality of pultrusion rods 63; each wedge block 62 is arranged at intervals along the circumference of the blade root, and a bolt sleeve 61 and a pultrusion rod 63 are arranged between each two adjacent wedge blocks 62, and the bolt sleeve 61 and the pultrusion rod 63 located between the same two wedge blocks 62 are arranged along the axial direction of the blade root. Specifically, the wedge block 62 has a first section 621 and a second section 622 connected by integral molding, wherein the dimensions of the first section 621 along the circumference of the blade root and the radial direction of the blade root remain unchanged, and the dimensions of the second section 622 along the circumference of the blade root remain unchanged along the direction from the first section 621 to the second section 622, and the dimensions of the second end along the radial direction of the blade root gradually decrease, the bolt sleeve 61 is fixedly clamped between the first sections 621 of two adjacent wedge blocks 62, and the pultrusion rod 63 is clamped between the second sections 622 of two adjacent wedge blocks 62.

[0098] The core assembly unit 55 includes a second robot arm 551 , a third robot arm 552 and a fourth robot arm 553 which are independent of each other.

[0099] The second mechanical arm 551 is used to screw each bolt sleeve 61 onto a bolt; the third mechanical arm 552 is used to assemble a wedge block 62 between every two adjacent bolt sleeves 61, so that the first section 621 of the wedge block 62 is clamped and fixed between the two adjacent bolt sleeves 61, and the other part of the wedge block 62 extends in a direction away from the flange 7; the fourth mechanical arm 553 is used to assemble a pultrusion rod 63 on the side of each bolt sleeve 61 away from the flange 7, and the pultrusion rod 63 is clamped between the second sections 622 of the two wedge blocks 62 located on both sides of the corresponding bolt sleeve 61.

[0100] The first robotic arm 52, the second robotic arm 551, the third robotic arm 552 and / or the fourth robotic arm 553 can all move flexibly in a three-dimensional space along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z to drive the corresponding assembly parts to move to different assembly positions to complete assembly.

[0101] Optionally, the first robot arm 52, the second robot arm 551, the third robot arm 552 and / or the fourth robot arm 553 can adopt a gantry robot that can be extended and retracted along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z to cooperate to achieve movement in three-dimensional space, or a multi-axis robot with five or more axes can be directly used to achieve movement in three-dimensional space.

[0102] like Figures 4 to 6 As shown, the blade root processing system provided by the present application, wherein the assembly module 5 also includes a second guide rail 56, the second guide rail 56 extends along the second horizontal direction Y, the axial direction of the flange 7 is parallel to the second horizontal direction Y, and the bracket 51 is installed on the second guide rail 56 and can reciprocate along the second horizontal direction Y.

[0103] The bracket 51 also has a second assembly position, which is spaced apart from the first assembly position along the second horizontal direction Y. In the second assembly position, the core assembly unit 55 is located at a second side of the bracket 51;

[0104] When the bracket 51 is located at the second assembly position, it can dock with the carrying device 2 located at the assembly station 12 to ensure that the core 6 and the flange 7 are accurately assembled to the mold 3.

[0105] Optionally, a laser aligner 57 is provided between the bracket 51 and the carrying device 2; during the process of the bracket 51 moving toward the carrying device 2, the laser aligner 57 can be used to detect whether the bracket 51 and the carrying device 2 are accurately aligned. If the bracket 51 and the carrying device 2 are not accurately aligned, the position of the carrying device 2 can be adjusted so that the two are aligned, thereby ensuring the subsequent accurate assembly of the flange 7 and the core body 6 in the mold 3.

[0106] Optionally, a first buckle 511 is provided on the bracket 51, and a second buckle 21 is provided on the carrier. When the bracket 51 is located at the second assembly position, the first buckle 511 can be positioned and engaged with the second buckle 21 of the carrier device 2 located on the assembly station 12. The bracket 51 is fixed to the corresponding carrier device 2 through the engagement of the first buckle 511 and the second buckle 21, so that the bracket 51 and the carrier device 2 remain relatively still, and the alignment state of the two is maintained.

[0107] like Figure 4 and Figures 7 to 9 As shown, the blade root processing system provided by the present application, wherein the assembly module 5 further includes at least one set of first trusses 58 , and the first trusses 58 include at least two support columns 581 and a support beam 582 .

[0108] The support columns 581 extend along the vertical direction Z and are arranged at intervals along the first horizontal direction X;

[0109] The support beam 582 is extended along the first horizontal direction X, and the lower end of each support column 581 is fixed to the assembly platform 1, and the upper end of each support column 581 is connected to the support beam 582. Every two adjacent support columns 581 and the support beam 582 are enclosed to form an assembly channel 583 that passes through the second horizontal direction Y. The second guide rail 56 passes through the assembly channel 583. When the carrying device 2 and the mold 3 are placed in the assembly station 12, the bracket 51 can drive the flange 7 and the core 6 to move along the second horizontal direction Y and pass through the assembly channel 583 to be placed in the mold 3.

[0110] The second robot arm 551 , the third robot arm 552 and the fourth robot arm 553 are all installed on the support beam 582 and can reciprocate in the first horizontal direction X along the support beam 582 .

[0111] Optionally, there are multiple support beams 582 to form multiple assembly channels 583. Each assembly channel 583 can be divided into an assembly station 12 and a group of assembly devices can be set up to achieve simultaneous operation of multiple assembly stations 12 and improve blade root processing efficiency.

[0112] like Fig.10 As shown, in the blade root processing system provided by the present application, the assembly module 5 further includes a core supply device 554 and a flange supply device 59 .

[0113] The core supply device 554 includes a first area, a second area and a third area. The bolt sleeve 61 is placed in the first area for the second robot arm 551 to grab, the wedge block 62 is placed in the second area for the third robot arm 552 to grab, and the pultrusion rod 63 is placed in the third area for the fourth robot arm 553 to grab.

[0114] The flange supply device 59 is used to provide the flange 7 plate.

[0115] like Fig.11 As shown, the blade root processing system provided by the present application, wherein the cloth spreading module 4 includes two supporting trusses 41 , a moving truss 42 , a cloth supply device 43 and a cloth spreading device 44 .

[0116] Two support trusses 41 are spaced apart along the first horizontal direction X, a portion of the track 14 extends between the two support trusses 41 along the first horizontal direction X, and a distance between the two support trusses 41 along the first horizontal direction X is greater than a size of the mold 3 along the first horizontal direction X, so that the supporting device 2 drives the mold 3 to move between the two support trusses 41 for laying.

[0117] Each supporting truss 41 can be regarded as a gantry truss, having a crossbeam 411 extending along the second horizontal direction Y. The mobile truss 42 extends along the first horizontal direction X, and both ends of the mobile truss 42 are respectively connected to the crossbeams 411 of the two supporting trusses 41, so that the mobile truss 42 can reciprocate along the second horizontal direction Y;

[0118] The cloth supply device 43 is movably arranged at any position of the periphery of the mold 3. When the mold 3 is arranged between the two supporting trusses 41, the cloth supply device 43 can move at the periphery of the mold 3. The cloth supply device 43 is used to carry the glass fiber cloth roll 8 and transport the glass fiber cloth roll 8 to any position of the periphery of the mold 3 so that the cloth spreading device 44 can grab it.

[0119] The cloth spreading device 44 is connected to the movable truss 42 , and can reciprocate along the first horizontal direction X relative to the movable truss 42 , grab the glass fiber cloth roll 8 and spread the glass fiber cloth on the mold 3 to form a skin.

[0120] like Fig.11 As shown, the blade root processing system provided by the present application, wherein the spreading device 44 includes a lifting component 441 and a spreading component 442 .

[0121] The lifting assembly 441 is extended along the vertical direction Z, and the lifting assembly 441 is movably connected to the movable truss 42; the cloth-laying assembly 442 is rotatably connected to the lower end of the lifting assembly 441, and the lifting assembly 441 can drive the cloth-laying assembly 442 to reciprocate along the vertical direction Z; and the cloth-laying assembly 442 itself rotates and swings to lay the fiberglass cloth on the curved surface of the mold 3 or the core 6 to form a skin.

[0122] like Figures 12 to 15 As shown, the blade root processing system provided by the present application, wherein the cloth spreading assembly 442 includes a cloth taking unit 4421 , a glue spraying unit 4422 and a cloth pulling unit 4423 .

[0123] The cloth taking unit 4421 is used to clamp the glass fiber cloth roll 8 and lift the glass fiber cloth roll 8 to the top of the mold 3 to prepare for laying the glass fiber cloth.

[0124] The cloth pulling unit 4423 is disposed on a side of the cloth taking unit 4421 away from the glue spraying unit 4422 , and the cloth pulling unit 4423 is used for clamping the end of the glass fiber cloth and stretching it to lay it on the mold 3 .

[0125] The glue spraying unit 4422 is arranged on one side of the cloth taking unit 4421, and the glue spraying unit 4422 is used to spray adhesive onto one side surface of the glass fiber cloth; optionally, after the glass fiber cloth is laid on the mold 3, the adhesive is sprayed onto the glass fiber cloth, and then the glass fiber cloth can be continuously laid in layers so that multiple layers of glass fiber cloth are stacked, bonded and fixed to form a skin of the required thickness.

[0126] like Figures 14 to 19 As shown, the blade root processing system provided by the present application, wherein the cloth pulling unit 4423 includes a guiding mechanism 44231 , a cloth pulling mechanism 44232 , a cloth sucking mechanism 44233 , a cloth pressing mechanism 44234 and a cutting mechanism 44235 .

[0127] The guiding mechanism 44231 can be extended and retracted along the direction in which the cloth taking unit 4421, the glue spraying unit 4422 and the cloth pulling unit 4423 are arranged at intervals; optionally, the guiding mechanism 44231 has two mutually parallel telescopic axes, each of which includes a movably plugged fixed section 442311 and a telescopic section 442312, and the telescopic section 442312 can reciprocate along its extension direction relative to the fixed section 442311.

[0128] The cloth pulling mechanism 44232 is movably mounted on the telescopic section 442312 of the guide mechanism 44231. When the telescopic section 442312 moves relative to the fixed section 442311, the cloth pulling mechanism 44232 can move with the telescopic section 442312 toward the cloth taking unit 4421 and dock with the cloth taking unit to grab the end of the fiberglass cloth, and the cloth pulling mechanism 44232 can move with the telescopic section 442312 toward the direction away from the cloth taking unit 4421 to unfold the fiberglass cloth.

[0129] The cloth suction mechanism 44233 is fixedly installed on the fixed section 442311 of the guide mechanism 44231. When the cloth pulling mechanism 44232 pulls the glass fiber cloth to unfold, the cloth suction mechanism 44233 can absorb the glass fiber cloth to tighten the glass fiber cloth during its unfolding process, so as to prepare for the laying of the glass fiber cloth.

[0130] The cloth pressing mechanism 44234 is fixedly installed on the fixed section 442311 of the guide mechanism 44231. The cloth pressing mechanism 44234 can press the tensioned glass fiber cloth onto the mold 3 to ensure the smooth laying of the glass fiber cloth.

[0131] The cutting mechanism 44235 is fixedly installed on the guide mechanism 44231. The cutting mechanism has a knife head 442351. After the glass fiber cloth is unfolded to a suitable length, the knife head 442351 of the cutting mechanism 44235 can cut the glass fiber cloth.

[0132] Optionally, the carrying device 2 includes a base and a support, the support is used to carry and position the mold 3 , the support is arranged on the base, and the base is connected to the track 14 .

[0133] Alternatively, if Fig.14 , Fig.15 and Fig. 20 As shown, the blade root processing system provided by the present application, wherein the cloth pulling unit 4423 also includes a rod cloth mechanism 44236, which is fixedly installed on the fixed section 442311 of the guide mechanism 44231, and the rod cloth mechanism 44236 includes a rod cloth strip plate 442361 and a rod cloth brush 442362. During the laying process, the rod cloth strip plate 442361 and the rod cloth brush 442362 can scrape the fiberglass cloth to further improve the smoothness of the laying of the fiberglass cloth.

[0134] The cloth suction mechanism 44233, the cloth pressing mechanism 44234, the cutting mechanism 44235 and the cloth rod mechanism 44236 are arranged at intervals along the telescopic direction of the guide mechanism 44231 and are independent of each other. The cloth suction mechanism 44233, the cloth pressing mechanism 44234, the cutting mechanism 44235 and the cloth rod mechanism 44236 can operate independently or in coordination with each other to ensure the laying quality of the fiberglass cloth.

[0135] The blade root processing system of the present application, by arranging at least one spreading station 11, at least one assembly station 12 and at least one glue injection station 13 on the assembly platform 1, and arranging tracks 14 between the spreading station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the spreading station 11 and the glue injection station 13, can enable the carrying device 2 carrying the mold 3 to move to any spreading station 11, assembly station 12 or glue injection station 13, and at the same time, the spreading module 4 can lay the skin on the mold 3 located on the spreading station 11, and the assembly module 5 can assemble the flange 7 and the core body 6 on the mold 3, so that the flange 7, the core body 6 and the skin are combined to form a complete blade root, thereby realizing the automated and standardized production of blade roots, improving the production efficiency and the qualified rate of blade roots, and at the same time reducing the proportion of manual assembly processes in the blade root production process and reducing the labor intensity of the staff.

[0136] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A blade root processing system for processing blade roots, characterized in that: The blade root comprises a skin, a core (6) and a flange (7), and the blade root processing system comprises: An assembly platform (1) comprises at least one cloth laying station (11), at least one assembly station (12) and at least one glue injection station (13), wherein rails (14) are provided between the cloth laying station (11) and the assembly station (12), between the assembly station (12) and the glue injection station (13), and between the cloth laying station (11) and the glue injection station (13); A carrying device (2) is arranged on the track (14), and the carrying device (2) can reciprocate along the track (14) between the cloth laying station (11) and the assembly station (12), between the assembly station (12) and the glue injection station (13), and between the cloth laying station (11) and the glue injection station (13); A mold (3) is arranged on the carrying device (2); A cloth laying module (4) is arranged at the cloth laying station (11), and the cloth laying module (4) is configured to lay the skin on the mold (3); An assembly module (5) is disposed at the assembly station (12), and the assembly module (5) is configured to assemble the flange (7) and the core (6) and place them on the mold (3).

2. The blade root processing system according to claim 1, characterized in that: The assembly module (5) comprises: A bracket (51) for supporting the flange (7); along the axial direction of the flange (7), the bracket (51) has a first side and a second side opposite to each other, and the bracket (51) has a first assembly position; A first mechanical arm (52) is movably disposed on a first side of the bracket (51), and the first mechanical arm (52) is used to assemble the bolts to the flange (7); A core assembly unit (55), in the first assembly position, the core assembly unit (55) is movably arranged on the second side of the bracket (51), and the core assembly unit (55) is used to assemble the core (6) and the flange (7).

3. The blade root processing system according to claim 2, characterized in that: A bolt supply device (53) and a first guide rail (54) extending along a first horizontal direction (X) are provided on the first side of the bracket (51); the first robotic arm (52) is installed on the first guide rail (54) and can reciprocate along the first horizontal direction (X); and the first robotic arm (52) can grab the bolts from the bolt supply device (53) and assemble them to the flange (7).

4. The blade root processing system according to claim 2, characterized in that: The core body (6) comprises a plurality of bolt sleeves (61), a plurality of wedge blocks (62) and a plurality of pultrusion rods (63); The core assembly unit (55) comprises: A second mechanical arm (551) is used for screwing each of the bolt sleeves (61) onto one of the bolts; a third mechanical arm (552) for assembling the wedge block (62) between every two adjacent bolt sleeves (61), wherein a portion of the wedge block (62) is sandwiched between the two adjacent bolt sleeves (61), and another portion of the wedge block (62) extends in a direction away from the flange (7); The fourth mechanical arm (553) is used to assemble a pultruded rod (63) on the side of each bolt sleeve (61) away from the flange (7), and clamp the pultruded rod (63) between the two wedge blocks (62) located on both sides of the corresponding bolt sleeve (61).

5. The blade root processing system according to claim 2, characterized in that: The assembly module (5) further comprises a second guide rail (56) extending along a second horizontal direction (Y), the axial direction of the flange (7) being parallel to the second horizontal direction (Y), and the bracket (51) being mounted on the second guide rail (56) and capable of reciprocating along the second horizontal direction (Y); The bracket (51) further has a second assembly position, which is spaced apart from the first assembly position along the second horizontal direction (Y), and at the second assembly position, the core assembly unit (55) is located on a second side of the bracket (51); When the bracket (51) is located at the second assembly position, it can dock with the carrying device (2) located at the assembly station (12).

6. The blade root processing system according to claim 5, characterized in that: A laser alignment device (57) is provided between the bracket (51) and the carrying device (2); And / or, the bracket (51) is provided with a first buckle (511), and the carrier is provided with a second buckle (21), and when the bracket (51) is located at the second assembly position, the first buckle (511) can be positioned and engaged with the second buckle (21) of the carrier device (2) located at the assembly station (12).

7. The blade root processing system according to claim 4, characterized in that: The assembly module (5) further comprises at least one set of first trusses (58), wherein the first trusses (58) comprise: At least two support columns (581) extending along a vertical direction (Z) and spaced apart along a first horizontal direction (X); A support beam (582) is extended along the first horizontal direction (X), and the upper end of each of the support columns (581) is connected to the support beam (582), and the second mechanical arm (551), the third mechanical arm (552) and the fourth mechanical arm (553) are all installed on the support beam (582) and can reciprocate along the support beam (582) in the first horizontal direction (X); The support column (581) and the support beam (582) are combined to form an assembly channel (583) that runs through the second horizontal direction (Y); when the mold (3) is located at the assembly station (12), the flange (7) and the core (6) can move along the second horizontal direction (Y) and pass through the assembly channel (583) to be placed in the mold (3); The first horizontal direction (X), the second horizontal direction (Y) and the vertical direction (Z) are perpendicular to each other.

8. The blade root processing system according to claim 2, characterized in that: The cloth spreading module (4) comprises: Two support trusses (41) are arranged at intervals along a first horizontal direction (X), a portion of the track (14) extends between the two support trusses (41) along the first horizontal direction (X), and a distance between the two support trusses (41) along the first horizontal direction (X) is greater than a dimension of the mold (3) along the first horizontal direction (X); A movable truss (42) extends along the first horizontal direction (X), two ends of the movable truss (42) are respectively connected to the two supporting trusses (41), and the movable truss (42) can reciprocate along the second horizontal direction (Y); A cloth supply device (43), when the mold (3) is provided between the two supporting trusses (41), the cloth supply device (43) can move around the periphery of the mold (3), and the cloth supply device (43) is used to carry the glass fiber cloth roll (8); a cloth-laying device (44) connected to the movable truss (42), the cloth-laying device (44) being capable of reciprocating along the first horizontal direction (X) relative to the movable truss (42) and laying the glass fiber cloth on the mold (3) to form the skin; The first horizontal direction (X) is perpendicular to the second horizontal direction (Y).

9. The blade root processing system according to claim 8, characterized in that: The cloth spreading device (44) comprises: A lifting assembly (441) is extended along the vertical direction (Z), and the lifting assembly (441) is movably connected to the movable truss (42); A cloth spreading assembly (442) is rotatably connected to the lower end of the lifting assembly (441), and the lifting assembly (441) can drive the cloth spreading assembly (442) to reciprocate along the vertical direction (Z); The first horizontal direction (X), the second horizontal direction (Y) and the vertical direction (Z) are perpendicular to each other.

10. The blade root processing system according to claim 9, characterized in that: The cloth spreading assembly (442) comprises: A cloth taking unit (4421) for clamping the glass fiber cloth roll (8); A glue spraying unit (4422) is disposed on one side of the cloth taking unit (4421), and the glue spraying unit (4422) is used to spray an adhesive onto the surface of one side of the glass fiber cloth; The cloth pulling unit (4423) is arranged on a side of the cloth taking unit (4421) away from the glue spraying section, and the cloth pulling unit (4423) is used to clamp the end of the glass fiber cloth and lay it on the mold (3).

11. The blade root processing system according to claim 10, characterized in that: The cloth pulling unit (4423) comprises: The guide mechanism (44231) can be extended and retracted along the direction in which the cloth taking unit (4421), the glue spraying unit (4422) and the cloth pulling unit (4423) are arranged at intervals; A cloth pulling mechanism (44232) is movably mounted on the guide mechanism (44231), the cloth pulling mechanism (44232) can move along the guide mechanism (44231) toward the cloth taking unit (4421) and dock with the cloth taking unit to grab the end of the glass fiber cloth, and the cloth pulling mechanism (44232) can move along the guide mechanism (44231) toward the cloth taking unit (4421) to unfold the glass fiber cloth; A cloth suction mechanism (44233) is fixedly mounted on the guide mechanism (44231), and the cloth suction mechanism (44233) can absorb the stretched and tensioned glass fiber cloth; A cloth pressing mechanism (44234) is fixedly mounted on the guide mechanism (44231), and the cloth pressing mechanism (44234) can press the tensioned glass fiber cloth flat onto the mold (3); A cutting mechanism (44235) is fixedly mounted on the guide mechanism (44231), and the cutting mechanism (44235) can cut the glass fiber cloth.

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