Blade root machining system

Abstract

The application discloses a blade root processing system for processing a blade root. The blade root comprises a skin, a core and a flange. The blade root processing system comprises an assembly platform, a cloth laying station, an assembly station and a glue injection station. 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. A bearing device is arranged on the tracks and can move back and forth along the tracks 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. A mold is arranged on the bearing device. A cloth laying module is arranged on the cloth laying station and is configured to lay the skin on the mold. An assembly module is arranged on the assembly station and is configured to assemble the flange and the core and place them on the mold. The blade root processing system can effectively reduce the labor intensity, and improve the production efficiency and the qualified rate of the blade root.

Description

Technical Field

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

[0002] In recent years, wind energy has received widespread attention as a large-scale commercially viable clean and renewable energy source. Wind turbine blades are one of the key components of wind turbine generators, driving the generator to produce electricity through their rotation. The blade root, as a crucial part of the wind turbine blade, plays a role in bearing the load.

[0003] Currently, the production and assembly of wind turbine blades are mainly carried out manually. With the rapid development of the wind power industry, the size of wind turbine generators is constantly increasing, and wind turbine blades are also becoming larger. This has led to an increase in the difficulty of production and assembly of wind turbine blades, and a greater labor intensity for workers. At the same time, problems such as high staff turnover and unstable operating skills have seriously affected the production efficiency and pass rate of wind turbine blades. Summary of the Invention

[0004] This application provides a leaf root processing system that can effectively reduce the labor intensity of personnel and improve the production efficiency and pass rate of leaf roots.

[0005] This application provides a blade root processing system for processing blade roots, wherein the blade root includes a skin, a core, and a flange, and the blade root processing system includes:

[0006] The assembly platform has at least one fabric laying station, at least one assembly station, and at least one glue injection station. Tracks are provided between the fabric laying station and the assembly station, between the assembly station and the glue injection station, and between the fabric laying station and the glue injection station.

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

[0008] The mold is mounted on the supporting device;

[0009] A fabric laying module is located at the fabric laying station, and the fabric laying module is configured to lay the skin on the mold;

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

[0011] The leaf root processing system described above, wherein the assembly module includes:

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

[0013] A first robotic arm is movably mounted on a first side of the bracket, and the first robotic arm is used to install bolts onto the flange;

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

[0015] In the leaf root processing system described above, the first side of the bracket is provided with a bolt supply device and a first guide rail extending along a first horizontal direction. The first robotic arm is mounted on the first guide rail and can reciprocate along the first horizontal direction. The first robotic arm can grab the bolt from the bolt supply device and assemble it to the flange.

[0016] The blade root processing system described above, wherein the core body includes multiple bolt sleeves, multiple wedge blocks, and multiple pultruded bars;

[0017] The core assembly unit includes:

[0018] A second robotic arm is used to screw each of the bolt sleeves onto one of the bolts;

[0019] A third robotic arm is used to assemble the wedge block between every two adjacent bolt sleeves, a portion of the wedge block being clamped between the two adjacent bolt sleeves, and another portion of the wedge block extending away from the flange;

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

[0021] As described above, in the blade root processing system, the assembly module further includes a second guide rail extending along a second horizontal direction, the axial direction of the flange being parallel to the second horizontal direction, and the bracket being mounted on the second guide rail and capable of reciprocating along the second horizontal direction;

[0022] The bracket also has a second assembly position, which is spaced apart from the first assembly position along the second horizontal direction. In the second assembly position, the core assembly unit is located on the second side of the bracket.

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

[0024] In the leaf root processing system described above, a laser alignment device is provided between the support and the bearing device;

[0025] And / or, the bracket is provided with a first buckle, and the carrier is provided with a second buckle. When the bracket is located in 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] In the blade root processing system described above, the assembly module further includes at least one set of first trusses, the first trusses comprising:

[0027] At least two support columns extend vertically and are spaced apart along a first horizontal direction;

[0028] A support beam extends along the first horizontal direction, and the upper end of each of the support columns is connected to the support beam. The second robotic arm, the third robotic arm, and the fourth robotic arm are all mounted on the support beam and can reciprocate along the support beam in the first horizontal direction.

[0029] The support column and the support beam enclose 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 leaf root processing system described above, wherein the fabric laying module includes:

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

[0033] A movable truss extends along the first horizontal direction, with its two ends respectively connected to the two supporting trusses, and the movable truss can reciprocate along the second horizontal direction;

[0034] When the mold is provided between the two supporting trusses, the fabric supply device can move around the periphery of the mold and is used to carry the fiberglass cloth roll.

[0035] A fabric laying device is connected to the movable truss. The fabric laying device can reciprocate relative to the movable truss along the first horizontal direction and lay fiberglass cloth on the mold to form the skin.

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

[0037] The leaf root processing system described above, wherein the fabric laying device includes:

[0038] A lifting assembly extends vertically and is movably connected to the movable truss.

[0039] The fabric laying assembly is rotatably connected to the lower end of the lifting assembly, and the lifting assembly can drive the fabric laying assembly to reciprocate in the vertical direction;

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

[0041] The leaf root processing system described above, wherein the fabric laying assembly includes:

[0042] A fabric-grabbing unit is used to clamp the fiberglass cloth roll;

[0043] A glue spraying unit is located on one side of the fabric taking unit, and the glue spraying unit is used to spray adhesive onto one side surface of the fiberglass cloth;

[0044] The fabric spreading unit is located on the side of the fabric taking unit away from the glue spraying unit. The fabric spreading unit is used to clamp the end of the fiberglass cloth and lay it on the mold.

[0045] The leaf root processing system described above, wherein the fabric spreading unit comprises:

[0046] The guiding mechanism can extend and retract along the direction in which the fabric picking unit, the glue spraying unit, and the fabric pulling unit are spaced apart.

[0047] A fabric pulling mechanism is movably mounted on the guide mechanism. The fabric pulling mechanism can move along the guide mechanism toward the fabric picking unit and dock with the fabric picking unit to grab the end of the fiberglass cloth. The fabric pulling mechanism can also move along the guide mechanism away from the fabric picking unit to unfold the fiberglass cloth.

[0048] A fabric suction mechanism is fixedly installed on the guide mechanism, and the fabric suction mechanism can absorb the tensioned and unfolded fiberglass cloth.

[0049] A pressing mechanism is fixedly installed on the guiding mechanism, and the pressing mechanism can press the tensioned fiberglass cloth flat onto the mold;

[0050] A cutting mechanism is fixedly installed on the guide mechanism, and the cutting mechanism can cut the fiberglass cloth.

[0051] The blade root processing system of this application, by setting at least one fabric laying station, at least one assembly station, and at least one glue injection station on the assembly platform, and by setting tracks between the fabric laying station and the assembly station, between the assembly station and the glue injection station, and between the fabric laying station and the glue injection station, enables the carrier device carrying the mold to move to any of the fabric laying station, assembly station, or glue injection station. At the same time, the fabric laying module can lay the skin on the mold located at the fabric laying station, and the assembly module can assemble the flange and core onto the mold, so that the flange, core, and skin are combined to form a complete blade root, realizing the automated and standardized production of blade roots, improving the production efficiency and pass rate of blade roots, while reducing the proportion of manual assembly processes in the blade root production process and reducing the labor intensity of workers. Attached Figure Description

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

[0053] Figure 1 This is a schematic diagram of the leaf root processing system provided in an embodiment of this application;

[0054] Figure 2 This is a partial structural diagram of the leaf root processing system provided in an embodiment of this application;

[0055] Figure 3 A partial structural schematic diagram of the assembly module of the leaf root processing system provided in an embodiment of this application;

[0056] Figure 4 Another partial structural schematic diagram of the assembly module of the leaf root processing system provided in the embodiments of this application;

[0057] Figure 5 Another partial structural schematic diagram of the assembly module of the leaf root processing system provided in the embodiments of this application;

[0058] Figure 6 A further partial structural schematic diagram of the assembly module of the leaf root processing system provided in the embodiments of this application;

[0059] Figure 7 A schematic diagram of the core assembly unit of the assembly module of the leaf root processing system provided in this application embodiment;

[0060] Figure 8 A schematic diagram of the structure of the second and third robotic arms of the core assembly unit of the assembly module of the leaf root processing system provided in this application embodiment;

[0061] Figure 9 A schematic diagram of the structure of the fourth robotic arm of the core assembly unit of the leaf root processing system provided in the embodiments of this application;

[0062] Figure 10 A schematic diagram of the core supply device of the assembly module of the leaf root processing system provided in this application embodiment;

[0063] Figure 11 This is a schematic diagram of the fabrication module of the leaf root processing system provided in an embodiment of this application;

[0064] Figure 12 A schematic diagram of the fabric taking unit of the fabric laying component of the fabric laying module of the leaf root processing system provided in this application embodiment;

[0065] Figure 13 A schematic diagram of the adhesive spraying unit of the fabric laying component of the leaf root processing system provided in this application embodiment;

[0066] Figure 14 A schematic diagram of the fabric spreading unit of the fabric spreading module of the leaf root processing system provided in this application embodiment;

[0067] Figure 15 Another schematic diagram of the fabric spreading unit of the fabric spreading module of the leaf root processing system provided in the embodiments of this application;

[0068] Figure 16 A schematic diagram of the guiding mechanism and the fabric pulling mechanism of the fabric laying module of the leaf root processing system provided in this application embodiment;

[0069] Figure 17 A schematic diagram of the guiding mechanism, the fabric pulling mechanism, and the fabric suction mechanism of the fabric laying module of the leaf root processing system provided in this application embodiment;

[0070] Figure 18 A schematic diagram of the pressing mechanism of the fabric laying unit of the fabric laying module of the leaf root processing system provided in this application embodiment;

[0071] Figure 19 A schematic diagram of the cutting mechanism of the fabric spreading unit of the leaf root processing system provided in this application embodiment;

[0072] Figure 20 This is a schematic diagram of the fabric laying unit's rod-cloth mechanism in the fabric laying module of the leaf root processing system provided in this application embodiment.

[0073] The accompanying drawings are not necessarily drawn to scale.

[0074] Explanation of icon numbers:

[0075] 1. Assembly platform; 11. Fabric laying station; 12. Assembly station; 13. Glue injection station; 14. Track; 2. Bearing device; 21. Second buckle; 3. Mold; 4. Fabric laying module; 41. Support truss; 411. Crossbeam; 42. Moving truss; 43. Fabric feeding device; 44. Fabric laying device; 441. Lifting assembly; 442. Fabric laying assembly; 4421. Fabric picking 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. Cutting head; 44236 1. Rod and cloth mechanism; 442361. Rod and cloth strip; 442362. Rod and cloth brush; 5. Assembly module; 51. Bracket; 511. First buckle; 52. First robotic arm; 53. Bolt supply device; 54. First guide rail; 55. Core assembly unit; 551. Second robotic arm; 552. Third robotic arm; 553. Fourth robotic arm; 554. Core supply device; 56. Second guide rail; 57. Laser alignment device; 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. Pultruded rod; 7. Flange; 8. Fiberglass cloth roll;

[0076] X, first horizontal direction; Y, second horizontal direction; Z, vertical direction. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort 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 meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

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

[0080] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0081] In the embodiments of this application, the same reference numerals denote 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 this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0082] In this application, "multiple" means two or more (including two).

[0083] The first horizontal direction X, the second horizontal direction Y, and the vertical direction Z used in this application to indicate directions are only for the purpose of more clearly illustrating the structure of this application in conjunction with the accompanying drawings, and this 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 mutually perpendicular to each other.

[0084] like Figure 1 and Figure 2 As shown, this application provides a leaf root processing system for processing leaf roots.

[0085] The blade root includes a skin, a core 6, and a flange 7. The core 6 has 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 end of the annular structure along its axial direction, forming a complete blade root. Because the core 6 is relatively large, in this application, both the core 6 and the flange 7 are segmented circumferentially and then assembled to form blade root segments, which are then assembled to form a complete blade root.

[0086] The leaf root processing system includes an assembly platform 1, a bearing device 2, a mold 3, a fabric laying module 4, and an assembly module 5.

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

[0088] Tracks 14 are provided between the fabric laying station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the fabric laying station 11 and the glue injection station 13. The carrying device 2 is mounted on the track 14 and can move back and forth along the track 14 between the fabric laying station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the fabric laying station 11 and the glue injection station 13. That is, the carrying device 2 can move back and forth along the guide rail between the fabric laying station 11, the assembly station 12 and the glue injection station 13 to smoothly realize each assembly process.

[0089] The mold 3 is set on the bearing device 2. Optionally, the core 6 and the flange 7 are both divided into two sections along the circumference of the blade root for assembly. The projection of each mold 3 along the axial direction of the flange 7 is semi-circular. The segmented assembly reduces the assembly difficulty and minimizes the number of segments, which can effectively reduce the assembly difficulty of the blade root section and improve the accuracy of the assembly machine.

[0090] The fabric laying module 4 is located at the fabric laying station 11 and is configured to lay the outer skin on the mold 3. The assembly module 5 is located at the assembly station 12 and is configured to assemble the flange 7 and the core 6 and place them on the mold 3. Specifically, the carrying device 2 first moves the mold 3 to the fabric laying station 11 to lay the outer skin, then moves the mold 3 to the assembly station 12 to assemble the core 6 and the flange 7, then moves it back to the fabric laying station 11 to lay the inner skin on the inside of the core 6, then moves it to the glue injection station 13 to inject glue between the inner skin and the outer skin, and finally moves it to the empty position of the assembly platform 1 other than the fabric laying station 11, the assembly station 12 and the glue injection station 13. After the glue cures, the processing of a section of the blade root segment is completed.

[0091] The skin laying can be automated through the fabric laying module 4, the assembly of flange 7 and core 6 can be automated through the assembly module 5, and the glue injection process can be carried out manually or mechanically. The automated and standardized production of the blade root can effectively improve the production efficiency and pass rate of the blade root, while reducing the proportion of manual assembly processes in the blade root production process and reducing the labor intensity of workers.

[0092] like Figures 2 to 4As shown, the leaf root processing system provided in this application includes an assembly module 5 comprising a support 51, a first robotic 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 facing away from each other, and the bracket 51 has a first assembly position. In the first assembly position, the assembly of each bolt on the flange 7 and the assembly of the core 6 and the flange 7 are completed.

[0094] The first robotic arm 52 is movably mounted on the first side of the bracket 51. The first robotic arm 52 is used to install bolts into the flange 7. Specifically, the flange 7 has multiple positioning holes spaced around its periphery, and each bolt is installed into the positioning hole on the flange 7 through the first side of the bracket 51.

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

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

[0097] like Figure 5 and Figure 6 As shown, the blade root processing system provided in this application includes a core 6 comprising multiple bolt sleeves 61, multiple wedge blocks 62, and multiple pultruded rods 63. Each wedge block 62 is spaced circumferentially along the blade root, and a bolt sleeve 61 and a pultruded rod 63 are provided between every two adjacent wedge blocks 62. The bolt sleeves 61 and pultruded rods 63 located between the same two wedge blocks 62 are arranged axially along the blade root. Specifically, each wedge block 62 has an integrally formed first segment 621 and a second segment 622. The dimensions of the first segment 621 along the circumferential and radial directions of the blade root remain constant. Along the direction from the first segment 621 to the second segment 622, the dimensions of the second segment 622 along the circumferential direction of the blade root remain constant, while the radial dimension of the second end gradually decreases. The bolt sleeves 61 are fixedly clamped between the first segments 621 of adjacent two wedge blocks 62, and the pultruded rods 63 are clamped between the second segments 622 of adjacent two wedge blocks 62.

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

[0099] The second robotic arm 551 is used to screw each bolt sleeve 61 onto a bolt; the third robotic arm 552 is used to assemble a wedge block 62 between every two adjacent bolt sleeves 61, such that the first segment 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 robotic arm 553 is used to assemble a pultrusion bar 63 on the side of each bolt sleeve 61 away from the flange 7, and to clamp the pultrusion bar 63 between the second segments 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 three-dimensional space along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z, so as to drive the corresponding assembly parts to different assembly positions to complete the assembly.

[0101] Optionally, the first robotic arm 52, the second robotic arm 551, the third robotic arm 552 and / or the fourth robotic arm 553 can be gantry robots that can extend and retract along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z, to achieve movement in three-dimensional space, or they can directly use multi-axis robots with five or more axes to achieve movement in three-dimensional space.

[0102] like Figures 4 to 6 As shown, the blade root processing system provided in this application includes an assembly module 5 that further includes a second guide rail 56 extending along a second horizontal direction Y, an axial direction of the flange 7 parallel to the second horizontal direction Y, and a bracket 51 mounted on the second guide rail 56 and capable of reciprocating 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 on the second side of the bracket 51.

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

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

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

[0107] like Figure 4 and Figures 7 to 9 As shown, the blade root processing system provided in this application includes an assembly module 5 that further includes at least one set of first trusses 58, the first trusses 58 including at least two support columns 581 and support beams 582.

[0108] The support column 581 extends vertically in the Z direction and is spaced apart in the first horizontal direction X;

[0109] The support beam 582 extends along the first horizontal direction X, and the lower end of each support column 581 is fixed to the assembly platform 1. The upper end of each support column 581 is connected to the support beam 582. Every two adjacent support columns 581 and support beam 582 enclose an assembly channel 583 that runs through the second horizontal direction Y. The second guide rail 56 passes through the assembly channel 583. When the bearing device 2 and the mold 3 are placed at 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 robotic arm 551, the third robotic arm 552, and the fourth robotic arm 553 are all mounted on the support beam 582 and can reciprocate along the support beam 582 in the first horizontal direction X.

[0111] Optionally, the support beam 582 is provided with multiple beams, forming multiple assembly channels 583. Each assembly channel 583 can be divided into an assembly station 12 and equipped with a set of assembly devices, so that multiple assembly stations 12 can operate simultaneously and improve the processing efficiency of the blade root.

[0112] like Figure 10 As shown, the blade root processing system provided in this application includes, in which 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 region, a second region and a third region. The first region holds a bolt sleeve 61 for the second robotic arm 551 to grasp, the second region holds a wedge block 62 for the third robotic arm 552 to grasp, and the third region holds a pultrusion bar 63 for the fourth robotic arm 553 to grasp.

[0114] Flange supply device 59 is used to supply flange 7 discs.

[0115] like Figure 11 As shown, the leaf root processing system provided in this application includes a fabric laying module 4 comprising two support trusses 41, a movable truss 42, a fabric supply device 43, and a fabric laying device 44.

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

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

[0118] The fabric supply device 43 is movably located at any position around the mold 3. When the mold 3 is located between the two supporting trusses 41, the fabric supply device 43 can move around the mold 3. The fabric supply device 43 is used to carry the fiberglass cloth roll 8 and transport the fiberglass cloth roll 8 to any position around the mold 3 so that the fabric laying device 44 can grab it.

[0119] The fabric laying device 44 is connected to the movable truss 42. The fabric laying device 44 can reciprocate relative to the movable truss 42 along the first horizontal direction X, grab the fiberglass cloth roll 8 and unfold the fiberglass cloth to lay it on the mold 3 to form a skin.

[0120] like Figure 11 As shown, the leaf root processing system provided in this application includes a fabric laying device 44 comprising a lifting assembly 441 and a fabric laying assembly 442.

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

[0122] like Figures 12 to 15 As shown, the leaf root processing system provided in this application includes a fabric laying assembly 442 comprising a fabric picking unit 4421, a glue spraying unit 4422, and a fabric pulling unit 4423.

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

[0124] The fabric spreading unit 4423 is located on the side of the fabric taking unit 4421 away from the glue spraying unit 4422. The fabric spreading unit 4423 is used to clamp the end of the fiberglass cloth and spread it onto the mold 3.

[0125] The adhesive spraying unit 4422 is located on one side of the fabric taking unit 4421. The adhesive spraying unit 4422 is used to spray adhesive onto one side surface of the fiberglass cloth. Optionally, after the fiberglass cloth is laid into the mold 3, adhesive is sprayed onto the fiberglass cloth, and then the fiberglass cloth can continue to be laid in layers so that multiple layers of fiberglass cloth are laminated and fixed to form a skin of the required thickness.

[0126] like Figures 14 to 19 As shown, the leaf root processing system provided in this application includes a fabric spreading unit 4423 comprising a guiding mechanism 44231, a fabric spreading mechanism 44232, a fabric suction mechanism 44233, a fabric pressing mechanism 44234, and a cutting mechanism 44235.

[0127] The guiding mechanism 44231 can extend and retract along the direction in which the fabric picking unit 4421, the glue spraying unit 4422 and the fabric pulling unit 4423 are spaced apart; optionally, the guiding mechanism 44231 has two parallel telescopic shafts, each telescopic shaft including a fixed section 442311 and a telescopic section 442312 that are movably inserted, and the telescopic section 442312 can reciprocate relative to the fixed section 442311 along its extension direction.

[0128] The fabric pulling mechanism 44232 is movably installed on the telescopic section 442312 of the guide mechanism 44231. When the telescopic section 442312 moves relative to the fixed section 442311, the fabric pulling mechanism 44232 can move with the telescopic section 442312 toward the fabric picking unit 4421 and dock with the fabric picking unit to grab the end of the fiberglass cloth. The fabric pulling mechanism 44232 can also move with the telescopic section 442312 away from the fabric picking 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. During the process of the cloth pulling mechanism 44232 pulling the fiberglass cloth to unfold, the cloth suction mechanism 44233 can absorb the fiberglass cloth to tighten it during the unfolding process, thus preparing for the laying of the fiberglass cloth.

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

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

[0132] Optionally, the supporting device 2 includes a base and a support. The support is used to support the positioning mold 3. The support is located on the base, and the base is connected to the track 14.

[0133] Optionally, such as Figure 14 , Figure 15 and Figure 20 As shown, the leaf root processing system provided in this application includes a cloth spreading unit 4423, which further includes a cloth rod mechanism 44236, which is fixedly installed on the fixed section 442311 of the guide mechanism 44231. The cloth rod mechanism 44236 includes a cloth rod strip 442361 and a cloth rod brush 442362. During the cloth spreading process, the cloth rod strip 442361 and the cloth rod brush 442362 can scrape the fiberglass cloth to further improve the flatness of the fiberglass cloth.

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

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

[0136] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This 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 leaf root processing system for processing leaf roots, characterized in that, The blade root includes a skin, a core (6), and a flange (7). The core (6) includes multiple bolt sleeves (61), multiple wedge blocks (62), and multiple pultruded bars (63). The blade root processing system includes: The assembly platform (1) has at least one fabric laying station (11), at least one assembly station (12) and at least one glue injection station (13). Tracks (14) are provided between the fabric laying station (11) and the assembly station (12), between the assembly station (12) and the glue injection station (13), and between the fabric laying station (11) and the glue injection station (13). A support device (2) is provided on the track (14). The support device (2) can move back and forth along the track (14) between the fabric laying station (11) and the assembly station (12), between the assembly station (12) and the glue injection station (13), and between the fabric laying station (11) and the glue injection station (13). The mold (3) is mounted on the supporting device (2); A fabric laying module (4) is provided at the fabric laying station (11), and the fabric laying module (4) is configured to lay the skin on the mold (3); An assembly module (5) is provided 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); The assembly module (5) includes: 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 facing away from each other, and the bracket (51) has a first assembly position; A first robotic arm (52) is movably mounted on the first side of the bracket (51), and the first robotic arm (52) is used to assemble bolts to the flange (7); Core assembly unit (55), in the first assembly position, the core assembly unit (55) is movably disposed on the second side of the bracket (51), the core assembly unit (55) is used to assemble the core (6) with the flange (7); The core assembly unit (55) includes: A second robotic arm (551) is used to screw each of the bolt sleeves (61) onto one of the bolts; A third robotic arm (552) is used to assemble the wedge block (62) between every two adjacent bolt sleeves (61), a portion of the wedge block (62) being clamped between two adjacent bolt sleeves (61), and another portion of the wedge block (62) extending away from the flange (7); A fourth robotic arm (553) is used to assemble a pultrusion bar (63) on the side of each bolt sleeve (61) away from the flange (7) and to clamp the pultrusion bar (63) between two wedges (62) located on both sides of the corresponding bolt sleeve (61).

2. The leaf root processing system according to claim 1, characterized in that, The first side of the bracket (51) is provided with a bolt supply device (53) and a first guide rail (54) extending along the first horizontal direction (X). The first robotic arm (52) is mounted on the first guide rail (54) and can reciprocate along the first horizontal direction (X). The first robotic arm (52) can grab the bolt from the bolt supply device (53) and assemble it to the flange (7).

3. The leaf root processing system according to claim 1, characterized in that, The assembly module (5) further includes 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) 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 on the second side of the bracket (51). When the bracket (51) is in the second assembly position, it can dock with the support device (2) located at the assembly station (12).

4. The leaf root processing system according to claim 3, characterized in that, A laser alignment device (57) is provided between the bracket (51) and the bearing device (2); And / or, the bracket (51) is provided with a first buckle (511) and the carrier is provided with a second buckle (21). When the bracket (51) is located in the second assembly position, the first buckle (511) can be positioned and engaged with the second buckle (21) of the carrier device (2) located in the assembly station (12).

5. The leaf root processing system according to claim 1, characterized in that, The assembly module (5) further includes at least one set of first trusses (58), the first trusses (58) comprising: At least two support columns (581) extend in the vertical direction (Z) and are spaced apart in the first horizontal direction (X); A support beam (582) extends along the first horizontal direction (X), and the upper ends of each of the support columns (581) are connected to the support beam (582). The second robotic arm (551), the third robotic arm (552), and the fourth robotic arm (553) are all mounted 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) enclose and 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.

6. The leaf root processing system according to claim 1, characterized in that, The fabric laying module (4) includes: Two support trusses (41) are spaced apart along a first horizontal direction (X), a portion of the track (14) extends along the first horizontal direction (X) between the two support trusses (41), and the distance between the two support trusses (41) along the first horizontal direction (X) is greater than the size of the mold (3) along the first horizontal direction (X); A movable truss (42) extends along the first horizontal direction (X), and the two ends of the movable truss (42) are respectively connected to the two supporting trusses (41). The movable truss (42) can reciprocate along the second horizontal direction (Y). When the mold (3) is provided between the two support trusses (41), the fabric supply device (43) can move around the periphery of the mold (3) and the fabric supply device (43) is used to carry the fiberglass cloth roll (8). A fabric laying device (44) is connected to the movable truss (42). The fabric laying device (44) can reciprocate relative to the movable truss (42) along the first horizontal direction (X) and lay fiberglass cloth on the mold (3) to form the skin. The first horizontal direction (X) is perpendicular to the second horizontal direction (Y).

7. The leaf root processing system according to claim 6, characterized in that, The fabric laying device (44) includes: A lifting assembly (441) extends along the vertical direction (Z) and is movably connected to the movable truss (42); The fabric laying assembly (442) is rotatably connected to the lower end of the lifting assembly (441), and the lifting assembly (441) can drive the fabric laying assembly (442) to reciprocate in the vertical direction (Z). The first horizontal direction (X), the second horizontal direction (Y), and the vertical direction (Z) are perpendicular to each other.

8. The leaf root processing system according to claim 7, characterized in that, The fabric laying assembly (442) includes: A fabric-grabbing unit (4421) is used to hold the fiberglass cloth roll (8); A glue spraying unit (4422) is provided on one side of the fabric taking unit (4421), and the glue spraying unit (4422) is used to spray adhesive onto one side surface of the fiberglass cloth; The fabric spreading unit (4423) is located on the side of the fabric taking unit (4421) away from the glue spraying unit (4422). The fabric spreading unit (4423) is used to clamp the end of the fiberglass cloth and lay it on the mold (3).

9. The leaf root processing system according to claim 8, characterized in that, The fabric spreading unit (4423) includes: The guiding mechanism (44231) can extend and retract along the direction in which the fabric taking unit (4421), the glue spraying unit (4422), and the fabric pulling unit (4423) are arranged at intervals; A fabric pulling mechanism (44232) is movably mounted on the guide mechanism (44231). The fabric pulling mechanism (44232) can move along the guide mechanism (44231) toward the fabric picking unit (4421) and dock with the fabric picking unit to grab the end of the fiberglass cloth. The fabric pulling mechanism (44232) can also move along the guide mechanism (44231) away from the fabric picking unit (4421) to unfold the fiberglass cloth. A fabric suction mechanism (44233) is fixedly installed on the guide mechanism (44231), and the fabric suction mechanism (44233) can absorb the tensioned and unfolded fiberglass cloth; The pressing mechanism (44234) is fixedly installed on the guide mechanism (44231). The pressing mechanism (44234) can press the tensioned fiberglass cloth flat onto the mold (3). A cutting mechanism (44235) is fixedly installed on the guide mechanism (44231), and the cutting mechanism (44235) can cut the fiberglass cloth.

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