Wind power blade cutting robot and control method thereof

Abstract

The invention relates to the technical field of wind power blade cutting, in particular to a wind power blade cutting robot and a control method thereof, and the robot comprises a cutting integration system which comprises a sensing module and is used for obtaining the state and data of cutting a wind power blade; the cutting assembly is used for cutting the wind power blade; the driving system is used for controlling the cutting integrated system to perform cutting operation at any position of the vertical plane; a base is arranged on the moving vehicle, and the driving system is located on the upper portion of the base; and the control system comprises a central processing unit and is used for receiving the state and data of the wind power blade, calculating a cutting track and controlling the driving system and the moving vehicle to work. Blades are cut through the cutting assembly in the cutting integrated system, cutting guidance is provided through the moving trolley and the sensing module, the cutting integrated system conducts cutting operation at any position of the vertical plane, unmanned operation on site can be achieved, and construction safety risks are eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade cutting, and in particular to a wind turbine blade cutting robot and a control method thereof. Background Art

[0002] As global climate change and environmental issues become increasingly prominent, wind power as a clean renewable energy source has received more and more attention. Due to environmental factors such as wind, rain erosion and sunlight, the blades of wind turbines are forced to retire after a certain period of use. As a result of technological advances and the expansion of single wind turbines, more and more wind turbine blades are facing the problem of post-retirement treatment and reuse.

[0003] After a wind turbine is retired, most of its components are recyclable, including the foundation, tower, gearbox and generator. However, wind turbine blades are mainly made of glass fiber or carbon fiber, epoxy resin, balsa wood, etc., and are currently usually disposed of by landfill or incineration, which will cause great harm to human life and the environment.

[0004] At present, there are few publicly published technical studies on the treatment of retired wind turbine blades, and they are mainly based on practical application technologies. The treatment methods for retired wind turbine blades include incineration, pyrolysis, cracking, directional depolymerization, crushing and cutting for reuse. The incineration method has low calorific value, incomplete combustion, easy coking and harmful gas generation; pyrolysis and cracking methods have high energy consumption, many impurities in the product, and are not easy to purify; directional depolymerization technology is not yet mature, the cost is high, the waste liquid is difficult to handle, purification is difficult, and the product added value is low; the crushing method generally crushes the wind turbine blades and then burns them or uses them as additives for building cement, asphalt and other materials, and the economic benefits are not high; the cutting and reuse method has high requirements for cutting tools and special equipment, and must have a stable downstream market. Overall, chemical treatment methods such as incineration, pyrolysis, and directional depolymerization still have many technical difficulties that are difficult to break through, and the conditions for value-added utilization are not yet in place; the physical processing methods of crushing and cutting are more feasible and have less secondary pollution.

[0005] However, the blades are large in size and the site environment is complex after unloading. They cannot be transported to the factory for unified cutting or crushing. Therefore, they need to be disassembled in the field and then transported to the factory for unified cutting. At present, field cutting mainly relies on manual on-site cutting, which is inefficient (1 blade / 3 people / day). The main reason for the low cutting efficiency is that people have limited physical strength. During the cutting process, they need to hold the electric saw and constantly climb up and down the blades. During the cutting process, they need to hold the electric saw and keep it stable for a long time, which requires extremely high physical strength and requires a long rest time. Therefore, there is a considerable amount of non-cutting time in manual operations.

[0006] The most common blade cutting tool at present is the excavator cutter, which mainly replaces the actuator of the excavator with an electric saw, and the saw blade uses a rock saw. The manufacturing process of this equipment is very mature, and it has a high tolerance for bad weather and terrain. The main work flow is: when the retired blade is disassembled and placed on the ground, the excavator cutter drives to the side of the blade and cuts it crosswise according to the predetermined position. The saw blade will be sprayed with water to cool it during the cutting process. After the first section of cutting is completed (that is, completely cut off), the cutter drives to the second cutting point and continues cutting, and so on. When the blade is cut into pieces as planned, the cutting work is completed.

[0007] There are several main problems with excavator cutting machines: they require a driver and cannot be operated unmanned, can only perform cross-sectional cutting, have a fixed angle, have no force feedback device (cannot perform fine cutting), cannot be miniaturized, are inconvenient to transport, and cannot start cutting from the inside of the blade. Summary of the invention

[0008] The object of the present invention is to provide a wind turbine blade cutting robot and a control method thereof, which can solve the above-mentioned technical problems.

[0009] The present invention provides a wind turbine blade cutting robot, comprising:

[0010] The cutting integrated system includes a sensing module for obtaining the status and data of cutting wind turbine blades; a cutting component for cutting wind turbine blades;

[0011] A driving system, used to control the cutting integrated system to perform cutting operations at any position on the vertical plane;

[0012] A mobile vehicle, wherein the mobile vehicle is provided with a base, and the driving system is located on the upper part of the base;

[0013] The control system includes a central processor unit, which is used to receive the status and data of the wind turbine blades, calculate the cutting trajectory, and control the operation of the driving system and the mobile vehicle.

[0014] Preferably, the cutting assembly comprises a bracket, a motor is fixedly provided on the bracket, and a saw blade is fixedly connected to an output shaft of the motor.

[0015] Preferably, the saw blade is a toothless saw made of diamond, has good heat dissipation performance, does not require water cooling, and does not generate sewage.

[0016] Preferably, the driving system comprises a robotic arm, and the cutting integrated system is connected to the end of the robotic arm.

[0017] Preferably, the perception module includes a sensor tooling fixedly connected to the bracket, and sensor brackets are respectively provided at both ends of the sensor tooling. A visual camera and a laser sensor are respectively provided on the sensor brackets. The visual camera is used to guide the robot arm to perform tracking cutting, and the laser sensor is used to provide real-time feedback of the cutting depth.

[0018] Preferably, a six-dimensional force sensor is also installed on the bracket for real-time monitoring of the force fed back by the saw blade, and the upper edge flange of the six-dimensional force sensor is connected to the end of the mechanical arm.

[0019] Preferably, the mobile vehicle adopts a tracked vehicle as a platform for carrying a mechanical arm and other electrical cabinets, and can perform basic walking, including forward, backward, left turn, and right turn.

[0020] Preferably, a signal light is also provided on the bracket, and the signal light is connected to the control system.

[0021] Preferably, it also includes an intelligent monitoring unit, which includes a camera installed on a bracket and a handheld terminal, and the camera is connected to the handheld terminal via a wireless transmission module.

[0022] The present invention also provides a control method for a wind turbine blade cutting robot, wherein the control system automatically adjusts the position of a saw blade for cutting by manipulating the working state of a driving system.

[0023] Beneficial effects:

[0024] The present invention uses the cutting components in the cutting integrated system to cut the blades, and uses the mobile vehicle and the sensing module to provide cutting guidance. The cutting integrated system can cut at any position in the vertical plane, and can realize unmanned operation on site, eliminating the construction safety risk. It has a high degree of automation and intelligence, which can realize unmanned operation, and the equipment has a low center of gravity and is more stable; it can be miniaturized to facilitate driving to the surface or inside of the blade to cut the blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a three-dimensional schematic diagram of the overall structure of Example 1 of the present invention;

[0027] Figure 2 This is a side view of the overall structure of Example 1 of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the perception module used to display the present invention;

[0029] Figure 4 This is a schematic diagram of the connection between the control system of the present invention and other structures.

[0030] Explanation of the accompanying drawings: 1-cutting integrated system, 2-driving system, 201-robot arm, 3-tracked vehicle, 301-base, 4-central processing unit, 5-bracket, 6-motor, 7-saw blade, 8-sensor tooling, 9-sensor bracket, 10-visual camera, 11-laser sensor, 12-six-dimensional force sensor. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Example 1

[0035] A wind turbine blade cutting robot, such as Figure 1-4 As shown, it includes a cutting integrated system 1, a drive system 2, a crawler 3 and a control system. The cutting integrated system 1 includes a sensing module for obtaining the state and data of cutting wind turbine blades and a cutting component for cutting wind turbine blades; the drive system 2 is used to control the cutting integrated system 1 to perform cutting operations at any position in the vertical plane, and it includes a mechanical arm 201. The cutting integrated system 1 is connected to the end of the mechanical arm 201. The mechanical arm is a relatively mature industrial product on the market and exists as a component in this technical solution, so there is no need to elaborate on it. A base 301 is provided on the crawler 3, and the drive system 2 is located on the upper part of the base 301; the control system includes a central processor unit 4, which is used to receive the state and data of the wind turbine blades, calculate the cutting trajectory, and control the operation of the drive system 2 and the crawler 3.

[0036] Specifically, the cutting assembly includes a bracket 5, on which a motor 6 is fixedly provided, and a saw blade 7 is fixedly connected to the output shaft of the motor 6. The saw blade 7 is a toothless saw made of diamond, has good heat dissipation performance, does not require water cooling, and does not produce sewage. The sensing module includes a sensor fixture 8 fixedly connected to the bracket 5, and sensor brackets 9 are respectively provided at both ends of the sensor fixture 8. A visual camera 10 and a laser sensor 11 are respectively provided on the sensor bracket 9. The visual camera 10 is used to guide the robot arm 201 to perform tracking cutting, and the laser sensor 11 is used to feedback the cutting depth in real time. A six-dimensional force sensor 12 is also installed on the bracket 5 for real-time monitoring of the force feedback of the saw blade. The upper edge flange of the six-dimensional force sensor 12 is connected to the end of the robot arm 201. During the cutting process, different materials, thicknesses and cutting requirements require different cutting forces. The six-dimensional force sensor can monitor the force information of the saw blade of the cutting robot when it contacts the material in real time, including forces in three directions (forces in the directions of the X, Y, and Z axes) and torques in three directions (torques around the X, Y, and Z axes). According to this force information, the control system can accurately adjust the saw blade's feed speed, cutting depth and other parameters to ensure that the cutting force is just right, so that the cutting task can be completed smoothly without causing excessive damage to the material or damaging the cutting tool due to excessive force, nor will the cutting be incomplete or inefficient due to too little force. When the cutting robot is working, it may encounter situations such as uneven material surface and defects inside the material. The six-dimensional force sensor can sense the changes in the force exerted on the saw blade at different positions and feed this information back to the control system. The control system can adjust the position and posture of the saw blade in time according to the force feedback, so that the cutting trajectory can be carried out more accurately along the predetermined path, thereby improving the cutting accuracy and quality. The above-mentioned motors and other components can be purchased on the market, and the motors and crawler vehicles are equipped with power supplies. They are mature technologies in this field and have been fully disclosed, so they are not repeated in the specification.

[0037] A signal light is also provided on the bracket, which is connected to the control system. The cutting robot also includes an intelligent monitoring unit, which includes a camera installed on the bracket and a handheld terminal. The camera is connected to the handheld terminal via a wireless transmission module.

[0038] A control method for the above-mentioned wind turbine blade cutting robot, the control system automatically adjusts the position of the saw blade for cutting by manipulating the working state of the drive system.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind turbine blade cutting robot, characterized in that include: A cutting integrated system, including a sensing module, for obtaining the status and data of cutting wind turbine blades; A cutting component, used for cutting wind turbine blades; A driving system, used to control the cutting integrated system to perform cutting operations at any position on the vertical plane; A mobile vehicle, wherein the mobile vehicle is provided with a base, and the driving system is located on the upper part of the base; The control system includes a central processor unit, which is used to receive the status and data of the wind turbine blades, calculate the cutting trajectory, and control the operation of the driving system and the mobile vehicle.

2. The wind turbine blade cutting robot according to claim 1, characterized in that: The cutting assembly comprises a bracket, a motor is fixedly arranged on the bracket, and a saw blade is fixedly connected to the output shaft of the motor.

3. The wind turbine blade cutting robot according to claim 2, characterized in that: The saw blade is a toothless saw made of diamond.

4. The wind turbine blade cutting robot according to claim 2, characterized in that: The driving system comprises a mechanical arm, and the cutting integrated system is connected to the end of the mechanical arm.

5. The wind turbine blade cutting robot according to claim 2, characterized in that: The perception module includes a sensor tooling fixedly connected to the bracket, and sensor brackets are respectively provided at both ends of the sensor tooling. A visual camera and a laser sensor are respectively provided on the sensor brackets. The visual camera is used to guide the robot arm to perform tracking cutting, and the laser sensor is used to provide real-time feedback of the cutting depth.

6. The wind turbine blade cutting robot according to claim 4, characterized in that: A six-dimensional force sensor is also installed on the bracket to monitor the force fed back by the saw blade in real time. The upper edge flange of the six-dimensional force sensor is connected to the end of the mechanical arm.

7. The wind turbine blade cutting robot according to claim 1, characterized in that: The mobile vehicle is a crawler vehicle.

8. The wind turbine blade cutting robot according to claim 2, characterized in that: The bracket is also provided with a signal light, and the signal light is connected to the control system.

9. The wind turbine blade cutting robot according to claim 2, characterized in that: It also includes an intelligent monitoring unit, which includes a camera installed on a bracket and a handheld terminal. The camera is connected to the handheld terminal through a wireless transmission module.

10. A control method for a wind turbine blade cutting robot according to any one of claims 1 to 9, characterized in that: The control system automatically adjusts the position of the saw blade for cutting by manipulating the working state of the driving system.

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