Multi-arm robot for cutting wind power blades in field

Abstract

The invention provides a multi-arm robot for cutting wind power blades in the field, the multi-arm robot comprises an advancing mechanism, a first six-axis mechanical arm and a second six-axis mechanical arm, the first six-axis mechanical arm and the second six-axis mechanical arm are mounted on the advancing mechanism, a cutting mechanism is mounted at the tail end of the first six-axis mechanical arm, and a clamping mechanism is mounted at the tail end of the second six-axis mechanical arm. The cutting mechanism comprises a first support connected with the first six-axis mechanical arm through a first force sensor, and the first support is provided with a first visual camera, a first laser sensor and a saw blade used for cutting. The six-axis mechanical arm is arranged to drive the saw blade to perform multi-angle adjustment, the situation that the angle of traditional cutting equipment is fixed is avoided, cutting work is accurately controlled by arranging the first force sensor, the first vision camera and the laser sensor, the cutting efficiency is improved, and the service life of a cutter is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multi-arm robot for cutting wind turbine blades in the field. Background Art

[0002] As global climate change and environmental issues become increasingly prominent, wind power, as a clean renewable energy source, has attracted the attention of more and more countries. 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 the wind turbine is retired, most of the components of the unit can be basically recycled, 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. At present, in my country, they are usually disposed of by landfill or incineration, which will cause harm to human life and the environment.

[0004] 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, the most common blade cutting tool in the world is the excavator cutter, which mainly replaces the excavator's actuator with an electric saw and uses a rock saw as the saw blade. The manufacturing process of this equipment is very mature and has a high tolerance for severe weather and terrain.

[0005] However, when the existing excavator cutting machine equipment performs blade cutting, it can only achieve cross-cutting with a fixed angle and an uncontrollable cutting depth, and can only be completely cut off, which affects the cutting efficiency and tool life. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-arm robot for cutting wind turbine blades in the field to solve the above technical problems.

[0007] The present invention provides a multi-arm robot for cutting wind turbine blades in the field, comprising a traveling mechanism and a first six-axis robotic arm and a second six-axis robotic arm installed on the traveling mechanism, a cutting mechanism being installed at the end of the first six-axis robotic arm, a clamping mechanism being installed at the end of the second six-axis robotic arm, the cutting mechanism comprising a first bracket connected to the first six-axis robotic arm via a first force sensor, a first visual camera, a first laser sensor and a saw blade for cutting being installed on the first bracket.

[0008] Furthermore, the traveling mechanism is a tracked vehicle.

[0009] Furthermore, hydraulic legs are arranged at the four corner edges of the installation platform of the crawler vehicle.

[0010] Furthermore, a motor is installed at the bottom of the first bracket, and the motor is drivingly connected to the saw blade.

[0011] Furthermore, a first sensor bracket is arranged above the saw blade, and the first visual camera and the first laser sensor are mounted on the first sensor bracket.

[0012] Furthermore, the saw blade is made of diamond material.

[0013] Furthermore, the clamping mechanism includes a second bracket connected to the second six-axis robot arm through a second force sensor, and a robot is installed at the bottom of the second bracket.

[0014] Furthermore, a second sensor bracket is arranged above the manipulator, and a second visual camera and a second laser sensor are installed on the second sensor bracket.

[0015] Furthermore, an electrical cabinet is installed on the crawler vehicle.

[0016] The present invention arranges a six-axis robotic arm to drive the saw blade to adjust at multiple angles, thereby avoiding the situation where the traditional cutting equipment has a fixed angle. By arranging a first force sensor, a first visual camera and a laser sensor, the cutting work is precisely controlled, the cutting efficiency and the service life of the tool are improved, and it is an effective substitute. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 It is a structural schematic diagram of the present invention;

[0019] Figure 2 It is a structural diagram of the cutting mechanism of the present invention;

[0020] Figure 3 It is a structural diagram of the clamping mechanism of the present invention;

[0021] Description of reference numerals:

[0022] In the figure: 1-tracked vehicle, 11-tracked driving motor, 12-hydraulic outrigger, 2-first six-axis robotic arm, 21-first bracket, 22-first force sensor, 23-first sensor bracket, 24-first visual camera, 25-first laser sensor, 26-motor, 27-saw blade, 3-second six-axis robotic arm, 31-second bracket, 32-second force sensor, 33-second sensor bracket, 34-second visual camera, 35-second laser sensor, 36-robotic arm; DETAILED DESCRIPTION

[0023] 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.

[0024] 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, and do not indicate or imply 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.

[0025] In addition, the terms "first" and "second" are only used for descriptive purposes 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, "multiple" means 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 components. 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.

[0026] Example 1

[0027] like Figure 1-Figure 3 As shown:

[0028] A multi-arm robot for cutting wind turbine blades in the field comprises a traveling mechanism and a first six-axis mechanical arm 2 and a second six-axis mechanical arm 3 installed on the traveling mechanism.

[0029] In this embodiment, the six-axis robot arm is already a relatively mature industrial product on the market and exists as a component in this device, so there is no need to elaborate on it.

[0030] In this embodiment, the traveling mechanism is a crawler vehicle 1 , a first six-axis robot arm 2 and a second six-axis robot arm 3 are mounted on a mounting platform of the crawler vehicle 1 , and a crawler drive motor 11 is also provided on the crawler vehicle 1 .

[0031] The crawler vehicle 1 moves forward, backward, left and right under the drive of the crawler drive motor 11 .

[0032] Hydraulic legs 12 are arranged at the edges of the four corners of the installation platform of the crawler vehicle 1. When working, the hydraulic legs 12 will extend to prop up the crawler vehicle 1, ensuring that the mechanical arm can operate on a horizontal platform during operation, and at the same time ensuring that the mechanical arm will not tip over due to the change of the center of gravity.

[0033] like Figure 1 and Figure 2 As shown, a cutting mechanism is installed at the end of the first six-axis robot 2, and the cutting mechanism includes a first bracket 21 connected to the first six-axis robot 2 through a first force sensor 22. The first force sensor 22 is connected to the end of the first six-axis robot 2 through an upper edge flange. A motor 26 is installed at the bottom of the first bracket 21, and the output end of the motor 26 extends to one side of the first bracket 21 and is connected to a saw blade 27.

[0034] The saw blade 27 is made of diamond material, has good heat dissipation performance, does not need to be cooled by water, and effectively replaces the traditional saw blade 27 that needs to be cooled by water, avoids the generation of sewage, and ensures the working environment.

[0035] A first sensor bracket 23 is arranged above the saw blade 27 , and a first visual camera 24 and a first laser sensor 25 are detachably mounted on the first sensor bracket 23 .

[0036] The cutting mechanism is equipped with a first visual camera 24, a first laser sensor 25 and a first force sensor 22, which are linked during the cutting process. The first force sensor 22 monitors the force fed back by the saw blade 27 during cutting in real time, the first laser sensor 25 feeds back the cutting depth in real time, and the first visual camera 24 guides the robotic arm to perform tracking cutting.

[0037] like Figure 1 and Figure 3As shown, a clamping mechanism is installed at the end of the second six-axis robot 3, and the clamping mechanism includes a second bracket 31 connected to the second six-axis robot 3 through a second force sensor 32. The second force sensor 32 is connected to the end of the second six-axis robot 3 through an upper edge flange, and a robot 36 is installed at the bottom of the second bracket 31.

[0038] A second sensor bracket 33 is arranged above the manipulator 36 , and a second visual camera 34 and a second laser sensor 35 are detachably mounted on the second sensor bracket 33 .

[0039] The clamping mechanism is equipped with a second visual camera 34, a second laser sensor 35 and a second force sensor 32, which are mainly used to clamp and fix the blade to be cut, provide real-time feedback of cutting information, and clamp and transport the cut part to the plate stacking area.

[0040] The present invention arranges a first six-axis robotic arm to drive the saw blade to adjust at multiple angles, thereby avoiding the situation where the traditional cutting equipment has a fixed angle; by arranging a first force sensor, a first visual camera and a laser sensor, it is possible to achieve cutting at any angle, any thickness and any length, and the cutting work is precisely controlled, so that plates that meet the requirements of subsequent processing can be cut, thereby improving the cutting efficiency and the service life of the tool; by arranging a second six-axis robotic arm and a clamping mechanism, the blade to be cut can be fixed, and subsequent material transportation can be carried out.

[0041] Example 2

[0042] An electrical cabinet and a mobile dust collector are installed on the crawler vehicle 1. The electrical cabinet is used to place electrical components and equipment. The mobile dust collector can absorb and collect dust during cutting to provide a good working environment. The electrical cabinet and the mobile dust collector are commonly used equipment on the market, and the specific structure will not be described in detail here.

[0043] 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 multi-arm robot for cutting wind turbine blades in the field, characterized in that It includes a traveling mechanism and a first six-axis robot and a second six-axis robot installed on the traveling mechanism, a cutting mechanism is installed at the end of the first six-axis robot, a clamping mechanism is installed at the end of the second six-axis robot, the cutting mechanism includes a first bracket connected to the first six-axis robot via a first force sensor, a first visual camera, a first laser sensor and a saw blade for cutting are installed on the first bracket.

2. The multi-arm robot for cutting wind turbine blades in the field according to claim 1, characterized in that: The traveling mechanism is a tracked vehicle.

3. The multi-arm robot for cutting wind turbine blades in the field according to claim 2, characterized in that: Hydraulic legs are arranged at the four corner edges of the installation platform of the crawler vehicle.

4. The multi-arm robot for cutting wind turbine blades in the field according to claim 1, characterized in that: A motor is installed at the bottom of the first bracket, and the motor is drivingly connected to the saw blade.

5. The multi-arm robot for cutting wind turbine blades in the field according to claim 1, characterized in that: A first sensor bracket is arranged above the saw blade, and the first visual camera and the first laser sensor are mounted on the first sensor bracket.

6. The multi-arm robot for cutting wind turbine blades in the field according to claim 1, characterized in that: The saw blade is made of diamond material.

7. The multi-arm robot for cutting wind turbine blades in the field according to claim 1, characterized in that: The clamping mechanism comprises a second bracket connected to the second six-axis robot arm through a second force sensor, and a robot is installed at the bottom of the second bracket.

8. The multi-arm robot for cutting wind turbine blades in the field according to claim 7, characterized in that: A second sensor bracket is arranged above the manipulator, and a second visual camera and a second laser sensor are installed on the second sensor bracket.

9. The multi-arm robot for cutting wind turbine blades in the field according to claim 2, characterized in that: An electrical cabinet is installed on the crawler vehicle.

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