Blade cutting robot

Abstract

The invention provides a blade cutting robot which comprises a movable supporting vehicle body, a multi-joint mechanical arm and a cutting mechanism, the multi-joint mechanical arm is fixedly installed on the movable supporting vehicle body, the cutting mechanism is installed at the end of the multi-joint mechanical arm, a motor is installed on a supporting frame of the cutting mechanism, and a saw blade is installed on an output shaft of the motor. A force sensor is installed between the supporting frame and the multi-joint mechanical arm, and a visual camera and a laser sensor are erected on the portion, above the saw blade, of the supporting frame. The multi-joint mechanical arm is supported through the movable supporting vehicle body, the blade cutting stability is ensured, linkage can be achieved in the cutting process through the force sensor, the visual camera and the laser sensor arranged on the supporting frame, the force sensor monitors force fed back by the cutting head in real time, and overcutting or blade damage is prevented; the laser sensor feeds back the cutting depth in real time, the visual camera guides the multi-joint mechanical arm to conduct tracking cutting, and therefore accurate cutting of the cutting position and the cutting depth of the wind power blade is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine blade cutting, and in particular to a blade cutting robot. 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 progress and the expansion of single wind turbines, more and more wind turbine blades are facing the problem of post-retirement treatment and reuse. After the wind turbine is retired, most of the components of the unit can be basically recycled, including cutting and reuse.

[0003] 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 is mainly done by manual cutting or machine cutting. On-site cutting relies on manual work. During the cutting process, it is necessary to hold an electric saw and constantly climb up and down the blades. The handheld electric saw needs to remain stable for a long time during the cutting process, 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, and the cutting efficiency is low. The more common blade cutting tool is the excavator cutter, which mainly replaces the actuator of the excavator with an electric saw. The excavator needs to be operated by a driver. Due to the huge size of the wind turbine blades, the operator cannot accurately observe each cutting position, and can only achieve cross-sectional cutting with a fixed angle and uncontrollable cutting depth. It can only be cut according to the driver's feel, and fine cutting can be achieved. Summary of the invention

[0004] The purpose of the present invention is to provide a blade cutting robot to achieve fine cutting of wind turbine blades.

[0005] The present invention provides a blade cutting robot, comprising a mobile supporting body, a multi-joint robotic arm and a cutting mechanism, wherein the bottom end of the multi-joint robotic arm is fixedly mounted on the top end of the mobile supporting body, and the cutting mechanism is mounted on the end of the multi-joint robotic arm. The cutting mechanism comprises a support frame, on which a motor is mounted, and a detachable saw blade is mounted on the output shaft of the motor. A force sensor is installed between the support frame and the end of the multi-joint robotic arm, and a visual camera and a laser sensor are respectively mounted on the support frame above the saw blade.

[0006] Furthermore, a V-shaped bracket is fixedly mounted on the support frame above the saw blade, and the visual camera and the laser sensor are respectively mounted on both ends of the V-shaped bracket.

[0007] Furthermore, the mobile support vehicle body includes a frame, tracks are symmetrically provided on both sides of the bottom end of the frame, and hydraulic support rods are provided at the four corners of the frame.

[0008] Furthermore, four telescopic mechanisms are fixedly installed on the bottom end of the frame, which are respectively connected to the hydraulic support rods. The axes of the hydraulic support rods are perpendicular to the telescopic direction of the telescopic mechanisms. The telescopic mechanisms include a first sleeve, a second sleeve and a hydraulic rod. The second sleeve is sleeved on the inner side of the first sleeve. One end of the hydraulic rod is hinged to the first sleeve, and the other end of the hydraulic rod is hinged to the second sleeve. An end of the second sleeve away from the first sleeve is fixedly connected to the hydraulic support rod.

[0009] Furthermore, the upper and lower ends of the force sensor are connected to the support frame and the ends of the multi-joint robotic arm through flanges.

[0010] Furthermore, the support frame includes two mounting plates, the top ends of the two mounting plates are fixedly mounted with connecting plates, a plurality of mounting holes for mounting the force sensor are arranged in a circumferential array on the connecting plates; and a plurality of waist-shaped holes are arranged at the bottom end of each mounting plate.

[0011] Furthermore, a support plate is provided at the bottom end of each hydraulic support rod, and a bottom area of ​​the support plate is larger than a cross-sectional area of ​​the support rod.

[0012] Furthermore, it also includes a dust suction device, which includes a negative pressure box, a negative pressure port of the negative pressure box is connected to a negative pressure pipe, the negative pressure pipe is arranged along the multi-joint robotic arm, and the end of the negative pressure pipe is mounted on the support frame.

[0013] Furthermore, the saw blade is a diamond saw blade.

[0014] Furthermore, the multi-joint robotic arm is a six-axis robotic arm.

[0015] Compared with the prior art, the beneficial effects of the present technical solution are as follows: the multi-joint robotic arm is supported by a mobile support vehicle body to ensure the stability of the cutting mechanism when cutting the wind turbine blades; the force sensor, visual camera and laser sensor arranged on the support frame can be linked during the cutting process; the force sensor monitors the force feedback from the cutting head in real time to prevent overcutting or damage to the blades; the laser sensor feeds back the cutting depth in real time; the visual camera guides the multi-joint robotic arm to perform tracking cutting, thereby achieving precise cutting of the cutting position and cutting depth of the wind turbine blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the overall structure of the cutting mechanism in the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of Example 2 of the present invention.

[0020] Explanation of the accompanying drawings: 1-frame, 2-track, 3-multi-joint robotic arm, 4-force sensor, 5-cutting mechanism, 6-hydraulic support rod, 7-first sleeve, 8-second sleeve, 9-hydraulic rod, 10-support plate, 11-support frame, 12-motor, 13-saw blade, 14-V-shaped bracket, 15-visual camera, 16-laser sensor, 17-waist-shaped hole. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] Example 1

[0025] like Figure 1 and Figure 2 As shown, the present invention provides a blade cutting robot, including a mobile supporting body, a multi-joint robotic arm 3 and a cutting mechanism 5. The bottom end of the multi-joint robotic arm 3 is fixedly mounted on the top of the mobile supporting body, and the cutting mechanism 5 is mounted on the end of the multi-joint robotic arm 3. The multi-joint robotic arm 3 in this embodiment is a six-axis robotic arm, which can better adapt to various cutting conditions, drive the cutting mechanism 5 to move to a suitable cutting position and adjust the cutting angle, etc.

[0026] The cutting mechanism 5 includes a support frame 11, a motor 12 is installed at the bottom of the support frame 11, a detachable diamond saw blade 13 is installed on the output shaft of the motor 12, a force sensor 4 is installed between the support frame 11 and the end of the multi-joint mechanical arm 3, and the upper and lower ends of the force sensor 4 are connected to the support frame 11 and the end of the multi-joint mechanical arm 3 through flanges. The support frame 11 includes two mounting plates, and a connecting plate is fixedly installed on the top of the two mounting plates. A plurality of mounting holes for mounting the force sensor 4 are arranged in a circumferential array on the connecting plate; a plurality of waist-shaped holes 17 are arranged at the bottom of each mounting plate, and the waist-shaped holes 17 are used to mount the motor 12, and the position of the motor 12 can be adjusted through the waist-shaped holes 17.

[0027] A V-shaped bracket 14 is fixedly mounted on the support frame 11 above the saw blade 13, and a visual camera 15 and a laser sensor 16 are respectively mounted at both ends of the V-shaped bracket 14. The laser sensor 16 provides real-time feedback of the cutting depth, and the visual camera 15 guides the multi-joint robotic arm 3 to perform tracking cutting.

[0028] The mobile support vehicle body includes a frame 1, and tracks 2 are symmetrically provided on both sides of the bottom end of the frame 1. Hydraulic support rods 6 are provided at the four corners of the frame 1. The bottom ends of the hydraulic support rods 6 are provided with support plates 10. The bottom area of ​​the support plate 10 is larger than the cross-sectional area of ​​the support rod. The hydraulic rod 9 is used to lift the entire frame 1. The four hydraulic rods 9 provide a horizontal and stable working platform for the multi-joint robotic arm 3 to ensure that the multi-joint robotic arm 3 can operate on a horizontal platform during operation, and at the same time ensure that the multi-joint robotic arm 3 will not tip over due to the change of center of gravity. This design is more effective in places with uneven ground.

[0029] Example 2

[0030] like Figure 3 As shown, compared with Example 1, the difference between this embodiment and Example 1 is that: four telescopic mechanisms respectively connected to the hydraulic support rod 6 are fixedly installed at the bottom end of the frame 1, the axis of the hydraulic support rod 6 is perpendicular to the telescopic direction of the telescopic mechanism, and the telescopic mechanism includes a first sleeve 7, a second sleeve 8 and a hydraulic rod 9, the second sleeve 8 is sleeved on the inner side of the first sleeve 7, one end of the hydraulic rod 9 is hinged to the first sleeve 7, the other end of the hydraulic rod 9 is hinged to the second sleeve 8, and the end of the second sleeve 8 away from the first sleeve 7 is fixedly connected to the hydraulic support rod 6. Four telescopic mechanisms are set to expand the hydraulic support rod 6 outward, expand the support area, and improve the stability of the multi-joint mechanical arm 3.

[0031] Example 3

[0032] The present embodiment differs from the above-mentioned embodiment in that: it also includes a dust suction device, which includes a negative pressure box body, and the negative pressure port of the negative pressure box body is connected to a negative pressure pipe, the negative pressure pipe is arranged along the multi-joint robotic arm 3, and moves with the multi-joint robotic arm 3, and the end of the negative pressure pipe is mounted on the support frame 11, so that the port of the negative pressure pipe corresponds to the chip discharge position of the saw blade 13, so as to absorb the cutting debris and prevent environmental pollution.

[0033] Example 4

[0034] The present embodiment differs from the first embodiment in that a plurality of conical protrusions are provided at the bottom end of the support plate 10 in a circular array, so as to improve the grip of the support plate and thus improve the stability.

[0035] 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 blade cutting robot, characterized in that: It includes a mobile supporting body, a multi-joint robotic arm and a cutting mechanism, wherein the bottom end of the multi-joint robotic arm is fixedly mounted on the top end of the mobile supporting body, and the cutting mechanism is mounted on the end of the multi-joint robotic arm. The cutting mechanism includes a supporting frame, on which a motor is mounted, and a detachable saw blade is mounted on the output shaft of the motor. A force sensor is installed between the supporting frame and the end of the multi-joint robotic arm, and a visual camera and a laser sensor are respectively mounted on the supporting frame above the saw blade.

2. The blade cutting robot according to claim 1, characterized in that: A V-shaped bracket is fixedly mounted on the support frame above the saw blade, and the visual camera and the laser sensor are respectively mounted on both ends of the V-shaped bracket.

3. The blade cutting robot according to claim 2, characterized in that: The mobile support vehicle body comprises a vehicle frame, crawlers are symmetrically arranged on both sides of the bottom end of the vehicle frame, and hydraulic support rods are arranged at the four corners of the vehicle frame.

4. The blade cutting robot according to claim 3, characterized in that: Four telescopic mechanisms respectively connected to the hydraulic support rods are fixedly installed at the bottom end of the frame, the axis of the hydraulic support rod is perpendicular to the telescopic direction of the telescopic mechanism, the telescopic mechanism includes a first sleeve, a second sleeve and a hydraulic rod, the second sleeve is sleeved on the inner side of the first sleeve, one end of the hydraulic rod is hinged to the first sleeve, the other end of the hydraulic rod is hinged to the second sleeve, and the end of the second sleeve away from the first sleeve is fixedly connected to the hydraulic support rod.

5. The blade cutting robot according to claim 1, characterized in that: The upper and lower ends of the force sensor are connected to the support frame and the ends of the multi-joint mechanical arm through flanges.

6. The blade cutting robot according to claim 5, characterized in that: The support frame includes two mounting plates, the top ends of the two mounting plates are fixedly mounted with connecting plates, and the connecting plates are provided with a plurality of mounting holes for mounting the force sensors in a circumferential array; and the bottom end of each mounting plate is provided with a plurality of waist-shaped holes.

7. The blade cutting robot according to claim 3, characterized in that: A support plate is provided at the bottom end of each hydraulic support rod, and the bottom area of ​​the support plate is larger than the cross-sectional area of ​​the support rod.

8. The blade cutting robot according to claim 1, characterized in that: It also includes a dust suction device, which includes a negative pressure box body, a negative pressure port of the negative pressure box body is connected to a negative pressure pipe, the negative pressure pipe is arranged along the multi-joint mechanical arm, and the end of the negative pressure pipe is mounted on the support frame.

9. The blade cutting robot according to claim 1, characterized in that: The saw blade is a diamond saw blade.

10. The blade cutting robot according to claim 1, characterized in that: The multi-joint robotic arm is a six-axis robotic arm.

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