Automatic fiber placement system and fiber placement method for blade mold

Abstract

The invention discloses an automatic fiber placement system for a blade mold and a fiber placement method. The system comprises a support frame; the connecting frame is arranged on the supporting frame and provided with a base, and the connecting frame can move in a fiber placement operation area; the multi-axis mechanical arm is installed on the base and can move up and down in the direction perpendicular to the plane of the fiber placement operation area and rotate in multiple directions; the wire placement unit is installed on the multi-axis mechanical arm and can output the electric heating wire and press the electric heating wire to the surface of the blade mold; the first detection unit is mounted on the base and used for detecting surface information and position information of the blade mold; the moving driving mechanism is used for controlling the connecting frame and the base on the connecting frame to move; and the control unit is used for generating a wire placement path and controlling the multi-axis mechanical arm, the wire placement unit, the first detection unit and the movable driving mechanism to act according to the wire placement path so as to perform wire placement of the electric heating wire. Automatic wire placement of the electric heating wire on the blade mold can be achieved, and the laying quality of the electric heating wire is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mold processing, and in particular relates to an automatic wire placing device and a wire placing method for a blade mold. Background Art

[0002] Wind turbine blades are one of the important components of wind turbines. The design and manufacturing process of wind turbine blades directly affects the life and efficiency of the entire wind turbine. At present, corresponding blade molds are required when preparing wind turbine blades. The quality of the blade molds directly determines the quality of the prepared wind turbine blades.

[0003] The temperature control of wind turbine blade molds has a vital impact on the quality of blade products. If the temperature is not well controlled, it is easy to cause the wind turbine blade products to be unqualified, the blades to be scrapped, the fiberglass inner mechanism of the wind turbine blade mold to burn and carbonize, and in serious cases, the wind turbine blade mold may catch fire. Therefore, the temperature control of the blade mold is a key technology in the process of wind turbine blade molding. The existing blade mold temperature control is achieved by laying electric heating wires on the blade mold and heating it with electric heating wires.

[0004] At present, laying the heating wire on the blade mold is usually done by pure manual laying or manual control of auxiliary equipment. However, in the actual production process, the use of pure manual laying or manual control of auxiliary equipment has high labor costs and a long processing cycle. In addition, manual laying of the heating wire is prone to deviations, such as mismatched heating wire lengths and uneven layouts, which makes it difficult to match the rapidly developing wind power industry and meet actual usage needs. Summary of the invention

[0005] In order to solve part or all of the technical problems existing in the above-mentioned prior art, the present invention provides an automatic wire placing system and a wire placing method for a blade mold.

[0006] The technical solution of the present invention is as follows:

[0007] In a first aspect, an automatic wire placement system for a blade mold is provided, the system comprising:

[0008] A support frame is arranged in a wire laying operation area of ​​a blade mold;

[0009] A connecting frame, which is arranged on the supporting frame, and a base is arranged on the connecting frame, and the connecting frame can move in the wire laying operation area;

[0010] a multi-axis mechanical arm mounted on the base, wherein when the multi-axis mechanical arm is mounted on the base, the multi-axis mechanical arm can move up and down in a direction perpendicular to the plane of the wire laying operation area, can rotate in an axial direction perpendicular to the plane of the wire laying operation area, and can rotate in an axial direction parallel to the plane of the wire laying operation area;

[0011] A wire placing unit is installed on the multi-axis robot arm, and the wire placing unit can output the heating wire and press the heating wire onto the surface of the blade mold;

[0012] A first detection unit, mounted on the base, for detecting surface information and position information of a blade mold placed in the wire placement operation area;

[0013] A mobile driving mechanism, used for controlling the connecting frame and the base thereon to move in the wire laying operation area;

[0014] A control unit is respectively connected to the multi-axis robot arm, the wire placing unit, the first detection unit and the mobile drive mechanism. The control unit can generate a wire placing path according to pre-input wire placing related parameters and the detection information of the first detection unit, and control the multi-axis robot arm, the wire placing unit and the mobile drive mechanism to move according to the wire placing path so as to place the heating wire on the blade mold.

[0015] In some optional embodiments, the wire laying unit includes: a fixed frame, a wire outlet drum, a transmission mechanism, a tensioning mechanism, a wire outlet head, a glue outlet and a pressing roller;

[0016] The fixing frame can be installed on the multi-axis robot arm, the wire outlet drum is installed on the fixing frame, the wire outlet drum is wound with electric heating wire, the transmission mechanism is installed on the fixing frame and is located on one side of the wire outlet drum, the transmission mechanism is used to discharge the electric heating wire on the wire outlet drum, the tensioning mechanism is installed on the fixing frame and is located on one side of the transmission mechanism, the tensioning mechanism is used to tension the electric heating wire discharged by the transmission mechanism and discharge the tensioned electric heating wire to the wire outlet head, and the wire outlet head is installed in the On the fixed frame, the wire outlet head is provided with a guide wheel mechanism, the heating wire discharged from the tensioning mechanism bypasses the guide wheel mechanism and is discharged from the wire outlet head, and the heating wire discharged from the wire outlet head moves in a direction tangent to the roller surface of the pressing roller, the glue dispenser is installed on the wire outlet head, the glue outlet nozzle of the glue dispenser is facing the outside of the wire outlet head, the glue dispenser is used to spray glue on the heating wire discharged from the wire outlet head, the pressing roller is installed on the fixed frame, and the pressing roller is used to press the heating wire discharged from the wire outlet head to the surface of the blade mold.

[0017] In some optional embodiments, the transmission mechanism includes: at least two transmission roller groups mounted on the fixing frame and arranged side by side;

[0018] The transmission roller group includes two opposite transmission rollers and transmission motors respectively connected to the two transmission rollers. The spacing between the rolling surfaces of the two opposite transmission rollers is adapted to the thickness of the heating wire wound on the wire outlet reel. The transmission motor can drive the transmission rollers connected thereto to rotate. The two opposite transmission rollers can drive the heating wire on the wire outlet reel to be discharged under the drive of the transmission motor.

[0019] In some optional embodiments, the tensioning mechanism includes: a first tensioning roller, a second tensioning roller, a first tensioning motor, and a second tensioning motor;

[0020] The first tensioning roller, the second tensioning roller, the first tensioning motor and the second tensioning motor are respectively installed on the fixed frame, the first tensioning motor is connected to the first tensioning roller, and the first tensioning motor can drive the first tensioning roller connected thereto to rotate, the second tensioning motor is connected to the second tensioning roller, and the second tensioning motor can drive the second tensioning roller connected thereto to rotate, and the heating wire discharged from the transmission mechanism bypasses the first tensioning roller and the second tensioning roller in turn, and is discharged from the second tensioning roller.

[0021] In some optional embodiments, the guide wheel mechanism includes: a guide wheel and a guide motor;

[0022] The guide wheel and the guide motor are respectively installed on the wire outlet head, the guide motor is connected to the guide wheel, the guide motor can drive the guide wheel to rotate, the heating wire discharged by the tensioning mechanism bypasses the guide wheel, the guide wheel can drive the heating wire to move under the drive of the guide motor, and the moving direction of the heating wire passing through the guide wheel is tangent to the roller surface of the pressing roller.

[0023] In some optional embodiments, the wire placing unit further comprises: a telescopic motor and a cutter;

[0024] The telescopic motor is installed on the fixed frame, and the cutter is installed at the output end of the telescopic motor. When the telescopic motor is in the initial position, the cutter faces the heating wire in the wire outlet head. The telescopic motor can drive the cutter to move, and the cutter is used to cut the heating wire.

[0025] In some optional embodiments, the wire laying unit further includes a hair dryer, which is mounted on the fixed frame and located on the outside of the pressing roller, and is used to dry the glue attached to the heating wire pressed to the surface of the blade mold.

[0026] In some optional embodiments, the mobile driving mechanism includes a transverse driving mechanism and a longitudinal driving mechanism, a crossbeam is arranged on the support frame, the crossbeam extends in a direction parallel to the plane of the wire laying operation area, a longitudinal beam is arranged on the crossbeam, the extension direction of the longitudinal beam is orthogonal to the extension direction of the crossbeam, the transverse driving mechanism is arranged on the longitudinal beam, the transverse driving mechanism can drive the longitudinal beam to reciprocate along the crossbeam, the connecting frame is arranged on the longitudinal beam, the longitudinal driving mechanism is arranged on the connecting frame, and the longitudinal driving mechanism can drive the connecting frame to reciprocate along the longitudinal beam.

[0027] In a second aspect, a wire placing method is also provided, the wire placing method being implemented by using the above-mentioned automatic wire placing system for the blade mold, comprising:

[0028] Acquire wire-laying related parameters, and input the wire-laying related parameters into the control unit, so that the control unit determines the number of wire-laying cycles and generates an initial wire-laying trajectory according to the wire-laying related parameters;

[0029] According to the initial wire laying trajectory, the control unit controls the movement of the mobile driving mechanism to make the multi-axis robot arm and the wire laying unit thereon move along the wire laying trajectory at a set wire laying moving speed, and in the process of the wire laying unit moving along the wire laying trajectory, controls the movement of the multi-axis robot arm and the wire laying unit to make the wire laying unit lay the electric heating wire on the blade mold in the set wire laying posture;

[0030] After completing a wire laying process along the wire laying trajectory, the control unit controls the movement of the moving drive mechanism and the first detection unit to detect the blade mold after the wire laying and obtain surface information of the blade mold;

[0031] The control unit compares the acquired surface information of the blade mold with the expected surface information, calculates the surface deviation, and determines whether the surface deviation is within a set deviation requirement range;

[0032] If the surface deviation is within the set deviation requirement range, the wire laying of the blade mold is terminated;

[0033] If the surface deviation is not within the set deviation requirement range, a wire placing trajectory is generated according to the wire placing related parameters, the surface information of the current blade mold and the surface deviation information, and a wire placing moving speed is determined;

[0034] According to the wire laying trajectory, the control unit controls the movement of the moving drive mechanism to make the multi-axis robot arm and the wire laying unit thereon move along the wire laying trajectory at an adjusted wire laying moving speed, and in the process of the wire laying unit moving along the wire laying trajectory, controls the movement of the multi-axis robot arm and the wire laying unit to make the wire laying unit lay the electric heating wire on the blade mold in a set wire laying posture;

[0035] After completing a wire laying process along the wire laying trajectory, return to step "after completing a wire laying process along the wire laying trajectory, the control unit controls the movement of the mobile drive mechanism and the first detection unit to detect the blade mold after wire laying and obtain surface information of the blade mold" to continue the wire laying process.

[0036] In some optional embodiments, the wire laying related parameters include: an initial 3D model of the blade mold, desired surface information of the blade mold, a deviation requirement range corresponding to the surface deviation, an initial wire laying speed, and an allowable error of the first detection unit;

[0037] The desired surface information of the blade mold includes: the position and length information of the heating wire that needs to be laid on the blade mold.

[0038] The main advantages of the technical solution of the present invention are as follows:

[0039] The automatic wire laying system and wire laying method for the blade mold of the present invention can realize the automatic laying of the heating wire on the blade mold, improve the laying quality of the heating wire on the blade mold, ensure that the laying length and layout of the heating wire are consistent with actual needs, and at the same time can reduce manual operations, shorten the production cycle of the blade mold, and significantly improve the production efficiency of the blade mold. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0041] Figure 1 A schematic diagram of the structure of an automatic wire placement system for a blade mold provided by an embodiment of the present invention, wherein some structures are not shown;

[0042] Figure 2 A schematic diagram of the structure of a fiber placement unit provided in one embodiment of the present invention, wherein some structures are not shown;

[0043] Figure 3 A schematic diagram of the structure of a multi-axis robotic arm provided by an embodiment of the present invention;

[0044] Figure 4A flow chart of a wire laying method provided in one embodiment of the present invention.

[0045] Description of reference numerals:

[0046] 1-support frame, 101-crossbeam, 102-longitudinal beam;

[0047] 2-connecting frame, 201-base;

[0048] 3-Multi-axis robotic arm;

[0049] 401-fixed frame, 402-thread reel, 4031-transmission roller, 4041-first tensioning roller, 4042-second tensioning roller, 405-thread head, 406-glue dispenser, 407-pressing roller, 4081-guide wheel, 409-telescopic motor, 410-cutter, 411-blower;

[0050] 5- Heating wire;

[0051] 6-blade bracket;

[0052] 7-Blade mold. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0054] The technical solution provided by the embodiments of the present invention is described in detail below with reference to the accompanying drawings.

[0055] refer to Figure 1 In a first aspect, an embodiment of the present invention provides an automatic wire placement system for a blade mold, comprising:

[0056] A support frame 1 is arranged in a wire laying operation area of ​​a blade mold 7;

[0057] A connecting frame 2 is arranged on the supporting frame 1, a base 201 is arranged on the connecting frame 2, and the connecting frame 2 can move in the wire laying operation area;

[0058] The multi-axis robot arm 3 is mounted on the base 201. When the multi-axis robot arm 3 is mounted on the base 201, the multi-axis robot arm 3 can move up and down in a direction perpendicular to the plane of the wire laying operation area, can rotate along an axial direction perpendicular to the plane of the wire laying operation area, and can rotate along an axial direction parallel to the plane of the wire laying operation area.

[0059] A wire placing unit is installed on the multi-axis robot arm 3. The wire placing unit can output the heating wire 5 and press the heating wire 5 onto the surface of the blade mold 7.

[0060] A first detection unit, mounted on the base 201, is used to detect surface information and position information of the blade mold 7 placed in the wire placement operation area;

[0061] A mobile driving mechanism, used to control the connection frame 2 and the base 201 thereon to move within the wire laying operation area;

[0062] The control unit is respectively connected to the multi-axis robot 3, the wire laying unit, the first detection unit and the mobile drive mechanism. The control unit can generate a wire laying path according to the pre-input wire laying related parameters and the detection information of the first detection unit, and control the multi-axis robot 3, the wire laying unit and the mobile drive mechanism according to the wire laying path to lay the heating wire 5 on the blade mold 7.

[0063] Specifically, when the automatic wire placing system for a blade mold provided by an embodiment of the present invention performs wire placing on a blade mold 7, it first obtains wire placing related parameters according to the actual blade mold 7 and the actual wire placing requirements, and inputs the wire placing related parameters into a control unit, the control unit determines the number of wire placing cycles according to the wire placing related parameters, sets up a coordinate origin according to the wire placing related parameters, establishes a spatial coordinate system, and generates an initial wire placing trajectory based on the established spatial coordinate system; after the initial wire placing trajectory is generated, the control unit controls the movement of the mobile drive mechanism according to the wire placing trajectory, so that the multi-axis robot 3 and the wire placing unit thereon move along the wire placing trajectory at a set wire placing movement speed, and in the process of the wire placing unit moving along the wire placing trajectory, the control unit controls the multi-axis robot 3 and the wire placing unit The first detection unit is used to detect the blade mold 7 after the wire laying, and the surface information and position information of the blade mold 7 after the wire laying are obtained. The surface information includes the position and length information of the heating wire 5 on the blade mold 7 after the current wire laying process. After obtaining the surface information of the blade mold 7, the control unit compares the obtained surface information of the blade mold 7 with the expected surface information, and calculates the surface information of the blade mold 7. The surface deviation is determined, and whether the surface deviation is within the set deviation requirement range. If it is within the set deviation requirement range, the wire laying of the blade mold 7 is terminated, and the wire laying process of the blade mold 7 is completed; if it is not within the set deviation requirement range, a wire laying trajectory is generated according to the wire laying related parameters, the current position information, surface information and surface deviation information of the blade mold 7, and the wire laying moving speed is determined; after the new wire laying trajectory is generated, the control unit controls the movement of the mobile driving mechanism according to the wire laying trajectory, so that the multi-axis robot 3 and the wire laying unit thereon move along the wire laying trajectory at the adjusted wire laying moving speed, and in the process of the wire laying unit moving along the wire laying trajectory, the multi-axis robot 3 and the wire laying unit are controlled to move, so that the wire laying unit places the electric heating wire 5 in the set wire laying posture. The wire laying process is completed along the wire laying trajectory, and the control unit controls the multi-axis robot arm 3 and the wire laying unit thereon to return to the starting position through the mobile driving mechanism. After returning to the starting position, the control unit controls the mobile driving mechanism and the first detection unit to move, and uses the first detection unit to detect the blade mold 7 after the wire laying, and obtains the surface information and position information of the blade mold 7 after the wire laying. After obtaining the surface information of the blade mold 7, the control unit compares the obtained surface information of the blade mold 7 with the expected surface information, calculates the surface deviation, and determines whether the surface deviation is within the set deviation requirement range. If it is within the set deviation requirement range, the wire laying of the blade mold 7 is terminated, and the wire laying process of the blade mold 7 is completed.If it is not within the set deviation requirement range, the above corresponding wire laying process is continued until the surface deviation obtained is within the set deviation requirement range and the wire laying process of the blade mold 7 is completed. ;

[0064] In one embodiment of the present invention, in order to ensure the wire laying quality of the blade mold 7, the wire laying related parameters at least include: an initial 3D model of the blade mold, desired surface information of the blade mold 7, a deviation requirement range corresponding to the surface deviation, an initial wire laying speed, and an allowable error of the first detection unit;

[0065] Among them, the expected surface information of the blade mold 7 includes: the position and length information of the heating wire 5 that needs to be laid on the blade mold 7; the allowable error of the initial 3D model of the blade mold and the first detection unit is determined according to the actual situation; the deviation requirement range corresponding to the surface deviation and the initial wire laying speed are set according to the actual wire laying requirements.

[0066] refer to Figure 2 In one embodiment of the present invention, the wire laying unit includes: a fixed frame 401, a wire outlet drum 402, a transmission mechanism, a tensioning mechanism, a wire outlet head 405, a glue outlet 406 and a pressing roller 407;

[0067] The fixed frame 401 can be installed on the multi-axis robot arm 3, the wire outlet drum 402 is installed on the fixed frame 401, the wire outlet drum 402 is wound with a heating wire 5, the transmission mechanism is installed on the fixed frame 401 and is located on one side of the wire outlet drum 402, the transmission mechanism is used to discharge the heating wire 5 on the wire outlet drum 402, the tensioning mechanism is installed on the fixed frame 401 and is located on one side of the transmission mechanism, the tensioning mechanism is used to tension the heating wire 5 discharged by the transmission mechanism and discharge the tensioned heating wire 5 to the wire outlet head 405, the wire outlet head 405 is installed on the fixed frame 401, The wire outlet head 405 is provided with a guide wheel mechanism, and the heating wire 5 discharged from the tensioning mechanism bypasses the guide wheel mechanism and is discharged from the wire outlet head 405, and the heating wire 5 discharged from the wire outlet head 405 moves in a direction tangent to the roller surface of the pressing roller 407, and the glue dispenser 406 is installed on the wire outlet head 405, and the glue outlet nozzle of the glue dispenser 406 faces the outside of the wire outlet head 405. The glue dispenser 406 is used to spray glue on the heating wire 5 discharged from the wire outlet head 405, and the pressing roller 407 is installed on the fixed frame 401, and the pressing roller 407 is used to press the heating wire 5 discharged from the wire outlet head 405 to the surface of the blade mold 7.

[0068] When the above-mentioned wire laying unit is in use, the heating wire 5 on the wire outlet reel 402 passes through the transmission mechanism, the tensioning mechanism, the wire outlet head 405, and the guide wheel mechanism in turn, and the heating wire 5 is discharged from the wire outlet head 405 by the guide wheel mechanism in the wire outlet head 405. At the same time, the glue discharger 406 sprays glue on the heating wire 5 discharged from the wire outlet head 405. As the heating wire 5 is continuously discharged, the heating wire 5 continuously extends toward the direction of the pressing roller 407. The pressing roller 407 rolls along the surface of the blade mold 7 under the drive of the multi-axis robot arm 3, and then continuously presses the heating wire 5 discharged from the wire outlet head 405 onto the surface of the blade mold 7. Due to the effect of the glue attached to the heating wire 5, the heating wire 5 can be firmly attached to the surface of the blade mold 7, thereby improving the wire laying quality.

[0069] Among them, the wire delivery speed of the wire laying unit can be adjusted by adjusting the transmission speed of the transmission mechanism, thereby meeting different actual usage requirements.

[0070] refer to Figure 2 , in order to realize the functions of the transmission mechanism defined above, in one embodiment of the present invention, the transmission mechanism comprises: at least two transmission roller groups mounted on the fixing frame 401 and arranged side by side;

[0071] The transmission roller group includes two opposite transmission rollers 4031 and transmission motors respectively connected to the two transmission rollers 4031. The spacing between the roller surfaces of the two opposite transmission rollers 4031 is adapted to the thickness of the heating wire 5 wound on the wire outlet reel 402. The transmission motor can drive the transmission rollers 4031 connected thereto to rotate. The two opposite transmission rollers 4031 can drive the heating wire 5 on the wire outlet reel 402 to be discharged under the drive of the transmission motor.

[0072] When the above-mentioned transmission mechanism is in use, the heating wire 5 on the wire outlet reel 402 passes through the transmission roller group from between the two opposite transmission rollers 4031. Since the spacing between the rolling surfaces of the two transmission rollers 4031 is adapted to the thickness of the heating wire 5 wound on the wire outlet reel 402, when the transmission roller 4031 rotates, the transmission roller 4031 drives the heating wire 5 to move tangentially along the rolling surface through the friction between the transmission roller 4031 and the heating wire 5, thereby gradually discharging the heating wire 5 on the wire outlet reel 402.

[0073] refer to Figure 2 , in order to realize the functions of the tensioning mechanism defined above, in one embodiment of the present invention, the tensioning mechanism includes: a first tensioning roller 4041, a second tensioning roller 4042, a first tensioning motor and a second tensioning motor;

[0074] The first tensioning roller 4041, the second tensioning roller 4042, the first tensioning motor and the second tensioning motor are respectively installed on the fixed frame 401, the first tensioning motor is connected to the first tensioning roller 4041, the first tensioning motor can drive the first tensioning roller 4041 connected thereto to rotate, the second tensioning motor is connected to the second tensioning roller 4042, the second tensioning motor can drive the second tensioning roller 4042 connected thereto to rotate, the heating wire 5 discharged by the transmission mechanism bypasses the first tensioning roller 4041 and the second tensioning roller 4042 in turn, and is discharged from the second tensioning roller 4042.

[0075] When the above-mentioned tensioning mechanism is in use, since the heating wire 5 passes around the first tensioning roller 4041 and the second tensioning roller 4042 in sequence, when the first tensioning motor and the second tensioning motor drive the first tensioning roller 4041 and the second tensioning roller 4042 to rotate, the heating wire 5 can be tensioned under the action of the first tensioning roller 4041 and the second tensioning roller 4042.

[0076] refer to Figure 2 ,In one embodiment of the present invention, the guide wheel mechanism includes: a guide wheel 4081 and a guide motor;

[0077] The guide wheel 4081 and the guide motor are respectively installed on the wire outlet head 405, and the guide motor is connected to the guide wheel 4081. The guide motor can drive the guide wheel 4081 to rotate. The heating wire 5 discharged by the tensioning mechanism bypasses the guide wheel 4081. The guide wheel 4081 can drive the heating wire 5 to move under the drive of the guide motor, and the moving direction of the heating wire 5 passing through the guide wheel 4081 is tangent to the roller surface of the pressing roller 407.

[0078] By setting a guide wheel 4081 and a guide motor in the wire outlet head 405, the guide wheel 4081 can be used to control and adjust the direction of the heating wire 5 discharged from the wire outlet head 405, ensuring that the heating wire 5 is tangent to the roller surface of the pressing roller 407, thereby ensuring that the pressing roller 407 can stably press the heating wire 5 onto the surface of the blade mold 7.

[0079] refer to Figure 2 ,In one embodiment of the present invention, the wire placing unit further includes: a telescopic motor 409 and a cutter 410;

[0080] The telescopic motor 409 is installed on the fixed frame 401, and the cutter 410 is installed at the output end of the telescopic motor 409. When the telescopic motor 409 is in the initial position, the cutter 410 faces the heating wire 5 in the wire outlet head 405. The telescopic motor 409 can drive the cutter 410 to move, and the cutter 410 is used to cut the heating wire 5.

[0081] Specifically, by providing the telescopic motor 409 and the cutter 410 , the cutter 410 can shear the heating wire 5 driven by the telescopic motor 409 , and can control the cutting of the heating wire 5 according to actual laying requirements, thereby ensuring the laying quality of the heating wire.

[0082] refer to Figure 2 In one embodiment of the present invention, the wire laying unit also includes a hair dryer 411, which is installed on the fixing frame 401 and is located on the outer side of the pressing roller 407. The hair dryer 411 is used to dry the glue attached to the heating wire 5 pressed to the surface of the blade mold 7.

[0083] By providing the hair dryer 411 , the glue attached to the heating wire 5 can be quickly dried, thereby accelerating the fixation of the heating wire 5 and improving the bonding strength between the heating wire 5 and the blade mold 7 .

[0084] Furthermore, in one embodiment of the present invention, the wire laying unit also includes a pressure sensor, which is installed on the roller shaft of the pressing roller 407 and connected to the control unit. The pressure sensor is used to detect the pressing force of the pressing roller 407 and send the detection result to the control unit.

[0085] By setting a pressure sensor to detect the pressing force of the pressing roller 407 and sending it to the control unit, the control unit can adjust the position of the wire laying unit according to the pressing force so that the heating wire 5 can be better pressed onto the blade mold 7.

[0086] Furthermore, based on the provision of a pressure sensor, the control unit can also determine and adjust the rotation angle of the multi-axis robot arm 3 according to the surface information of the blade mold 7 detected by the first detection unit and the pressing pressure information detected by the pressure sensor, so that the wire laying unit is in the optimal wire laying posture.

[0087] Furthermore, in one embodiment of the present invention, the first detection unit includes a 3D laser scanner, which is installed on the base 201 and is used to perform laser scanning on the blade mold 7 to obtain a three-dimensional model and surface information of the blade mold 7 .

[0088] By setting up a 3D laser scanner, the blade mold 7 placed in the wire laying operation area can be laser scanned, and then the three-dimensional model of the blade mold 7 and the surface information of the blade mold 7 can be obtained according to the laser scanning result.

[0089] Furthermore, the system also includes a second detection unit, which includes a distance meter installed on the multi-axis robot arm 3 and used for measuring the distance between the multi-axis robot arm 3 and the surface of the blade mold 7 .

[0090] By setting up a distance meter, the distance between the multi-axis robot arm 3 and the surface of the blade mold 7 can be measured. Based on the measurement result and according to the installation position of the distance meter and the wire placing unit on the multi-axis robot arm 3, the distance between the wire placing unit and the surface of the blade mold 7 can be further calculated to facilitate the position adjustment of the wire placing unit and wire placing control.

[0091] refer to Figure 3 In one embodiment of the present invention, the multi-axis robotic arm 3 is a four-axis robotic arm or other types of robotic arms with a higher degree of freedom than a four-axis robotic arm, so as to ensure that the functions of the multi-axis robotic arm 3 defined above can be realized.

[0092] Furthermore, in one embodiment of the present invention, the control unit includes an industrial computer, a PLC controller and a display touch screen that are electrically connected to each other, the industrial computer and the PLC controller are used to realize data acquisition, data transmission, data processing, generation and transmission of control instructions, and are used to control the multi-axis robot arm 3, the wire laying unit, the first detection unit, the second detection unit and the mobile drive mechanism, and the display touch screen can display the position information of the multi-axis robot arm 3 and the wire laying unit.

[0093] In one embodiment of the present invention, the control unit may be arranged outside the wire placing operation area to avoid affecting the wire placing operation of the blade mold 7 .

[0094] Furthermore, in one embodiment of the present invention, the mobile driving mechanism includes a transverse driving mechanism and a longitudinal driving mechanism, a crossbeam 101 is arranged on the support frame 1, the crossbeam 101 extends in a direction parallel to the plane of the wire laying operation area, a longitudinal beam 102 is arranged on the crossbeam 101, the extension direction of the longitudinal beam 102 is orthogonal to the extension direction of the crossbeam 101, the transverse driving mechanism is arranged on the longitudinal beam 102, the transverse driving mechanism can drive the longitudinal beam 102 to reciprocate along the crossbeam 101, the connecting frame 2 is arranged on the longitudinal beam 102, the longitudinal driving mechanism is arranged on the connecting frame 2, and the longitudinal driving mechanism can drive the connecting frame 2 to reciprocate along the longitudinal beam 102.

[0095] In one embodiment of the present invention, the transverse driving mechanism and the longitudinal driving mechanism may adopt any structural type as long as they can achieve the above functions.

[0096] Specifically, as an example, the transverse drive mechanism includes a first drive motor and a first roller, the first drive motor and the first roller are mounted on the longitudinal beam 102, the first drive motor is rotatably connected to the first roller, the cross beam 101 is provided with a roller that can cooperate with the first roller, when the longitudinal beam 102 is arranged on the cross beam 101, the first roller cooperates with the roller. The longitudinal drive mechanism includes a second drive motor and a second roller, the second drive motor and the second roller are mounted on the connecting frame 2, the second drive motor is rotatably connected to the second roller, the longitudinal beam 102 is provided with a roller that can cooperate with the second roller, when the connecting frame 2 is arranged on the longitudinal beam 102, the second roller cooperates with the roller.

[0097] In one embodiment of the present invention, the support frame 1 and the cross beams 101 and longitudinal beams 102 thereon form a gantry structure.

[0098] Furthermore, in one embodiment of the present invention, the support frame 1 and the cross beams 101 and longitudinal beams 102 thereon may adopt a truss structure to fully utilize the strength of the material, save materials, reduce deadweight and increase rigidity.

[0099] refer to Figure 1 Furthermore, in one embodiment of the present invention, the system also includes a blade support 6 , which is used to support the blade mold 7 .

[0100] refer to Figure 4 In a second aspect, an embodiment of the present invention further provides a wire placing method, which is implemented by using the above-mentioned automatic wire placing system for a blade mold, and specifically comprises the following steps:

[0101] Step S1, obtaining wire-laying related parameters, and inputting the wire-laying related parameters into a control unit, so that the control unit determines the number of wire-laying cycles and generates an initial wire-laying trajectory according to the wire-laying related parameters;

[0102] Step S2, according to the initial wire laying trajectory, the control unit controls the movement of the mobile driving mechanism to make the multi-axis robot arm 3 and the wire laying unit thereon move along the wire laying trajectory at a set wire laying movement speed, and in the process of the wire laying unit moving along the wire laying trajectory, the multi-axis robot arm 3 and the wire laying unit are controlled to move so that the wire laying unit lays the electric heating wire 5 on the blade mold 7 in the set wire laying posture;

[0103] Step S3, after completing a wire laying process along the wire laying trajectory, the control unit controls the movement drive mechanism and the first detection unit to detect the blade mold 7 after the wire laying, and obtains the surface information of the blade mold 7;

[0104] Step S4, the control unit compares the acquired surface information of the blade mold 7 with the expected surface information and calculates the surface deviation;

[0105] Step S5, determining whether the surface deviation is within the set deviation requirement range;

[0106] Step S6, if the surface deviation is within the set deviation requirement range, then the wire laying of the blade mold 7 is terminated;

[0107] Step S7, if the surface deviation is not within the set deviation requirement range, a wire placing trajectory is generated according to the wire placing related parameters, the surface information of the current blade mold 7 and the surface deviation information, and the wire placing moving speed is determined;

[0108] Step S8, according to the wire placing trajectory, the control unit controls the movement of the mobile drive mechanism to make the multi-axis robot 3 and the wire placing unit thereon move along the wire placing trajectory at the adjusted wire placing movement speed, and in the process of the wire placing unit moving along the wire placing trajectory, the multi-axis robot 3 and the wire placing unit are controlled to move, so that the wire placing unit lays the heating wire 5 on the blade mold 7 in the set wire placing posture, and returns to step S3 after completing a wire placing process along the wire placing trajectory.

[0109] Furthermore, in one embodiment of the present invention, the wire laying related parameters include: the initial 3D model of the blade mold, the expected surface information of the blade mold 7, the required deviation range corresponding to the surface deviation, the initial wire laying speed, and the allowable error of the first detection unit; the expected surface information of the blade mold 7 includes: the position and length information of the heating wire 5 that needs to be laid on the blade mold 7.

[0110] An automatic wire laying system and wire laying method for a blade mold provided in one embodiment of the present invention can realize automatic laying of the heating wire on the blade mold, improve the laying quality of the heating wire on the blade mold, ensure that the laying length and layout of the heating wire are consistent with actual needs, and at the same time can reduce manual operations, shorten the production cycle of the blade mold, and significantly improve the production efficiency of the blade mold.

[0111] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0112] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic wire placement system for a blade mold, characterized in that: include: A support frame is arranged in a wire laying operation area of ​​a blade mold; A connecting frame, which is arranged on the supporting frame, and a base is arranged on the connecting frame, and the connecting frame can move in the wire laying operation area; a multi-axis mechanical arm mounted on the base, wherein when the multi-axis mechanical arm is mounted on the base, the multi-axis mechanical arm can move up and down in a direction perpendicular to the plane of the wire laying operation area, can rotate in an axial direction perpendicular to the plane of the wire laying operation area, and can rotate in an axial direction parallel to the plane of the wire laying operation area; A wire placing unit is installed on the multi-axis robot arm, and the wire placing unit can output the heating wire and press the heating wire onto the surface of the blade mold; A first detection unit, mounted on the base, for detecting surface information and position information of a blade mold placed in the wire placement operation area; A mobile driving mechanism, used for controlling the connecting frame and the base thereon to move in the wire laying operation area; A control unit is respectively connected to the multi-axis robot arm, the wire placing unit, the first detection unit and the mobile drive mechanism. The control unit can generate a wire placing path according to pre-input wire placing related parameters and the detection information of the first detection unit, and control the multi-axis robot arm, the wire placing unit and the mobile drive mechanism to move according to the wire placing path so as to place the heating wire on the blade mold.

2. The automatic wire placement system for blade mold according to claim 1, characterized in that: The wire laying unit comprises: a fixing frame, a wire discharging drum, a transmission mechanism, a tensioning mechanism, a wire discharging head, a glue discharging device and a pressing roller; The fixing frame can be installed on the multi-axis robot arm, the wire outlet drum is installed on the fixing frame, the wire outlet drum is wound with electric heating wire, the transmission mechanism is installed on the fixing frame and is located on one side of the wire outlet drum, the transmission mechanism is used to discharge the electric heating wire on the wire outlet drum, the tensioning mechanism is installed on the fixing frame and is located on one side of the transmission mechanism, the tensioning mechanism is used to tension the electric heating wire discharged by the transmission mechanism and discharge the tensioned electric heating wire to the wire outlet head, and the wire outlet head is installed in the On the fixed frame, the wire outlet head is provided with a guide wheel mechanism, the heating wire discharged from the tensioning mechanism bypasses the guide wheel mechanism and is discharged from the wire outlet head, and the heating wire discharged from the wire outlet head moves in a direction tangent to the roller surface of the pressing roller, the glue dispenser is installed on the wire outlet head, the glue outlet nozzle of the glue dispenser is facing the outside of the wire outlet head, the glue dispenser is used to spray glue on the heating wire discharged from the wire outlet head, the pressing roller is installed on the fixed frame, and the pressing roller is used to press the heating wire discharged from the wire outlet head to the surface of the blade mold.

3. The automatic wire placement system for blade mold according to claim 2, characterized in that: The transmission mechanism comprises: at least two transmission roller groups mounted on the fixing frame and arranged side by side; The transmission roller group includes two opposite transmission rollers and transmission motors respectively connected to the two transmission rollers. The spacing between the rolling surfaces of the two opposite transmission rollers is adapted to the thickness of the heating wire wound on the wire outlet reel. The transmission motor can drive the transmission rollers connected thereto to rotate. The two opposite transmission rollers can drive the heating wire on the wire outlet reel to be discharged under the drive of the transmission motor.

4. The automatic wire placement system for blade mold according to claim 3, characterized in that: The tensioning mechanism comprises: a first tensioning roller, a second tensioning roller, a first tensioning motor and a second tensioning motor; The first tensioning roller, the second tensioning roller, the first tensioning motor and the second tensioning motor are respectively installed on the fixed frame, the first tensioning motor is connected to the first tensioning roller, and the first tensioning motor can drive the first tensioning roller connected thereto to rotate, the second tensioning motor is connected to the second tensioning roller, and the second tensioning motor can drive the second tensioning roller connected thereto to rotate, and the heating wire discharged from the transmission mechanism bypasses the first tensioning roller and the second tensioning roller in turn, and is discharged from the second tensioning roller.

5. The automatic wire placement system for blade mold according to claim 2, characterized in that: The guide wheel mechanism comprises: a guide wheel and a guide motor; The guide wheel and the guide motor are respectively installed on the wire outlet head, the guide motor is connected to the guide wheel, the guide motor can drive the guide wheel to rotate, the heating wire discharged by the tensioning mechanism bypasses the guide wheel, the guide wheel can drive the heating wire to move under the drive of the guide motor, and the moving direction of the heating wire passing through the guide wheel is tangent to the roller surface of the pressing roller.

6. The automatic wire placement system for blade mold according to claim 2, characterized in that: The wire laying unit also includes: a telescopic motor and a cutter; The telescopic motor is installed on the fixed frame, and the cutter is installed at the output end of the telescopic motor. When the telescopic motor is in the initial position, the cutter faces the heating wire in the wire outlet head. The telescopic motor can drive the cutter to move, and the cutter is used to cut the heating wire.

7. The automatic wire placement system for blade mold according to claim 2, characterized in that: The wire laying unit also includes a hair dryer, which is installed on the fixing frame and located outside the pressing roller. The hair dryer is used to dry the glue attached to the heating wire pressed to the surface of the blade mold.

8. The automatic wire placement system for blade mold according to claim 1, characterized in that: The mobile driving mechanism includes a transverse driving mechanism and a longitudinal driving mechanism. A transverse beam is arranged on the supporting frame, and the transverse beam extends in a direction parallel to the plane of the wire laying operation area. A longitudinal beam is arranged on the transverse beam, and the extension direction of the longitudinal beam is orthogonal to the extension direction of the transverse beam. The transverse driving mechanism is arranged on the longitudinal beam, and the transverse driving mechanism can drive the longitudinal beam to reciprocate along the transverse beam. The connecting frame is arranged on the longitudinal beam, and the longitudinal driving mechanism is arranged on the connecting frame, and the longitudinal driving mechanism can drive the connecting frame to reciprocate along the longitudinal beam.

9. A wire laying method, characterized in that: The wire placing method is implemented by using the automatic wire placing system for a blade mold according to any one of claims 1 to 8, comprising: Acquire wire-laying related parameters, and input the wire-laying related parameters into the control unit, so that the control unit determines the number of wire-laying cycles and generates an initial wire-laying trajectory according to the wire-laying related parameters; According to the initial wire laying trajectory, the control unit controls the movement of the mobile driving mechanism to make the multi-axis robot arm and the wire laying unit thereon move along the wire laying trajectory at a set wire laying moving speed, and in the process of the wire laying unit moving along the wire laying trajectory, controls the movement of the multi-axis robot arm and the wire laying unit to make the wire laying unit lay the electric heating wire on the blade mold in the set wire laying posture; After completing a wire laying process along the wire laying trajectory, the control unit controls the movement of the moving drive mechanism and the first detection unit to detect the blade mold after the wire laying and obtain surface information of the blade mold; The control unit compares the acquired surface information of the blade mold with the expected surface information, calculates the surface deviation, and determines whether the surface deviation is within a set deviation requirement range; If the surface deviation is within the set deviation requirement range, the wire laying of the blade mold is terminated; If the surface deviation is not within the set deviation requirement range, a wire placing trajectory is generated according to the wire placing related parameters, the surface information of the current blade mold and the surface deviation information, and a wire placing moving speed is determined; According to the wire laying trajectory, the control unit controls the movement of the moving drive mechanism to make the multi-axis robot arm and the wire laying unit thereon move along the wire laying trajectory at an adjusted wire laying moving speed, and in the process of the wire laying unit moving along the wire laying trajectory, controls the movement of the multi-axis robot arm and the wire laying unit to make the wire laying unit lay the electric heating wire on the blade mold in a set wire laying posture; After completing a wire laying process along the wire laying trajectory, return to step "after completing a wire laying process along the wire laying trajectory, the control unit controls the movement drive mechanism and the first detection unit to detect the blade mold after wire laying and obtain surface information of the blade mold" to continue the wire laying process.

10. The wire laying method according to claim 9, characterized in that: The wire laying related parameters include: an initial 3D model of the blade mold, desired surface information of the blade mold, a deviation requirement range corresponding to the surface deviation, an initial wire laying speed, and an allowable error of the first detection unit; The desired surface information of the blade mold includes: the position and length information of the heating wire that needs to be laid on the blade mold.

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