Automatic spraying forming system for blade mold and spraying method

Abstract

The invention discloses an automatic spraying forming system for a blade mold and a spraying method. The automatic spraying forming system comprises a supporting frame; the connecting frame is arranged on the supporting frame and provided with a support, the connecting frame can move in the spraying operation area, and the support can move up and down in the direction perpendicular to the plane of the spraying operation area; the mechanical arm is mounted on the support; the spraying unit is mounted on the mechanical arm and used for spraying the blade mold; the feeding unit is used for providing paint for the spraying unit; the detection unit is installed on the mechanical arm and used for detecting plane information and thickness information of the blade mold and detecting the distance between the mechanical arm and the surface of the blade mold; the moving driving mechanism is used for controlling the connecting frame to move; the lifting driving mechanism is used for controlling the support to move; and the control unit is used for generating a spraying path and controlling the units and the mechanisms to act according to the spraying path so as to spray the blade mold. Automatic spraying of the blade mold can be achieved, and the coating quality is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mold processing, and in particular relates to an automatic spraying molding system and a spraying 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] With the continuous development and change of wind power technology, wind turbine blades are constantly developing towards large-scale, and the preparation cost is constantly increasing. At the same time, the requirements for blade mold surface accuracy and surface roughness are also getting higher and higher. However, the existing wind turbine blade mold manufacturing process has a low degree of automation, a long mold processing cycle, and high costs. When laying composite materials on wind turbine blade molds, it is usually done manually by highly skilled workers. In actual production, manual laying is time-consuming and labor-intensive, with a long processing cycle, high costs, and difficult to control quality, resulting in poor consistency of blades prepared by the same mold, which is difficult to meet actual use needs. Summary of the invention

[0004] In order to solve part or all of the technical problems existing in the above-mentioned prior art, the present invention provides an automatic spray molding system and a spray method for a blade mold.

[0005] The technical solution of the present invention is as follows:

[0006] In a first aspect, an automatic spray molding system for a blade mold is provided, the system comprising:

[0007] A support frame is arranged in the spraying operation area of ​​the blade mold;

[0008] A connecting frame is arranged on the supporting frame, a support is arranged on the connecting frame, the connecting frame can move in the spraying operation area, and the support can move up and down in a direction perpendicular to the plane of the spraying operation area;

[0009] A mechanical arm, mounted on the support;

[0010] A spraying unit, mounted on the robot arm, capable of outputting paint for spraying the blade mold;

[0011] A feeding unit connected to the spraying unit, used to provide paint to the spraying unit and control the spraying flow rate of the spraying unit;

[0012] A detection unit, mounted on the mechanical arm, for detecting plane information and thickness information of the blade mold and its spraying area, and detecting the distance between the mechanical arm and the surface of the blade mold;

[0013] A mobile driving mechanism, used for controlling the connection frame to move within the spraying operation area;

[0014] A lifting drive mechanism, used to control the support to move up and down in a direction perpendicular to the plane of the spraying operation area;

[0015] The control unit is respectively connected to the spraying unit, the feeding unit, the detection unit, the mobile drive mechanism, and the lifting drive mechanism. The control unit is used to generate a spraying path according to pre-input spray-related parameters and the detection information of the detection unit, and control the movement of the mobile drive mechanism, the lifting drive mechanism, the feeding unit and the spraying unit according to the spraying path to spray the blade mold.

[0016] In some optional embodiments, the spraying unit includes a spray gun having a connected feed port and a spray head, the feed port of the spray gun is connected to the feed unit, and the spray head of the spray gun is used to output the coating.

[0017] In some optional embodiments, the spraying unit includes a roller having a feed port and a discharge port that are connected, the feed port of the roller is connected to the feeding unit, and the discharge port of the roller is located on the roller surface of the roller.

[0018] In some optional embodiments, the feeding unit includes: a stirring pressure barrel, an air compressor and a pneumatic diaphragm pump;

[0019] The stirring pressure barrel is connected to the pneumatic diaphragm pump, and the stirring pressure barrel is used to stir the paint. The air compressor is connected to the pneumatic diaphragm pump, and the air compressor is used to provide compressed air to the pneumatic diaphragm pump. The pneumatic diaphragm pump is connected to the spraying unit, and the pneumatic diaphragm pump is used to extract paint from the stirring pressure barrel and output it to the spraying unit under the drive of the compressed air.

[0020] In some optional embodiments, the feeding unit further comprises: a material transport vehicle, a vacuum pump and a vacuum degassing machine;

[0021] The material transport vehicle is used to transport and contain paint. The vacuum pump is connected to the material transport vehicle and the vacuum degassing machine respectively. The vacuum pump is used to absorb paint from the material transport vehicle and output it to the vacuum degassing machine. The vacuum degassing machine is connected to the stirring pressure barrel. The vacuum degassing machine is used to perform vacuum degassing treatment on the paint and output the paint after vacuum degassing treatment to the stirring pressure barrel.

[0022] In some optional embodiments, the detection unit includes: a 3D laser scanner and a rangefinder;

[0023] The 3D laser scanner is installed on the robotic arm to perform laser scanning on the blade mold to obtain the plane information and thickness information of the blade mold and its spraying area. The rangefinder is installed on the robotic arm to measure the distance between the robotic arm and the surface of the blade mold.

[0024] 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 spraying 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.

[0025] In some optional embodiments, the system further comprises a blade support, wherein the blade support is used to support the blade mold.

[0026] In a second aspect, a spraying method is also provided, and the spraying method is implemented by using the above-mentioned automatic spraying molding system for the blade mold, comprising:

[0027] Acquire spray-related parameters, and input the spray-related parameters into the control unit, so that the control unit determines the number of spray cycles and generates an initial spray trajectory according to the spray-related parameters;

[0028] According to the initial spraying trajectory, the control unit controls the movement of the moving drive mechanism and the lifting drive mechanism to move the mechanical arm and the spraying unit thereon along the spraying trajectory at a set spraying movement speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, controls the movement of the feeding unit and the spraying unit to enable the spraying unit to spray the blade mold at a set spraying flow rate;

[0029] After a spraying process is completed along the spraying trajectory, the control unit controls the movement of the moving drive mechanism, the lifting drive mechanism and the detection unit to detect the blade mold after spraying and obtain the plane information and thickness information of the spraying area of ​​the blade mold;

[0030] The control unit compares the acquired plane information and thickness information of the blade mold spraying area with the expected flatness value and the expected thickness value, calculates the flatness difference and the thickness difference, and determines whether the flatness difference and the thickness difference are within the set accuracy requirement range;

[0031] If the difference is within the set accuracy requirement range, the spraying of the blade mold is terminated;

[0032] If the difference is not within the set accuracy requirement range, a spraying trajectory is generated according to the spraying related parameters, plane information, thickness information, flatness difference and thickness difference, and the spraying moving speed, spraying height and spraying flow rate are adjusted;

[0033] According to the spraying trajectory, the control unit controls the movement of the moving drive mechanism and the lifting drive mechanism to move the mechanical arm and the spraying unit thereon along the spraying trajectory at an adjusted spraying movement speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, controls the movement of the feeding unit and the spraying unit to enable the spraying unit to spray the blade mold at an adjusted spraying flow rate;

[0034] After completing a spraying process along the spraying trajectory, return to step "After completing a spraying process along the spraying trajectory, the control unit controls the movement of the mobile drive mechanism, the lifting drive mechanism and the detection unit to detect the blade mold after spraying and obtain the flatness and thickness information of the spraying area of ​​the blade mold" to continue the spraying process.

[0035] In some optional embodiments, the spray-related parameters include: an initial 3D model of the blade mold, an expected flatness value and an expected thickness value of the blade mold spraying area, a precision requirement range corresponding to the flatness and thickness, an initial spraying moving speed, an initial spraying height, an adjustable range of the spraying flow rate, an initial spraying flow rate, and an allowable error of the detection unit;

[0036] The spraying moving speed indicates the moving speed of the robot arm when it moves along the spraying trajectory, and the spraying height indicates the distance between the output end of the spraying unit and the surface of the blade mold.

[0037] The main advantages of the technical solution of the present invention are as follows:

[0038] The automatic spraying molding system and spraying method for the blade mold of the present invention can realize automatic spraying of the blade mold, ensure the consistency of the blade mold coating after spraying, and significantly improve the surface quality of the coating. At the same time, it can also 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

[0039] 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:

[0040] Figure 1 A schematic diagram of the structure of an automatic spray molding system for a blade mold provided by an embodiment of the present invention, wherein some structures are not shown;

[0041] Figure 2 A structural block diagram of a feeding unit provided in one embodiment of the present invention;

[0042] Figure 3 A flow chart of a spraying method provided by one embodiment of the present invention.

[0043] Description of reference numerals:

[0044] 1-support frame, 11-crossbeam, 12-longitudinal beam;

[0045] 2-connecting frame, 21-support;

[0046] 3-Robotic arm;

[0047] 4-feeding unit, 41-mixing pressure barrel, 42-air compressor, 43-pneumatic diaphragm pump, 44-material transport vehicle, 45-vacuum pump, 46-vacuum degassing machine;

[0048] 5-Blade bracket

[0049] 6-Blade mold. DETAILED DESCRIPTION

[0050] 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.

[0051] The technical solution provided by the embodiments of the present invention is described in detail below with reference to the accompanying drawings.

[0052] refer to Figure 1 In a first aspect, an embodiment of the present invention provides an automatic spray molding system for a blade mold, the system comprising:

[0053] A support frame 1 is arranged in a spraying operation area of ​​a blade mold 6;

[0054] The connecting frame 2 is arranged on the supporting frame 1, and a support 21 is arranged on the connecting frame 2. The connecting frame 2 can move in the spraying operation area, and the support 21 can move up and down in a direction perpendicular to the plane of the spraying operation area;

[0055] A mechanical arm 3, mounted on a support 21;

[0056] A spraying unit, mounted on the robot arm 3, capable of outputting paint for spraying the blade mold 6;

[0057] A feeding unit 4 is connected to the spraying unit and is used to supply paint to the spraying unit and control the spraying flow rate of the spraying unit;

[0058] A detection unit, mounted on the robot arm 3, is used to detect the plane information and thickness information of the blade mold 6 and its spraying area, and to detect the distance between the robot arm 3 and the surface of the blade mold 6;

[0059] A mobile driving mechanism, used to control the connection frame 2 to move within the spraying operation area;

[0060] A lifting drive mechanism, used to control the support 21 to move up and down in a direction perpendicular to the plane of the spraying operation area;

[0061] The control unit is respectively connected to the spraying unit, the feeding unit 4, the detection unit, the mobile drive mechanism, and the lifting drive mechanism. The control unit is used to generate a spraying path according to the pre-input spraying related parameters and the detection information of the detection unit, and control the movement of the mobile drive mechanism, the lifting drive mechanism, the feeding unit 4 and the spraying unit according to the spraying path to spray the blade mold 6.

[0062] Specifically, when the automatic spraying molding system for a blade mold provided by an embodiment of the present invention sprays the blade mold 6, firstly obtains spraying related parameters according to the actual blade mold and the actual spraying requirements, and inputs the spraying related parameters into the control unit, the control unit determines the number of spraying cycles according to the spraying related parameters, establishes the coordinate origin according to the spraying related parameters, establishes a spatial coordinate system, and generates an initial spraying trajectory based on the established spatial coordinate system; after generating the initial spraying trajectory, the control unit controls the movement of the mobile drive mechanism and the lifting drive mechanism according to the spraying trajectory, so that the mechanical arm 3 and the spraying unit thereon move along the spraying trajectory at a set spraying movement speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, the control unit controls the feeding unit 4 and the spraying unit to move, so that the spraying unit sprays the blade mold 6 at a set spraying flow rate; then, after completing a spraying process along the spraying trajectory, the control unit controls the mechanical arm 3 and the spraying unit thereon to return to the starting position through the mobile drive mechanism and the lifting drive mechanism, and after returning to the starting position, the control unit controls the movement of the mobile drive mechanism, the lifting drive mechanism and the detection unit, and uses the detection unit to detect the sprayed blade mold 6. The blade mold 6 is inspected to obtain the plane information and thickness information of the spraying area of ​​the blade mold 6; after obtaining the plane information and thickness information of the spraying area of ​​the blade mold 6, the control unit compares the obtained plane information and thickness information of the spraying area of ​​the blade mold 6 with the expected flatness value and the expected thickness value, calculates the flatness difference and the thickness difference, and determines whether the flatness difference and the thickness difference are within the set accuracy requirement range. If they are within the set accuracy requirement range, the spraying of the blade mold 6 is ended, and the spraying process of the blade mold 6 is completed; if they are not within the set accuracy requirement range, the control unit determines whether the flatness difference and the thickness difference are within the set accuracy requirement range. Spraying related parameters, plane information, thickness information, flatness difference and thickness difference generate a spraying trajectory, and adjust the spraying moving speed, spraying height and spraying flow rate; after generating a new spraying trajectory, the control unit controls the movement of the moving drive mechanism and the lifting drive mechanism according to the spraying trajectory, so that the robot arm 3 and the spraying unit thereon move along the spraying trajectory at the adjusted spraying moving speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, the control unit controls the feeding unit 4 and the spraying unit to move, so that the spraying unit sprays the blade mold 6 at the adjusted spraying flow rate;After completing a spraying process along the spraying trajectory, the control unit controls the mechanical arm 3 and the spraying unit thereon to return to the starting position through the mobile drive mechanism and the lifting drive mechanism. After returning to the starting position, the control unit controls the mobile drive mechanism, the lifting drive mechanism and the detection unit to move, and uses the detection unit to detect the blade mold 6 after spraying, and obtains the plane information and thickness information of the spraying area of ​​the blade mold 6. After obtaining the plane information and thickness information of the spraying area of ​​the blade mold 6, the control unit compares the obtained plane information and thickness information of the spraying area of ​​the blade mold 6 with the expected flatness value and the expected thickness value, calculates the flatness difference and the thickness difference, and determines whether the flatness difference and the thickness difference are within the set precision requirement range. If they are within the set precision requirement range, the spraying of the blade mold 6 is terminated, and the spraying process of the blade mold 6 is completed; if they are not within the set precision requirement range, the above-mentioned corresponding spraying process is continued until the obtained flatness difference and thickness difference are within the set precision requirement range and the spraying process of the blade mold 6 is completed. ;

[0063] In one embodiment of the present invention, in order to ensure the spraying quality of the blade mold 6, the spraying related parameters include at least: the initial 3D model of the blade mold 6, the expected flatness value and thickness expected value of the spraying area of ​​the blade mold 6, the accuracy requirement range corresponding to the flatness and thickness, the initial spraying movement speed, the initial spraying height, the adjustable range of the spraying flow, the initial spraying flow, and the allowable error of the detection unit; the spraying movement speed indicates the moving speed of the robot arm 3 when it moves along the spraying trajectory, and the spraying height indicates the distance between the output end of the spraying unit and the surface of the blade mold 6.

[0064] Furthermore, in one embodiment of the present invention, the spraying unit may adopt any structure or equipment as long as it can realize the spraying of the blade mold 6 .

[0065] Specifically, as an example, the spraying unit includes a spray gun having a feed port and a spray head connected to each other, the feed port of the spray gun is connected to the feeding unit 4, and the spray head of the spray gun is used to output the paint.

[0066] By providing a spray gun as a spraying unit, the paint can be stably adsorbed on the blade mold 6 , and non-contact spraying can be achieved to avoid damaging the blade mold 6 .

[0067] As another example, the spraying unit includes a roller having a feed port and a discharge port connected to each other, the feed port of the roller is connected to the feeding unit 4, and the discharge port of the roller is located on the roller surface of the roller.

[0068] By using a roller as a spraying unit, it is possible to ensure that the coating is distributed more evenly on the blade mold 6, thereby improving the spraying quality. In addition, since the surface of the roller is smooth, damage to the blade mold 6 can also be avoided.

[0069] refer to Figure 2 , Further, in one embodiment of the present invention, the feeding unit 4 includes: a stirring pressure barrel 41, an air compressor 42 and a pneumatic diaphragm pump 43;

[0070] The stirring pressure barrel 41 is connected to the pneumatic diaphragm pump 43, which is used to stir the paint. The air compressor 42 is connected to the pneumatic diaphragm pump 43, which is used to provide compressed air to the pneumatic diaphragm pump 43. The pneumatic diaphragm pump 43 is connected to the spraying unit, which is used to extract the paint from the stirring pressure barrel 41 and output it to the spraying unit under the drive of compressed air.

[0071] Specifically, paint can be loaded into the stirring pressure barrel 41, and the stirring pressure barrel 41 stirs the paint in the barrel with a given power. When paint needs to be provided to the spraying unit, the air compressor 42 is started so that the air compressor 42 inputs compressed air to the pneumatic diaphragm pump 43. The pneumatic diaphragm pump 43 uses compressed air as a power source to extract paint from the stirring pressure barrel 41 and output the extracted paint to the spraying unit.

[0072] In one embodiment of the present invention, the pneumatic diaphragm pump 43 can be connected to the feed port of the spray unit through a hose, so that the arrangement of the feeding unit 4 and the connection between the feeding unit 4 and the spray unit can be facilitated, and the influence on the movement and spraying of the spray unit can be avoided.

[0073] Furthermore, in one embodiment of the present invention, the control unit is connected to the stirring pressure barrel 41, the air compressor 42 and the pneumatic diaphragm pump 43 respectively, and the control unit can control the opening and closing of the stirring pressure barrel 41, the air compressor 42 and the pneumatic diaphragm pump 43, and can adjust the power of the stirring pressure barrel 41 and the power of the air compressor 42.

[0074] By connecting and controlling the stirring pressure barrel 41, the air compressor 42 and the pneumatic diaphragm pump 43 using a control unit, the on-off control of the feeding unit 4 and the adjustment of the feeding speed can be achieved, thereby achieving the spray flow control of the spray unit.

[0075] refer to Figure 2 , further, in one embodiment of the present invention, the feeding unit 4 further includes: a material transport vehicle 44, a vacuum pump 45 and a vacuum degassing machine 46;

[0076] The material transport vehicle 44 is used to transport and contain the paint. The vacuum pump 45 is connected to the material transport vehicle 44 and the vacuum degassing machine 46 respectively. The vacuum pump 45 is used to absorb the paint from the material transport vehicle 44 and output it to the vacuum degassing machine 46. The vacuum degassing machine 46 is connected to the stirring pressure barrel 41. The vacuum degassing machine 46 is used to perform vacuum degassing treatment on the paint and output the paint after vacuum degassing treatment to the stirring pressure barrel 41.

[0077] In this way, the transportation and supply of the coating can be facilitated. At the same time, by performing vacuum degassing treatment on the coating, bubbles and impurities in the coating can be removed, the purity of the coating can be improved, and then the spraying quality of the blade mold 6 can be improved.

[0078] Further, in one embodiment of the present invention, the detection unit includes: a 3D laser scanner and a range finder;

[0079] The 3D laser scanner is installed on the robot arm 3 and is used to perform laser scanning on the blade mold 6 to obtain the plane information and thickness information of the blade mold 6 and its spraying area. The rangefinder is installed on the robot arm 3 and is used to measure the distance between the robot arm 3 and the surface of the blade mold 6.

[0080] By setting up a 3D laser scanner, the blade mold 6 placed in the spraying operation area can be laser scanned, and then the three-dimensional model of the blade mold 6, the plane information and thickness information of the spraying area of ​​the blade mold 6 can be obtained according to the laser scanning results; by setting up a rangefinder, the distance between the robot arm 3 and the surface of the blade mold 6 can be measured, and based on the measurement results, according to the installation position of the rangefinder and the spraying unit on the robot arm 3, the distance between the output end of the spraying unit and the surface of the blade mold 6 can be further calculated and determined.

[0081] Specifically, in one embodiment of the present invention, the control unit is connected to the 3D laser scanner and the rangefinder respectively, the control unit processes the laser scanning results of the 3D laser scanner to obtain the three-dimensional model of the blade mold 6, the plane information and thickness information of the spraying area of ​​the blade mold 6, and the control unit processes the measurement results of the rangefinder to determine the distance between the output end of the spraying unit and the surface of the blade mold 6.

[0082] Furthermore, in one embodiment of the present invention, the robotic arm 3 selects a single-degree-of-freedom robotic arm 3 or a multi-degree-of-freedom robotic arm 3 according to actual needs, and the robotic arm 3 is connected to the control unit and can perform designated actions under the control of the control unit.

[0083] 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 robot arm 3, the spray unit, the feeding unit 4, the detection unit, the mobile drive mechanism and the lifting drive mechanism. The display touch screen can display the position information of the robot arm 3 and the spray unit.

[0084] In one embodiment of the present invention, the feeding unit 4 and the control unit may be arranged outside the spraying operation area to avoid affecting the spraying operation of the blade mold 6 .

[0085] Furthermore, in one embodiment of the present invention, the mobile driving mechanism includes a transverse driving mechanism and a longitudinal driving mechanism, a crossbeam 11 is arranged on the support frame 1, the crossbeam 11 extends in a direction parallel to the plane of the spraying operation area, a longitudinal beam 12 is arranged on the crossbeam 11, the extension direction of the longitudinal beam 12 is orthogonal to the extension direction of the crossbeam 11, the transverse driving mechanism is arranged on the longitudinal beam 12, the transverse driving mechanism can drive the longitudinal beam 12 to reciprocate along the crossbeam 11, the connecting frame 2 is arranged on the longitudinal beam 12, 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 12.

[0086] 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.

[0087] 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 12, the first drive motor is rotatably connected to the first roller, the cross beam 11 is provided with a roller that can cooperate with the first roller, when the longitudinal beam 12 is arranged on the cross beam 11, 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 12 is provided with a roller that can cooperate with the second roller, when the connecting frame 2 is arranged on the longitudinal beam 12, the second roller cooperates with the roller.

[0088] Furthermore, in one embodiment of the present invention, the lifting drive mechanism may adopt any structural type as long as it can drive the support 21 to move up and down on the connecting frame 2 in a direction perpendicular to the plane of the spraying operation area.

[0089] Specifically, as an example, the lifting drive mechanism includes a telescopic cylinder, one end of the telescopic cylinder is connected to the connecting frame 2, and the other end is connected to the support 21, and the support 21 is driven to move up and down through the telescopic movement of the telescopic cylinder.

[0090] In order to improve the stability of the up and down movement of the support 21, a guide rod is provided at the upper end of the support 21, and a guide groove cooperating with the guide rod is provided on the connecting frame 2. Through the cooperation of the guide rod and the guide groove, the movement of the support 21 can be guided.

[0091] As another example, the lifting drive mechanism may also adopt a chain and sprocket transmission structure.

[0092] refer to Figure 1 Furthermore, in one embodiment of the present invention, the system also includes a blade support 5, which is used to support the blade mold 6.

[0093] Furthermore, in one embodiment of the present invention, the coating material is made of organic silicon material. By using the organic silicon material as the coating of the blade mold 6, the surface smoothness of the blade mold 6 can be further improved.

[0094] Furthermore, in one embodiment of the present invention, the support frame, the cross beam, the longitudinal beam, and the connecting frame adopt a truss structure to fully utilize the strength of the material, save materials, reduce dead weight, and increase rigidity.

[0095] refer to Figure 3 In a second aspect, an embodiment of the present invention further provides a spraying method, which is implemented by using the above-mentioned automatic spraying molding system for the blade mold, and specifically includes the following steps:

[0096] Step S1, obtaining spray-related parameters, and inputting the spray-related parameters into a control unit, so that the control unit determines the number of spray cycles and generates an initial spray trajectory according to the spray-related parameters;

[0097] Step S2, according to the initial spraying trajectory, the control unit controls the movement of the moving drive mechanism and the lifting drive mechanism to make the robot arm 3 and the spraying unit thereon move along the spraying trajectory at a set spraying movement speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, the feeding unit 4 and the spraying unit are controlled to move, so that the spraying unit sprays the blade mold 6 at a set spraying flow rate;

[0098] Step S3, after a spraying process is completed along the spraying trajectory, the control unit controls the movement of the moving drive mechanism, the lifting drive mechanism and the detection unit to detect the blade mold 6 after spraying, and obtain the plane information and thickness information of the spraying area of ​​the blade mold 6;

[0099] Step S4, the control unit compares the acquired plane information and thickness information of the spraying area of ​​the blade mold 6 with the expected flatness value and the expected thickness value, and calculates the flatness difference and the thickness difference;

[0100] Step S5, determining whether the flatness difference and the thickness difference are within the set accuracy requirement range;

[0101] Step S6, if the difference is within the set accuracy requirement range, then the spraying of the blade mold 6 is terminated;

[0102] Step S7, if the difference is not within the set accuracy requirement range, a spraying trajectory is generated according to spraying related parameters, plane information, thickness information, flatness difference and thickness difference, and the spraying moving speed, spraying height and spraying flow rate are adjusted;

[0103] Step S8, according to the spraying trajectory, the control unit controls the movement of the moving drive mechanism and the lifting drive mechanism to make the robot arm 3 and the spraying unit thereon move along the spraying trajectory at the adjusted spraying movement speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, the feeding unit 4 and the spraying unit are controlled to move, so that the spraying unit sprays the blade mold 6 at the adjusted spraying flow rate, and returns to step S3 after completing a spraying process along the spraying trajectory.

[0104] Furthermore, in one embodiment of the present invention, the spraying related parameters include: the initial 3D model of the blade mold 6, the expected flatness value and thickness expected value of the spraying area of ​​the blade mold 6, the accuracy requirement range corresponding to the flatness and thickness, the initial spraying movement speed, the initial spraying height, the adjustable range of the spraying flow, the initial spraying flow, and the allowable error of the detection unit; the spraying movement speed indicates the moving speed of the robot arm 3 when it moves along the spraying trajectory, and the spraying height indicates the distance between the output end of the spraying unit and the surface of the blade mold 6.

[0105] An automatic spray molding system and spray method for a blade mold provided in one embodiment of the present invention can realize automatic spraying of the blade mold, ensure the consistency of the blade mold coating after spraying, and significantly improve the surface quality of the coating. At the same time, it can also reduce manual operations, shorten the production cycle of the blade mold, and significantly improve the production efficiency of the blade mold.

[0106] 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.

[0107] 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 spray molding system for a blade mold, characterized in that: include: A support frame is arranged in the spraying operation area of ​​the blade mold; A connecting frame is arranged on the supporting frame, a support is arranged on the connecting frame, the connecting frame can move in the spraying operation area, and the support can move up and down in a direction perpendicular to the plane of the spraying operation area; A mechanical arm, mounted on the support; A spraying unit, mounted on the robot arm, capable of outputting paint for spraying the blade mold; A feeding unit connected to the spraying unit, used to provide paint to the spraying unit and control the spraying flow rate of the spraying unit; A detection unit, mounted on the mechanical arm, for detecting plane information and thickness information of the blade mold and its spraying area, and detecting the distance between the mechanical arm and the surface of the blade mold; A mobile driving mechanism, used for controlling the connection frame to move within the spraying operation area; A lifting drive mechanism, used to control the support to move up and down in a direction perpendicular to the plane of the spraying operation area; The control unit is respectively connected to the spraying unit, the feeding unit, the detection unit, the mobile drive mechanism, and the lifting drive mechanism. The control unit is used to generate a spraying path according to pre-input spray-related parameters and the detection information of the detection unit, and control the movement of the mobile drive mechanism, the lifting drive mechanism, the feeding unit and the spraying unit according to the spraying path to spray the blade mold.

2. The automatic spray molding system for blade mold according to claim 1 is characterized in that: The spraying unit comprises a spray gun having a feed port and a spray head which are connected. The feed port of the spray gun is connected with the feed unit, and the spray head of the spray gun is used for outputting paint.

3. The automatic spray molding system for blade mold according to claim 1 is characterized in that: The spraying unit comprises a roller having a feed port and a discharge port which are connected. The feed port of the roller is connected to the feeding unit, and the discharge port of the roller is located on the roller surface of the roller.

4. The automatic spray molding system for blade mold according to any one of claims 1 to 3, characterized in that: The feeding unit comprises: a stirring pressure barrel, an air compressor and a pneumatic diaphragm pump; The stirring pressure barrel is connected to the pneumatic diaphragm pump, and the stirring pressure barrel is used to stir the paint. The air compressor is connected to the pneumatic diaphragm pump, and the air compressor is used to provide compressed air to the pneumatic diaphragm pump. The pneumatic diaphragm pump is connected to the spraying unit, and the pneumatic diaphragm pump is used to extract paint from the stirring pressure barrel and output it to the spraying unit under the drive of the compressed air.

5. The automatic spray molding system for blade mold according to claim 4, characterized in that: The feeding unit also includes: a material transport vehicle, a vacuum pump and a vacuum degassing machine; The material transport vehicle is used to transport and contain paint. The vacuum pump is connected to the material transport vehicle and the vacuum degassing machine respectively. The vacuum pump is used to absorb paint from the material transport vehicle and output it to the vacuum degassing machine. The vacuum degassing machine is connected to the stirring pressure barrel. The vacuum degassing machine is used to perform vacuum degassing treatment on the paint and output the paint after vacuum degassing treatment to the stirring pressure barrel.

6. The automatic spray molding system for blade mold according to claim 1, characterized in that: The detection unit includes: a 3D laser scanner and a rangefinder; The 3D laser scanner is installed on the robotic arm to perform laser scanning on the blade mold to obtain the plane information and thickness information of the blade mold and its spraying area. The rangefinder is installed on the robotic arm to measure the distance between the robotic arm and the surface of the blade mold.

7. The automatic spray molding 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 support frame, and the transverse beam extends in a direction parallel to the plane of the spraying 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.

8. The automatic spray molding system for blade mold according to claim 1, characterized in that: The system further comprises a blade support for supporting the blade mould.

9. A spraying method, characterized in that: The spraying method is implemented by using the automatic spraying molding system for blade molds according to any one of claims 1 to 8, comprising: Acquire spray-related parameters, and input the spray-related parameters into the control unit, so that the control unit determines the number of spray cycles and generates an initial spray trajectory according to the spray-related parameters; According to the initial spraying trajectory, the control unit controls the movement of the moving drive mechanism and the lifting drive mechanism to move the mechanical arm and the spraying unit thereon along the spraying trajectory at a set spraying movement speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, controls the movement of the feeding unit and the spraying unit to enable the spraying unit to spray the blade mold at a set spraying flow rate; After a spraying process is completed along the spraying trajectory, the control unit controls the movement of the moving drive mechanism, the lifting drive mechanism and the detection unit to detect the blade mold after spraying and obtain the plane information and thickness information of the spraying area of ​​the blade mold; The control unit compares the acquired plane information and thickness information of the blade mold spraying area with the expected flatness value and the expected thickness value, calculates the flatness difference and the thickness difference, and determines whether the flatness difference and the thickness difference are within the set accuracy requirement range; If the difference is within the set accuracy requirement range, the spraying of the blade mold is terminated; If the difference is not within the set accuracy requirement range, a spraying trajectory is generated according to the spraying related parameters, plane information, thickness information, flatness difference and thickness difference, and the spraying moving speed, spraying height and spraying flow rate are adjusted; According to the spraying trajectory, the control unit controls the movement of the moving drive mechanism and the lifting drive mechanism to move the mechanical arm and the spraying unit thereon along the spraying trajectory at an adjusted spraying movement speed and spraying height, and in the process of the spraying unit moving along the spraying trajectory, controls the movement of the feeding unit and the spraying unit to enable the spraying unit to spray the blade mold at an adjusted spraying flow rate; After completing a spraying process along the spraying trajectory, return to step "After completing a spraying process along the spraying trajectory, the control unit controls the movement of the mobile drive mechanism, the lifting drive mechanism and the detection unit to detect the blade mold after spraying and obtain the flatness and thickness information of the spraying area of ​​the blade mold" to continue the spraying process.

10. The spraying method according to claim 9, characterized in that: The spraying related parameters include: the initial 3D model of the blade mold, the expected flatness and thickness of the blade mold spraying area, the accuracy requirement range corresponding to the flatness and thickness, the initial spraying moving speed, the initial spraying height, the adjustable range of the spraying flow, the initial spraying flow, and the allowable error of the detection unit; The spraying moving speed indicates the moving speed of the robot arm when it moves along the spraying trajectory, and the spraying height indicates the distance between the output end of the spraying unit and the surface of the blade mold.

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