Tail edge sawtooth mounting equipment capable of automatically walking along wind power blade

Abstract

The invention provides trailing edge sawtooth mounting equipment capable of automatically walking along a wind power blade. The trailing edge sawtooth mounting equipment comprises a self-crawling mechanism, a trailing edge sawtooth storage mechanism, a gluing mechanism, a trailing edge sawtooth turnover mechanism and an excessive glue removing mechanism. A trailing edge sawtooth stacking module of the trailing edge sawtooth storage mechanism can vertically store multiple sets of trailing edge sawteeth and drive the trailing edge sawteeth to move up and down, and a trailing edge sawtooth carrying module can horizontally push out the trailing edge sawteeth at the bottommost end outwards; the gluing mechanism comprises a moving table set which is used for driving a glue outlet head and a glue scraper to conduct the gluing process on the trailing edge sawteeth and driving an extension suction cup arm to enable the trailing edge sawteeth turned and reversed through a trailing edge sawtooth turning mechanism to be attached to the surface of the wind power blade. The tail edge sawtooth turnover mechanism sucks the tail edge sawteeth and drives the suction cup to turn over and turn over after the gluing procedure is completed; the overflow glue removing mechanism comprises a conical rubber coating roller which can press the trailing edge sawteeth on the surface of the wind power blade after being driven, and a towel roller can remove overflow glue in the moving process of the trailing edge sawtooth mounting equipment.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine blade maintenance, and in particular to a trailing edge sawtooth installation device capable of self-propelling along a wind turbine blade. Background Art

[0002] Wind turbine blades are the core components of wind turbines. To reduce the operating noise of wind turbine blades and extend the life of blades, installing trailing edge serrations on the trailing edge of blades is one of the most widely used solutions. Its essence is to reduce the aerodynamic noise generated by the interaction between the turbulence on the blade surface and the trailing edge of the blade. Therefore, installing trailing edge serrations can effectively reduce blade vibration, prevent fatigue damage to blades, and reduce maintenance costs.

[0003] The existing installation method of the trailing edge serrations of wind turbine blades is to use a hanging basket to rise to a predetermined height and install it by manual glue dispensing, such as a wind turbine blade with a comb-shaped serration structure and its installation method proposed in the patent with publication number CN108953053A; however, this installation method has the following defects:

[0004] Since wind turbine blades are tall and complex in shape, manual errors may cause cracking, degumming, warping and other defects on the trailing edge serrations. Therefore, the pasting operation is difficult, has poor operability, high labor costs, low efficiency, and certain safety hazards, which indirectly affects the promotion of noisy wind turbines. Summary of the invention

[0005] In view of this, the problem to be solved by the present invention is to provide a trailing edge serration installation device that can move along a wind turbine blade by itself.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A trailing edge sawtooth installation device capable of self-propelling along a wind turbine blade comprises: a self-crawling mechanism, a trailing edge sawtooth storage mechanism, a glue coating mechanism, a trailing edge sawtooth flipping mechanism and a glue overflow removal mechanism; the self-crawling mechanism comprises a crawler assembly constructed on the left and right sides of a main frame and an adjustment component for adjusting the spacing between two sets of the crawler assemblies; the trailing edge sawtooth storage mechanism comprises a trailing edge sawtooth stacking module and a trailing edge sawtooth transporting module, the trailing edge sawtooth stacking module can vertically store multiple sets of trailing edge sawtooths and drive them to move up and down, and the trailing edge sawtooth transporting module can horizontally push the trailing edge sawtooth at the bottom outward; the glue coating mechanism comprises a clamping steering gear, a moving platform group, and a glue discharging head, a glue scraper and an extended suction cup arm installed on the moving platform group;

[0008] The clamping servo is used to clamp the trailing edge sawtooth pushed out by the trailing edge sawtooth transport module, the moving platform group is used to drive the glue head and the glue scraper to perform the gluing process on the trailing edge sawtooth, and drive the extended suction cup arm to fit the trailing edge sawtooth that has been flipped and changed direction by the trailing edge sawtooth flipping mechanism to the surface of the wind turbine blade; the trailing edge sawtooth flipping mechanism includes a suction cup and a flipping assembly, the suction cup is used to absorb the trailing edge sawtooth after the gluing process is completed, and the flipping assembly is used to drive the suction cup to flip and change direction; the overflow glue removal mechanism includes a towel roller and a conical rubber-coated roller; the conical rubber-coated roller can press the trailing edge sawtooth against the surface of the wind turbine blade after being driven, and the towel roller can remove overflow glue during the movement of the trailing edge sawtooth installation equipment.

[0009] The adjustment component includes a constant force gas strut I, a strip connecting rod and an electric push rod; the track assembly is rotatably connected to the side frame on the main frame through the strip connecting rod, and is rotatably connected to the output end of the electric push rod through the constant force gas strut I, and the mounting seat of the electric push rod is rotatably connected to the side frame.

[0010] The trailing edge sawtooth stacking module includes a vertical drive chain and a pallet for storing the trailing edge sawtooth. Several of the pallets are installed on the vertical drive chain. The vertical drive chain is used to drive the pallets to move up and down so that the trailing edge sawtooth on the lowest pallet falls onto the horizontal synchronous belt of the trailing edge sawtooth transport module.

[0011] The trailing edge sawtooth handling module comprises a transverse synchronous belt which can move transversely relative to a vertical driving chain. A plurality of blocks are mounted on the transverse synchronous belt. The area between adjacent blocks is used to receive the trailing edge sawtooth falling from the pallet.

[0012] The movable platform group comprises a carrier, a support frame, a transverse driving member, a vertical driving member, and a steering driving member; the glue applicator and the glue scraper are slidably arranged on the support frame through the carrier, and a main frame for placing the trailing edge serrations is arranged below the support frame; the vertical driving member is used to drive the support frame to move back and forth in the vertical direction, thereby approaching or moving away from the main frame; the transverse driving member is used to drive the carrier to move back and forth along the transverse direction of the support frame, thereby making the moving path of the glue applicator cover the trailing edge serrations on the main frame; the steering driving member is used to drive the glue scraper to flip so that the glue scraper abuts against the surface of the trailing edge serrations, and scrapes the glue on the surface of the trailing edge serrations flat as the carrier moves.

[0013] The flip assembly includes a bevel gear group and a movable plate group; the upper and lower plates in the movable plate group are slid on the main frame through vertical slide rails, and the left and right plates are slid on the upper and lower plates through horizontal slide rails; the fixed bevel gear in the bevel gear group is fixed on the left and right plates through a vertical support rod, and the movable bevel gear connected with a suction cup is installed on the horizontal connecting rod through an L-shaped frame, and the two ends of the horizontal connecting rod are respectively connected to the rotation of the upper and lower plates and the vertical support rod.

[0014] The movable bevel gear and the suction cup bracket of the suction cup are both fixed on the transverse shaft, and the transverse shaft is rotatably installed on the L-shaped frame; the fixed bevel gear is fixed to the lateral support platforms of the left and right plates through a vertical support rod; the vertical support rod is also provided with a pipe sleeve, and one end of the horizontal connecting rod and the L-shaped frame are detachably connected to the pipe sleeve.

[0015] The flip assembly also includes a cam group and a connecting rod group; the cam group includes cam I and cam II, and the connecting rod group includes upper and lower connecting rods and left and right connecting rods; rollers are arranged on the front and rear sides of the upper and lower connecting rods and on the front and rear sides of the left and right connecting rods; horizontal grooves are arranged at the bottom of the upper and lower plates, and vertical grooves are arranged on the left and right plates;

[0016] The tail rollers of the upper and lower connecting rods are slidably arranged in the horizontal grooves, and the head rollers of the upper and lower connecting rods are elastically abutted against the cam I; the tail rollers of the left and right connecting rods are slidably arranged in the vertical grooves, and the head rollers of the left and right connecting rods are elastically abutted against the cam II, and the head ends of the left and right connecting rods are rotatably connected to the plate frame.

[0017] The conical rubber-coated roller is vertically installed on the conical rubber-coated roller bracket, and the vertical support rod I on the rubber-coated roller bracket is rotatably connected to the main frame through a rotating arm I; the vertical support rod II on the rubber-coated roller bracket is rotatably connected to the main frame through a rotating arm II.

[0018] The overflow glue removing mechanism also includes a cylinder, which is horizontally mounted on the main frame, and the output end of the cylinder is rotationally connected to the vertical support rod II through a constant force gas support rod.

[0019] The trailing edge serration installation equipment also includes an electric control box, which is installed on the side of the main frame. The electric control box includes an electric control system, an alarm, an instrument display and a counterweight. The trailing edge serration installation equipment also includes an industrial camera, which is used to capture and record the image of the trailing edge serration after pasting.

[0020] The advantages and positive effects of the present invention are:

[0021] (1) The trailing edge serration installation device can move on the trailing edge curved surface of the wind turbine blade in a riding manner.

[0022] (2) The trailing edge sawtooth installation device can realize three-dimensional storage and retrieval of dozens of trailing edge sawtooths, and during the storage and retrieval process, no stacking or squeezing occurs between the trailing edge sawtooths, and the comb-like structure on the side of the trailing edge sawtooth is not damaged.

[0023] (3) The trailing edge serration installation equipment can automatically complete the trailing edge serration glue dispensing and glue scraping processes.

[0024] (4) The trailing edge serration installation equipment can automatically move the trailing edge serration to the installation position and complete the steps of patching, pressing, and removing the overflowed glue.

[0025] (5) The trailing edge serration installation device can take pictures and record the trailing edge serration image after pasting is completed, so as to record and file and remove unqualified workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0027] In the attached figure:

[0028] Figure 1 This is a first-person structural diagram of a self-climbing mechanism crawling on a wind turbine blade;

[0029] Figure 2 It is a second-view structural diagram of the self-climbing mechanism crawling on the wind turbine blade;

[0030] Figure 3 is a side view of the self-crawling mechanism;

[0031] Figure 4 It is the overall structural diagram of the trailing edge sawtooth storage mechanism;

[0032] Figure 5 is a structural diagram of a trailing edge serration stacking module in a trailing edge serration storage mechanism;

[0033] Figure 6 It is a structural diagram of a trailing edge sawtooth handling module in a trailing edge sawtooth storage mechanism;

[0034] Figure 7 It is a structural diagram of the gluing mechanism and the trailing edge sawtooth storage mechanism;

[0035] Figure 8 It is a structural diagram of the glue coating mechanism in the first perspective;

[0036] Fig. 9 It is a structural diagram of the glue coating mechanism under the second viewing angle;

[0037] Fig.10 This is the overall structural diagram of the trailing edge sawtooth flipping mechanism in the first perspective;

[0038] Fig.11 This is the overall structural diagram of the trailing edge sawtooth flipping mechanism in the second viewing angle;

[0039] Fig.12 This is the overall structural diagram of the trailing edge sawtooth flipping mechanism from a third-person perspective;

[0040] Fig.13 yes Fig.12 Enlarged view of hidden L-shaped frame and horizontal connecting rod;

[0041] Fig.14 yes Fig.13Enlarged view of hidden L-shaped frame and horizontal connecting rod and pipe sleeve;

[0042] Fig.15 is the overall structural diagram of the trailing edge sawtooth flipping mechanism in the first working state;

[0043] Fig.16 It is the overall structural diagram of the trailing edge sawtooth flipping mechanism in the second working state;

[0044] Fig.17 It is the movement rhythm diagram of the upper and lower boards and the left and right boards;

[0045] Fig.18 It is the structural diagram of the overflow glue removal mechanism;

[0046] Fig.19 It is the overall structural diagram of the trailing edge serration installation equipment;

[0047] Fig. 20 It is the structural diagram of the electric control box;

[0048] Fig.21 It is the internal structure diagram of the electric control box;

[0049] In the figure: wheel anti-roll frame 11, track assembly 12, track driving wheel 1210, tensioner 1211, track connecting rod group 1212, shock absorber 1213, track 1214, constant force gas support rod I127, quick release flange 128, strip connecting rod 129, electric push rod 13, mounting seat 131, chassis connecting rod group 14, hinge 141, constant force gas support rod II142, rolling chassis connecting rod I143, chassis connecting rod II144, inverted V-shaped roller group 15, side frame 17, inclined slide 18, vertical plate frame 181;

[0050] Main frame 2, electric control box 21, industrial camera 22, electric control system 211, alarm 212, instrument display 213, counterweight 214;

[0051] Trailing edge sawtooth stacking module 31, trailing edge sawtooth handling module 32, vertical drive chain 311, support plate 312, limit bar 313, transmission element 314, polyethylene groove slide bar 315, tensioner 316, sprocket 317, transverse synchronous belt 321, transmission toothed belt 322, pulley shaft 3221, synchronous pulley 3222, motor 3223, stopper 331;

[0052] Screw motor 41, support frame 411, synchronous belt winding 42, synchronous belt driving motor 43, glue head 44, glue applicator 441, glue scraper 45, flip steering gear 451, extended suction cup arm 46, drag chain 47, carrier 471, glue storage barrel 48, clamping steering gear 49, pressure roller 491;

[0053] Cam I 511, cam II 512, upper and lower connecting rods 521, left and right connecting rods 522, upper and lower plates 523, transverse strip grooves 5231, left and right plates 524, vertical strip grooves 5241, horizontal connecting rods 525, driving motors 53, fixed bevel gears 541, movable bevel gears 542, suction cups 55, suction cup brackets 551, plate racks 56, transmission shafts 561, transmission gears 562, transverse shafts 571, vertical support rods 572, support platforms 573, pipe sleeves 574, and L-shaped racks 575;

[0054] Cylinder 61, constant force gas support rod 621, conical rubber-coated roller 63, conical rubber-coated roller bracket 631, vertical support rod I6311, vertical support rod II6312, towel roller 64, rotating arm I651, rotating arm II652. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0056] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0058] The present invention provides a trailing edge sawtooth installation device that can self-walk along a wind turbine blade, comprising: a self-climbing mechanism, a trailing edge sawtooth storage mechanism, a glue coating mechanism, a trailing edge sawtooth flipping mechanism and a glue overflow removal mechanism;

[0059] like Figures 1 to 3As shown, the self-crawling mechanism includes: a crawler assembly 12 constructed on the left and right sides of the main frame 2 and an adjustment component for adjusting the distance between the two sets of crawler assemblies 12. The wind turbine blades are clamped between the two sets of crawler assemblies 12 by adjusting the distance. The crawler 1214 of the crawler assembly 12 rotates, and the friction force generated by the surface of the wind turbine blade causes the crawling device to move forward;

[0060] The adjustment component includes a constant force gas strut I127, a strip connecting rod 129 and an electric push rod 13; the track assembly 12 is rotatably connected to the side frame 17 on the main frame 2 through the strip connecting rod 129, two groups of strip connecting rods 129 are arranged on each side of the track assembly 12, and are rotatably connected to the output end of the electric push rod 13 through the constant force gas strut I127, and the mounting seat 131 of the electric push rod 13 is rotatably connected to the side frame 17; the constant force gas strut I127 is driven to swing by the extension and retraction of the electric push rod 13 to realize the state change of the strip connecting rod 129, and when the track 1214 moves inward and contacts the surface of the wind turbine blade, the constant force gas strut I127 is compressed, so that the pressure of the track on the surface of the wind turbine blade can be made approximately constant, thereby realizing the clamping of the wind turbine blade.

[0061] The crawler assembly also includes a crawler driving wheel 1210, a tensioning wheel 1211, a crawler connecting rod group 1212, a shock absorber 1213, and a crawler 1214; the motor drives the crawler driving wheel 1210 to provide power, and the tensioning wheel 1211 and the shock absorber 1213 are installed in the crawler connecting rod group 1212, which is a prior art and will not be described in detail here;

[0062] Specifically, the self-crawling mechanism also includes a roller anti-roll frame 11, the roller of the roller anti-roll frame 11 is used to abut the wind turbine blades, the roller anti-roll frame 11 is rotatably installed on the main frame 2, and is rotatably connected to the output end of the electric push rod 13 through the constant force gas strut II142. The opening angle of the roller anti-roll frame 11 can be controlled by the extension and retraction of the electric push rod 13, thereby preventing the crawling device from tilting relative to the wind turbine blades during movement.

[0063] Specifically, one end of the constant force gas strut II142 is rotatably connected to the roller anti-roll frame 11, and the other end is rotatably connected to the output end of the electric push rod 13 through the chassis connecting rod group 14. The chassis connecting rod group 14 includes two groups of chassis connecting rods, one of which is a chassis connecting rod I143 that is slidably arranged on the inclined slide groove 18. One end of the chassis connecting rod I143 is rotatably connected to the constant force gas strut II142, and the other end of the chassis connecting rod I143 is rotatably connected to the chassis connecting rod II144. The chassis connecting rod II144 is connected to the electric push rod 13 through the hinge 141. At the output end, the inclined slot 18 is provided on the vertical plate frame 181, and the inclined direction of the inclined slot 18 is inclined below the plane where the main frame 2 is located; when the electric push rod 13 is extended, the state of the chassis connecting rod group 14 is changed, and the chassis connecting rod I143 rotates relative to the chassis connecting rod II144 and moves downward along the inclined slot 18 to push the roller anti-roll frame 11 to abut against the wind turbine blade. When the roller anti-roll frame 11 contacts the surface of the wind turbine blade, the constant force gas strut 142 is compressed, so that the clamping force of the roller anti-roll frame 11 on the surface of the wind turbine blade can be made approximately constant.

[0064] like Figure 4 and Figure 6 As shown, the trailing edge sawtooth storage mechanism includes: a trailing edge sawtooth stacking module 32 and a trailing edge sawtooth handling module 31; the trailing edge sawtooth stacking module 32 includes a vertical drive chain 311 and a pallet 312 for storing the trailing edge sawtooth, a plurality of the pallets 312 are mounted on the vertical drive chain 311, the vertical drive chain 311 is a chain with ears, connected to the pallet 312 through the ears, each group of vertical drive chains 311 is meshed and mounted on two vertical sprocket wheels 317, so that the vertical drive chain 311 presents a repeated motion trajectory of downward-flipping-upward, so that the trailing edge sawtooth on the pallet 312 can rotate and move up and down in the vertical direction with the vertical drive chain 311;

[0065] The support plates installed in the middle section of the vertical drive chain 311 are parallel to each other, with a spacing of one chain link width, so that adjacent trailing edge serrations do not contact or squeeze each other. Several groups of the vertical drive chains 311 are symmetrically installed on both sides of the main frame 2. During the movement of the vertical drive chain 311, the support plates 312 also move accordingly. The support plates 312 on both sides of the main frame 2 overlap the two side ends of the trailing edge serrations, that is, the two horizontally parallel support plates 312 on both sides of the main frame 2 form a group. When the group of support plates 312 moves to the lower part of the vertical drive chain 311, When the vertical drive chain 311 is rotated continuously, the distance between the two pallets 312 in the group is enlarged, so that the trailing edge sawtooth on the pallet 312 falls on the horizontal synchronous belt 321 of the trailing edge sawtooth transport module 31, and as the vertical drive chain 311 continues to rotate, the pallet 312 continuously moves downward to the bottom of the vertical drive chain 311, so that the trailing edge sawtooth continuously falls on the horizontal synchronous belt 321 of the trailing edge sawtooth transport module 31, thereby realizing the continuous transportation of the trailing edge sawtooth from the trailing edge sawtooth stacking module 32 to the trailing edge sawtooth transport module 31;

[0066] The trailing edge sawtooth transport module 31 includes a transverse synchronous belt 321 which can move laterally relative to the vertical drive chain 311. The transverse synchronous belt 321 is arranged on the inner side of the vertical drive chain 311 and is also symmetrically arranged on both sides of the main frame 2. A plurality of blocks 331 are installed on the transverse synchronous belt 321. The area between adjacent blocks 331 is used to receive the trailing edge sawtooth dropped from the support plate 312. As the transverse synchronous belt 321 continues to move, the part carrying the trailing edge sawtooth moves to the area of ​​the wind turbine blade where the trailing edge sawtooth needs to be pasted. The trailing edge sawtooth that subsequently drops from the support plate 312 falls between the subsequent adjacent blocks 331, thereby realizing that the trailing edge sawtooth transport module 31 continuously transports the trailing edge sawtooth to the area of ​​the wind turbine blade where the trailing edge sawtooth needs to be pasted.

[0067] Specifically, four groups of vertical drive chains 311 are installed symmetrically on both sides of the main frame, and the vertical drive chains 311 on the same side are driven by sprockets installed on the same drive shaft; the transmission element 314 is installed below the vertical drive chain 311, and the output shaft, bevel gear set and synchronous pulley of the transmission element 314 simultaneously control the rotation of the four groups of vertical drive chains 311 on both sides.

[0068] A groove slide 315 is installed on the inner side of the vertical drive chain 311. The groove slide 315 is made of polyethylene material. Part of the vertical drive chain 311 is embedded in the groove slide 315 to prevent the vertical drive chain 311 and the support plate 312 installed on the vertical drive chain 311 from lateral deviation during movement.

[0069] Specifically, a tensioning wheel 316 with an adjustable position is installed inside the vertical driving chain 311 , and the tensioning wheel 316 is used to keep the vertical driving chain 311 tensioned to avoid tooth jumping during transmission.

[0070] Specifically, the trailing edge serration stacking module 32 further includes limit bars 313 constructed on both sides of the support plate 312. The spacing of the limit bars 313 corresponds to the width of the trailing edge serrations and is used to limit horizontal slippage of the trailing edge serrations when moving in the vertical direction.

[0071] Specifically, the transverse synchronous belts 321 are symmetrically installed on both sides of the main frame 2 through pulleys 332, and a synchronous pulley 3222 is coaxially connected to the pulley shaft 3221 of one group of the pulleys 332, and the synchronous pulley 3222 is connected to the output end of the motor 3223 through a transmission toothed belt 322, thereby driving the synchronous rotation of the two groups of transverse synchronous belts 321 through a single group of motors 3223.

[0072] Specifically, a limit strip wrapped with rubber may be provided on the outside of the trailing edge sawtooth transport module 31 according to working conditions to limit the distance the trailing edge sawtooth is pushed out, thereby adjusting the transmission distance of the trailing edge sawtooth.

[0073] like Figures 7 to 9 As shown, the glue coating mechanism includes: a clamping servo 49, a moving platform group and a glue coating device 441, a glue scraper 45, and an extended suction cup arm 46 installed on the moving platform group; the moving platform group includes a carrier 471, a support frame 411, a horizontal drive member, a vertical drive member, and a steering drive member; the glue coating device 441 and the glue scraper 45 are slidably arranged on the support frame 411 through the carrier 471, and a main frame 2 for placing the trailing edge sawtooth is arranged below the support frame 411; the vertical drive member is used to drive the support frame 411 to reciprocate in the vertical direction, so that the glue coating device 441 is close to or away from the main frame 2; the horizontal drive member is used to drive the carrier 471 to reciprocate along the horizontal direction of the support frame 411, so that the moving path of the glue coating device 441 covers the trailing edge sawtooth on the main frame 2, that is, the glue coating device 441 is driven to continuously and uninterruptedly coat the trailing edge sawtooth with glue along the entire length direction of the trailing edge sawtooth, so that the surface of the entire trailing edge sawtooth is coated with glue;

[0074] The steering drive member is used to drive the glue scraper 45 to flip so that the glue scraper 45 abuts against the trailing edge serrated surface, and scrapes the glue on the trailing edge serrated surface flat as the carrier 471 moves, so that the glue is evenly coated on the trailing edge serrated surface, avoiding a large amount of glue overflow when pasting wind turbine blades.

[0075] The vertical driving member is a screw motor 41. Two groups of the screw motor 41 are constructed at both ends of the support frame 411 and are connected to the screw nuts of the screw motor 41 through connecting ears. When the two groups of screw motors 41 are started, the support frame 411 is synchronously driven to move up or down, thereby realizing the vertical spacing adjustment between the support frame 411 and the main frame 2, thereby providing operating space for the glue applicator 441 to apply glue and the removal and placement of the trailing edge serrations.

[0076] Specifically, the transverse driving member includes a synchronous belt winding 42 and a synchronous belt driving motor 43;

[0077] The carrier 471 is slidably mounted on the support frame 411 via a drag chain 47, the output end of the synchronous belt drive motor 43 is connected to a driving wheel, and the transmission wheels are evenly distributed on the support frame 411 via a vertical support shaft, the annular synchronous belt winding 42 is wound around and connected to the driving wheel and the transmission wheel, and the drag chain 47 is fixed on the upper surface of the synchronous belt winding 42, thereby driving the movement of the drag chain 47 by driving the rotation of the synchronous belt winding 42.

[0078] Specifically, a strip-shaped through groove is provided on the support frame 411 along the sliding direction of the carrier 471 , and the glue applicator 441 passes through the strip-shaped through groove. The glue outlet head 44 of the glue applicator 441 is located below the strip-shaped through groove and faces the main frame 2 .

[0079] Specifically, the steering drive component is a flip servo 451 , which is mounted on a carrier 471 . The output shaft of the flip servo 451 is fixedly connected to the glue scraper 45 , and the glue scraper 45 is driven to rotate by the flip servo 451 .

[0080] Specifically, a clamping servo 49 is also installed on the side of the main frame 2, and the output end of the clamping servo 49 is connected to a pressure roller 491 for clamping the trailing edge serrations. A swivel arm is also connected between the pressure roller 491 and the output end of the clamping servo 49. The output end of the clamping servo 49 drives the pressure roller 491 to flip along the plane where the main frame 2 is located through the swivel arm, thereby clamping the trailing edge serrations waiting for glue coating, thereby avoiding displacement of the trailing edge serrations due to external force when the glue applicator 441 and the glue scraper 45 abut against the trailing edge serrations.

[0081] Specifically, the glue dispensing mechanism further includes a glue storage barrel 48 , which is located at the end of the main frame 2 . The glue storage barrel 48 is connected to the glue applicator 441 through a hose to provide glue material to the glue applicator 441 .

[0082] Specifically, the carrier 471 is further mounted with an extended suction cup arm 46 , and the extended suction cup arm 46 will adhere the trailing edge serrations flipped by the trailing edge serration flipping mechanism to the surface of the wind turbine blade during the movement of the carrier 471 .

[0083] like Figures 10 to 16 As shown, the trailing edge sawtooth flipping mechanism includes: a suction cup 55 and a flipping assembly, the suction cup 55 is used to suck the trailing edge sawtooth after the glue coating process is completed, and the flipping assembly is used to drive the suction cup 55 to flip and change direction; the flipping assembly includes a bevel gear set and a moving plate set; the upper and lower plates 523 in the moving plate set are slid on the main frame through vertical slide rails, and the left and right plates 524 are slid on the upper and lower plates 523 through horizontal slide rails, and then when the upper and lower plates 523 move vertically in a periodic manner, the left and right plates 524 can be driven to move vertically in a synchronous periodic manner;

[0084] The fixed bevel gear 541 in the bevel gear set is fixed on the left and right plates 524, and the movable bevel gear 542 connected to the suction cup 55 is installed on the horizontal connecting rod 525; the movable bevel gear 542 and the suction cup bracket 551 of the suction cup 55 are fixed on the transverse shaft 571, and the transverse shaft 57 is installed on the L-shaped frame 575 through a bearing; the fixed bevel gear 541 is fixed to the lateral support platform 573 of the left and right plates 524 through a vertical support rod 572; the vertical support rod 572 is also covered with a sleeve 574, and the sleeve 574 can rotate axially relative to the vertical support rod 572. One end of the horizontal connecting rod 525 and the L-shaped frame 575 are detachably connected to the sleeve 574. The relative position of the horizontal connecting rod 525 and the L-shaped frame 575 can be adjusted in the disassembled state. In the fastened state, the horizontal connecting rod 525 and the L-shaped frame 575 can form synchronous rotation, and the other end of the horizontal connecting rod 525 is rotationally connected with the upper and lower plates 523 After being driven, the upper and lower plates 523 can perform vertical periodic motion, thereby driving the suction cup 55 to perform vertical periodic motion, so that the suction cup 55 with the trailing edge serrations adsorbed thereon moves upward; after being driven, the left and right plates 524 can perform horizontal periodic motion, thereby pushing or pulling the horizontal connecting rod 525 through the left and right plates 524, so that the suction cup 55, the horizontal connecting rod 525, and the L-shaped frame 575 rotate relative to the vertical support rod 572, i.e., the fixed bevel gear 541, thereby driving the axial rotation of the movable bevel gear 542, and since the movable bevel gear 542 is meshedly connected to the fixed bevel gear 541, under the action of the fixed bevel gear 541, the movable bevel gear 542 rotates axially, thereby driving the suction cup 55 with the trailing edge serrations adsorbed thereon to rotate, i.e., the movable bevel gear 542 rotates around the support rod 572 and is driven by the meshed fixed bevel gear 541 to rotate along its own axial direction, so that the trailing edge serrations complete the combined action of lifting and flipping.

[0085] Specifically, the flip assembly also includes a cam group and a connecting rod group; the cam group includes a cam I511 and a cam II512, and the connecting rod group includes an upper and lower connecting rod 521 and a left and right connecting rod 522; rollers are provided on the front and rear sides of the upper and lower connecting rods 521, and on the front and rear sides of the left and right connecting rods 522; a transverse groove 5231 is provided at the bottom of the upper and lower plates 523, and a vertical groove 5241 is provided on the left and right plates 524; the tail side rollers of the upper and lower connecting rods 521 are slidably arranged in the transverse groove 5231, one end of the tension spring I is hooked on the plate frame 56, and the other end is hooked on the upper and lower connecting rods 521, so that the front side rollers of the upper and lower connecting rods 521 elastically abut against the cam I511 On; the head ends of the left and right connecting rods 522 are rotatably connected to the plate frame 56, and the tail side rollers of the left and right connecting rods 522 are slidably arranged in the vertical groove 5241. One end of the tension spring II is hooked on the plate frame 56, and the other end is hooked on the left and right connecting rods 522, so that the head side rollers of the left and right connecting rods 522 elastically abut against the cam II512; the design of the tension spring I and the tension spring II ensures that the rollers never leave the contour range of the cam I and the cam II. The upper and lower connecting rods 521 and the left and right connecting rods 522 are driven by the cams I511 and II512 to make periodic swings respectively, thereby driving the upper and lower plates 523 and the left and right plates 524 to make vertical periodic motion and lateral periodic motion.

[0086] Specifically, the cam I511 and the cam II512 are both fixed on the transmission shaft 561, and the transmission shaft 561 is installed on the plate frame 56 through a bearing. The flip mechanism also includes a drive motor 53, and the drive motor 53 is fixed on the plate frame 56. The output end of the drive motor 53 passes through the plate frame 56 and is connected to a drive gear. The transmission shaft 561 is also fixed with a transmission gear 562 that is meshed with the drive gear; the upper and lower plates 523 move upward and the left and right plates 524 move to the left as the positive direction, and the movement rhythm diagram of the upper and lower plates 523 and the left and right plates 524 is as shown in Fig.17 As shown, the motion trajectory of the suction cup 55 is the superimposed trajectory of the motion of the upper and lower plates 523, the left and right plates 524 and the rotation of the movable bevel gear 542, and the rotation angle of the movable bevel gear 542 is 90 degrees.

[0087] After the suction cup 55 adsorbs the trailing edge serrations, the driving motor 53 drives the cam I511 and the cam II512 to rotate and drive the upper and lower plates 523 to swing periodically under the upper and lower connecting rods 521. The upper and lower plates 523 can perform vertical periodic motion after being driven by the upper and lower connecting rods 521, thereby driving the suction cup 55 to perform vertical periodic motion, so that the suction cup 55 adsorbed with the trailing edge serrations moves upward; the left and right plates 524 can perform horizontal periodic motion after being driven by the left and right connecting rods 522, and then the left and right plates 524 push and pull the horizontal connecting rod 525, so that the suction cup 55, the horizontal connecting rod 525, and the L-shaped frame 575 are relative to the vertical support rod 572. The fixed bevel gear 541 rotates, which drives the axial rotation of the movable bevel gear 542. Since the movable bevel gear 542 is meshedly connected to the fixed bevel gear 541, the movable bevel gear 542 rotates axially under the action of the fixed bevel gear 541, thereby driving the suction cup 55 with the trailing edge serration adsorbed thereon to rotate, that is, the movable bevel gear 542 rotates around the support rod 572 and is driven by the meshed fixed bevel gear 541 to rotate along its own axial direction, so that the trailing edge serration completes the combined action of lifting and flipping, and finally the flipped trailing edge serration is attached to the surface of the wind turbine blade through the extended suction cup arm 46.

[0088] like Figure 19 to Figure 20 As shown, the overflow glue removal mechanism includes: a towel roller 64 and a conical rubber-coated roller 63; after being driven, the conical rubber-coated roller 63 can press the trailing edge serrations against the surface of the wind turbine blade, and the towel roller 64 can remove overflow glue during the movement of the trailing edge serration installation equipment.

[0089] Specifically, an inverted V-shaped roller group 15 is provided on the main frame 2, and the inverted V-shaped roller group 15 is used to clamp the wind turbine blade in the thickness direction of the wind turbine blade, that is, the rollers on the left and right sides of the V-shaped roller group 15 provide support for the wind turbine blade on the left and right sides of the wind turbine blade, so that the overflow glue removal mechanism is vertically installed on the wind turbine blade; the conical rubber-coated roller 63 is arranged on the rear side of the inverted V-shaped roller group 15, and after being driven, it can reciprocate along the direction of the inverted V-shaped roller group 15, and is used to abut against the trailing edge serrations after glue coating, Before the glue is initially solidified, the trailing edge serrations are kept close to the wind turbine blades to prevent the trailing edge serrations from slipping off the wind turbine blades under the action of their own weight; the towel roller 64 is constructed on the front side of the inverted V-shaped roller group 15, and is used to abut the wind turbine blades with the trailing edge serrations pasted thereon. After the glue is initially solidified, the entire glue overflow removal mechanism moves forward, and under the action of friction, the towel roller 64 rotates relative to the wind turbine blades, and the towel strips on the towel roller 64 contact and rub against the surface of the trailing edge serrations that have been pasted, thereby removing the excess glue.

[0090] The inverted V-shaped roller group 15 is installed on the main frame 2, and the conical rubber-coated roller 63 is vertically installed on the conical rubber-coated roller bracket 631. The vertical support rod I6311 on the rubber-coated roller bracket 631 is rotatably connected to the main frame 2 through a rotating arm I651; the vertical support rod II6312 on the rubber-coated roller bracket 631 is rotatably connected to the main frame 2 through a rotating arm II652. The overflow glue removal mechanism also includes a cylinder 61, which is horizontally installed on the main frame 2, and the output end of the cylinder 61 is rotatably connected to the vertical support rod II6312 through a constant force gas support rod 621;

[0091] When the cylinder 61 extends, the rubber-coated roller bracket 631 is pushed by the constant-force gas strut 621, and the rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652, and moves in a direction close to the V-shaped roller group 15, thereby causing the conical rubber-coated roller 63 to apply a constant pressure to the trailing edge serrations until the glue is initially solidified; when the cylinder 61 retracts, the rubber-coated roller bracket 631 is pulled by the constant-force gas strut 621, and the rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652, and moves in a direction away from the V-shaped roller group 15, thereby causing the conical rubber-coated roller 63 to be separated from the trailing edge serrations.

[0092] When the trailing edge serration installation equipment moves forward to the position where the trailing edge serration needs to be pasted, the extended suction cup arm 46 absorbs the reversed trailing edge serration and fits it to the surface of the wind turbine blade, and then the cylinder 61 extends out, and the rubber-coated roller bracket 631 is pushed by the constant force gas support rod 621. The rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652, and moves in the direction close to the V-shaped roller group 15, so that the conical rubber-coated roller 63 applies constant pressure to the trailing edge serration. When the glue is initially cured, the gas cylinder 61 extends out, and the rubber-coated roller bracket 631 is pushed by the constant force gas support rod 621. The cylinder 61 retracts and the rubber-coated roller bracket 631 is pulled by the constant force gas strut 621. The rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652 and moves in a direction away from the V-shaped roller group 15, thereby separating the conical rubber-coated roller 63 from the trailing edge serrations. When the trailing edge serration installation equipment continues to move forward, the towel roller 64 rotates relative to the wind turbine blade under the action of friction, and the towel strips on the towel roller 64 contact and rub against the surface of the trailing edge serrations that have been pasted, thereby removing the excess glue.

[0093] The trailing edge serration installation equipment also includes an electrical control box 21, which is installed on the side of the main frame 2. The electrical control box 21 includes an electrical control system 211, an alarm 212, an instrument display 213 and a counterweight 214; the trailing edge serration installation equipment also includes an industrial camera 22, which is used to capture and record the image of the trailing edge serration after pasting.

[0094] An electric control box 21 is installed on the side of the main frame 2, and an electric control system 211, an alarm 212, an instrument display 213 and a counterweight 214 are installed in the electric control box 21. A plurality of groups of holes 215 are provided on the inner side of the electric control box 21, i.e., at the connection with the main frame 22, and their main function is to install screws to connect the electric control box 21 with the main frame 2, so as to improve the stability of the trailing edge sawtooth installation device during its movement. An industrial camera 22 is installed at the end of the trailing edge sawtooth installation device, which can capture and record the trailing edge sawtooth image after pasting is completed, so as to record and file and remove unqualified workpieces.

Claims

1. A trailing edge sawtooth installation device that can move along the wind turbine blade by itself, characterized in that: It includes a self-climbing mechanism, a trailing edge sawtooth storage mechanism, a glue coating mechanism, a trailing edge sawtooth flipping mechanism and a glue overflow removal mechanism; The self-crawling mechanism comprises a crawler track assembly (12) constructed on the left and right sides of the main frame (2) and an adjustment component for adjusting the distance between the two sets of crawler track assemblies (12); The trailing edge sawtooth storage mechanism comprises a trailing edge sawtooth stacking module (32) and a trailing edge sawtooth transporting module (31), wherein the trailing edge sawtooth stacking module (32) can vertically store multiple groups of trailing edge sawtooths and drive them to move up and down, and the trailing edge sawtooth transporting module (31) can horizontally push the trailing edge sawtooth at the bottom outward; The glue coating mechanism (4) comprises a moving platform group and a glue coating device (441) installed on the moving platform group, a glue scraper (45), and an extended suction cup arm (46); The movable platform group is used to drive the glue applicator (441) and the glue scraper (45) to apply glue to the trailing edge sawtooth, and to drive the extended suction cup arm (46) to attach the trailing edge sawtooth flipped by the trailing edge sawtooth flipping mechanism to the surface of the wind turbine blade; The trailing edge sawtooth flipping mechanism comprises a suction cup (55) and a flipping assembly, wherein the suction cup (55) is used to suck the trailing edge sawtooth after the gluing process is completed, and the flipping assembly is used to drive the suction cup (55) to flip and change direction; The overflow glue removal mechanism comprises a towel roller (64) and a conical rubber-coated roller (63); the conical rubber-coated roller (63) can press the trailing edge serrations against the surface of the wind turbine blade after being driven, and the towel roller (64) can remove overflow glue during the movement of the trailing edge serration installation device.

2. The trailing edge serration installation device capable of self-propelling along a wind turbine blade according to claim 1, characterized in that: The adjustment component comprises a constant force gas strut rod I (127), a strip connecting rod (129) and an electric push rod (13); the crawler track assembly (12) is rotatably connected to a side frame (17) on a main frame (16) through the strip connecting rod (129), and is rotatably connected to an output end of the electric push rod (13) through the constant force gas strut rod I (127); a mounting seat (131) of the electric push rod (13) is rotatably connected to the side frame (17).

3. The trailing edge serration installation device capable of self-propelling along a wind turbine blade according to claim 1, characterized in that: The trailing edge sawtooth stacking module (32) comprises a vertical driving chain (311) and a pallet (312) for storing the trailing edge sawtooth, wherein a plurality of the pallets (312) are mounted on the vertical driving chain (311), and the vertical driving chain (311) is used to drive the pallets (312) to move up and down, so that the trailing edge sawtooth on the lowest pallet (312) falls onto the transverse synchronous belt (321) of the trailing edge sawtooth transport module (31).

4. The trailing edge sawtooth installation device capable of self-propelling along a wind turbine blade according to claim 3, characterized in that: The trailing edge sawtooth handling module (31) comprises a transverse synchronous belt (321) capable of transversely moving relative to a vertical driving chain (311); a plurality of stoppers (331) are mounted on the transverse synchronous belt (321); and the area between adjacent stoppers (331) is used to receive the trailing edge sawtooth falling from the support plate (312).

5. The trailing edge serration installation device capable of self-propelling along a wind turbine blade according to claim 1, characterized in that: The mobile platform group comprises a carrier (471), a support frame (411), a transverse driving member, a vertical driving member, and a steering driving member; the glue applicator (441) and the glue scraper (45) are slidably arranged on the support frame (411) through the carrier (471), and a main frame (2) for placing the trailing edge saw teeth is arranged below the support frame (411); The vertical driving member is used to drive the support frame (411) to move back and forth in the vertical direction, thereby approaching or moving away from the main frame (2); the horizontal driving member is used to drive the carrier (471) to move back and forth along the horizontal direction of the support frame (411), thereby making the moving path of the glue applicator (441) cover the trailing edge serrations on the main frame (2); and the steering driving member is used to drive the glue scraper (45) to flip so that the glue scraper (45) abuts against the trailing edge serration surface and scrapes the glue on the trailing edge serration surface flat as the carrier (471) moves.

6. The trailing edge sawtooth installation device capable of self-propelling along a wind turbine blade according to claim 1, characterized in that: The flip assembly includes a bevel gear set and a moving plate set; The upper and lower plates (523) in the movable plate group are slidably mounted on the main frame via vertical slide rails, and the left and right plates (524) are slidably mounted on the upper and lower plates (523) via horizontal slide rails; The fixed bevel gear (541) in the bevel gear set is fixed on the left and right plates (524) through a vertical support rod (572), and the movable bevel gear (542) connected to the suction cup (55) is installed on the horizontal connecting rod (525) through an L-shaped frame (575). The two ends of the horizontal connecting rod (525) are respectively connected to the upper and lower plates (523) and the vertical support rod (572) for rotation.

7. The trailing edge sawtooth installation device capable of self-propelling along a wind turbine blade according to claim 6, characterized in that: The movable bevel gear (542) and the suction cup bracket (551) of the suction cup (55) are both fixed on a transverse shaft (571), and the transverse shaft (571) is rotatably mounted on an L-shaped frame (575); the fixed bevel gear (541) is fixed on a support platform (573) on the side of the left and right plates (524) through a vertical support rod (572); a pipe sleeve (574) is also sleeved on the vertical support rod (572), and one end of the horizontal connecting rod (525) and the L-shaped frame (575) are both detachably connected to the pipe sleeve (574).

8. The trailing edge sawtooth installation device capable of self-propelling along a wind turbine blade according to claim 7, characterized in that: The flip assembly also includes a cam group and a connecting rod group; the cam group includes a cam I (511) and a cam II (512), and the connecting rod group includes an upper and lower connecting rod (521) and a left and right connecting rod (522); rollers are arranged on the front and rear sides of the upper and lower connecting rods (521) and the front and rear sides of the left and right connecting rods (522); a horizontal groove (5231) is arranged at the bottom of the upper and lower plates (523), and a vertical groove (5231) is arranged on the left and right plates (524). 5241); the tail rollers of the upper and lower connecting rods (521) are slidably arranged in the transverse strip grooves (5231), and the head rollers of the upper and lower connecting rods (521) are elastically abutted against the cam I (511); the tail rollers of the left and right connecting rods (522) are slidably arranged in the vertical strip grooves (5241), and the head rollers of the left and right connecting rods (522) are elastically abutted against the cam II (512), and the head ends of the left and right connecting rods (522) are rotatably connected to the plate frame (56).

9. The trailing edge serration installation device capable of self-propelling along a wind turbine blade according to claim 1, characterized in that: The conical rubber-coated roller (63) is vertically mounted on the conical rubber-coated roller bracket (631); the vertical support rod I (6311) on the rubber-coated roller bracket (631) is rotatably connected to the main frame (2) via a rotating arm I (651); the vertical support rod II (6312) on the rubber-coated roller bracket (631) is rotatably connected to the main frame (2) via a rotating arm II (652).

10. The overflow glue removal mechanism for the trailing edge serrations of a wind turbine blade according to claim 9, characterized in that: The overflow glue removing mechanism also includes a cylinder (61), which is horizontally mounted on the main frame (2), and the output end of the cylinder (61) is rotatably connected to the vertical support rod II (6312) through a constant force gas support rod (621).

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