Wind power blade gluing device and method

Abstract

The invention provides a wind power blade gluing device and method, and relates to the technical field of wind power blades. The wind power blade gluing device comprises a walking mechanism, the walking mechanism comprises a track, a first power piece and a support, the support is matched with the track, and the first power piece is arranged on the support and can drive the support to reciprocate along the track; the suspension mechanism is arranged on the support in a liftable mode, and the length direction of the suspension mechanism is perpendicular to the track; the gluing assembly comprises a rubber boot, the rubber boot is rigidly hung on the hanging mechanism, and the rubber boot can move in the length direction of the hanging mechanism; and the controller is in communication connection with the first power piece, the hanging mechanism and the gluing assembly. The support moves in the direction of the track, the suspension mechanism drives the gluing assembly to move in the direction of the support and the direction of the suspension mechanism, the position of the gluing assembly is adjusted from three dimensions, and glue waste is reduced by adjusting the advancing speed of the support in real time and accurately controlling the glue using amount.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blades, and in particular to a device and method for gluing wind turbine blades. Background Art

[0002] In recent years, with the increasing global demand for clean energy, wind power has become a widely used form of clean energy. As a core component of wind turbine equipment, the manufacturing quality of wind turbine blades directly affects the performance and lifespan of wind turbines. During the manufacturing process, bonding is a critical step in ensuring the structural strength and durability of wind turbine blades.

[0003] Currently, the most common gluing process relies on manual labor, which can easily lead to glue waste and increase production costs. As wind turbine blades continue to grow in size, traditional manual gluing methods are no longer able to meet the requirements for efficient and precise gluing. Therefore, developing an automated gluing device that can precisely control glue application and minimize glue waste while ensuring bond quality has become a pressing technical challenge for the wind turbine blade manufacturing industry. Summary of the Invention

[0004] In order to solve the technical problem in the prior art that manual gluing easily leads to waste of glue and increases production costs, the embodiment of the present invention provides a wind turbine blade gluing device and method. The technical solution is as follows:

[0005] In one aspect, a wind turbine blade gluing device is provided, the device comprising:

[0006] A traveling mechanism, the traveling mechanism comprising a track, a first power member and a bracket, the bracket matching the track, the first power member being disposed on the bracket, and the first power member being capable of driving the bracket to reciprocate along the track;

[0007] A suspension mechanism, the suspension mechanism being liftably disposed on the bracket, with a length direction of the suspension mechanism being perpendicular to the track;

[0008] a gluing assembly, the gluing assembly comprising a rubber boot, the rubber boot being rigidly suspended on the suspension mechanism and being movable along the length direction of the suspension mechanism;

[0009] A controller is communicatively connected with the first power member, the suspension mechanism and the gluing assembly respectively.

[0010] Optionally, the glue coating assembly further includes a glue machine and a glue hose, the glue machine is arranged on the bracket, the glue machine is connected to the rubber boot via the glue hose, and the controller is in communication with the glue machine for adjusting the glue output speed of the glue machine.

[0011] Optionally, a plurality of glue barrels are arranged in the glue machine, and the plurality of glue barrels accommodate various glue components;

[0012] The glue pipe includes a plurality of pipe bodies and a static mixing pipe. Each glue barrel is connected to a pipe body, and the ends of the plurality of pipe bodies are connected to the glue boot through the static mixing pipe.

[0013] Optionally, the suspension mechanism includes a second power member and a suspension arm, and the second power member is used to drive the lifting of the suspension arm;

[0014] The controller is communicatively connected to the second power member.

[0015] Optionally, the suspension mechanism includes a third power member, and the third power member is used to drive the translation of the glue application assembly;

[0016] The controller is communicatively connected to the third power member.

[0017] Optionally, it further includes: a vision recognition member, which is arranged on the glue boot and communicatively connected to the controller. The vision recognition member is used to recognize and send a meter mark to the controller, and the controller is used to perform position calibration based on the meter mark.

[0018] On the other hand, a method for applying glue to a wind power blade is also provided. The method includes:

[0019] The controller establishes a three-dimensional rectangular coordinate system with the axial direction of the wind power blade as the X-axis, the horizontal direction as the Y-axis, and the vertical direction as the Z-axis according to the structure of the wind power blade;

[0020] Based on the three-dimensional rectangular coordinate system, a track is arranged along the X-axis direction, a bracket is arranged along the Z-axis direction, and a suspension mechanism is arranged along the Y-axis direction;

[0021] According to the pre-assembly process of the wind power blade, the thickness of the mold closing gap, the width of the bonding surface, and the density of the mixed glue of each bonding section are obtained, and combined with the glue output flow rate, the forward speed of the glue boot is obtained;

[0022] Control the glue application assembly to discharge glue, and control the walking mechanism and the suspension mechanism to start. Based on the geometric parameters of the glue application surface of the wind power blade, obtain the corresponding relationship between the moving speeds of the glue boot in three directions, and adjust the moving speeds of the glue boot in three directions in real time through the corresponding relationship and the forward speed.

[0023] Optionally, the obtaining the corresponding relationship between the moving speeds of the glue boot in three directions based on the geometric parameters of the glue application surface of the wind power blade includes:

[0024] According to the coordinates of the starting point of the arc segment in the glue coating surface, the radius r of the circle where the arc segment is located, and the coordinates of the center of the circle where the arc segment is located, the center angle of the circle that the rubber boot passes through each time it advances a preset distance within the X-axis projection range is obtained;

[0025] According to the central angle of the circle, the corresponding Y-axis coordinate and Z-axis coordinate are obtained.

[0026] Optionally, the controller controls the glue output ratio of multiple glue components in the glue coating assembly.

[0027] Optionally, it also includes:

[0028] The controller receives an abnormality alarm sent by the gluing component;

[0029] The controller controls the traveling mechanism and the suspension mechanism to move in opposite directions by a preset length based on the abnormal alarm;

[0030] The abnormal alarm received by the controller stops;

[0031] The controller controls the walking mechanism and the suspension mechanism to continue to move. The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0032] The wind turbine blade gluing device provided by the present invention controls the bracket to move along the track direction through a controller, suspends the gluing component through a suspension mechanism, and drives the gluing component to move along the bracket direction and the suspension mechanism direction, thereby realizing the position adjustment of the gluing component from three dimensions, ensuring that the rubber boot remains in contact with the bonding surface, and adjusting the travel speed of the bracket in real time according to the process parameters to accurately control the amount of glue used and reduce glue waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 This is a schematic diagram of the main structure of a wind turbine blade gluing device provided by an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the main structure of a wind turbine blade gluing device provided by an embodiment of the present invention;

[0036] Figure 3 This is a flow chart of a method for gluing wind turbine blades provided by an embodiment of the present invention;

[0037] Figure 4It is a control algorithm flowchart of a glue coating method for wind turbine blades provided by an embodiment of the present invention.

[0038] Reference numerals:

[0039] 1. Traveling mechanism; 11. Track; 12. First power member; 13. Bracket; 131. Flat car; 132. Column

[0040] 2. Suspension mechanism; 21. Second power member; 22. Suspension arm; 221. Rack

[0041] 3. Glue coating assembly; 31. Glue boot; 32. Glue machine; 33. Glue pipe; 34. Reel; 35. Vertical rod; 36. Third power member

[0042] 4. Controller. Specific embodiments

[0043] The following describes the technical solutions in the present invention with reference to the accompanying drawings.

[0044] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0045] In the embodiments of the present invention, sometimes subscripts such as W1 may be miswritten as non-subscript forms such as W1. When the difference is not emphasized, the meanings they express are the same.

[0046] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0047] The embodiments of the present invention provide a glue coating device for wind turbine blades Figure 1 It is a front view structural schematic diagram of a glue coating device for wind turbine blades provided by an embodiment of the present invention; Figure 2 It is a front view structural schematic diagram of a glue coating device for wind turbine blades provided by an embodiment of the present invention. Please refer to Figures 1 to 2 . The device includes: a traveling mechanism 1, a suspension mechanism 2, a glue coating assembly 3 and a controller 4.

[0048] The traveling mechanism 1 includes a track 11, a first power member 12, and a bracket 13. The bracket 13 is matched with the track 11, and the track 11 provides a moving path for the bracket 13. The first power member 12 is arranged on the bracket 13, and the first power member 12 can drive the bracket 13 to reciprocate along the track 11. On the bracket 13, a suspension mechanism 2 is arranged to be liftable and lowerable along the length direction of the bracket 13, and the length direction of the suspension mechanism 2 is perpendicular to the track 11. It can be seen that the direction of the track 11, the direction of the bracket 13, and the length direction of the suspension mechanism 2 are perpendicular to each other in pairs. For example, taking the track 11 arranged in the horizontal direction as an example, the direction of the bracket 13 can be set as the vertical direction, and the suspension mechanism 2 is also in the horizontal direction and perpendicular to the direction of the track 11, which is simply referred to as the vertical direction in the following text.

[0049] The above-mentioned glue application assembly 3 includes a glue boot 31. The glue boot 31 is rigidly suspended on the suspension mechanism 2, and the glue boot 31 can move along the length direction of the suspension mechanism 2. It can be seen that the moving directions of the bracket 13, the suspension mechanism 2, and the glue boot 31 are perpendicular to each other in pairs. For example, the glue boot 31 and the suspension mechanism 2 can be connected by a rigid vertical rod 35. There is a glue boot connection bayonet at the top of the vertical rod 35 to connect the glue boot 31.

[0050] Based on the above structure, through the traveling mechanism 1 and the suspension mechanism 2, it is possible to move the glue boot 31 arbitrarily in three mutually perpendicular directions, so as to realize arbitrary movement of the glue application along the shape of the blade, ensure that the glue boot 31 is kept in contact with the bonding surface, and adjust the traveling speed of the bracket 13 in real time according to the process parameters to accurately control the amount of glue used and reduce glue waste.

[0051] In this device, the controller 4 is respectively communicatively connected to the first power member 12, the suspension mechanism 2, and the glue application assembly 3. Through the controller 4, the first power member 12 can be controlled, so as to control the start-stop, moving direction, and moving speed of the bracket 13. Among them, the first power member 12 is used to provide power to drive the movement of the bracket 13. Specifically, the first power member 12 can be in the form of a motor, a hydraulic cylinder, or a pneumatic cylinder, etc., and this embodiment does not make any limitations in this regard. For example, it can be a servo motor. A servo motor is a device that can convert electrical energy into mechanical energy, and realizes the control of the motor speed, rotation direction, and position by receiving control signals. It has the characteristics of high precision, high speed, and high efficiency, and can convert voltage signals into torque and speed to drive the controlled object. The servo motor and the corresponding servo drive system, through the controller 4, adopt a speed control mode to ensure that the glue application device travels at the specified speed according to the control system during the traveling process.

[0052] Through the controller 4, the start / stop, moving direction, and moving speed of the suspension mechanism 2 can also be controlled. Through the controller 4, the glue output speed of the rubber boot 31 can also be controlled. By controlling the moving speed of the rubber boot 31 and coordinating with the glue output speed of the rubber boot 31, the bonding layer can be controlled to meet the process requirements, saving the glue consumption while ensuring the bonding quality. Among them, the process requirements include the thickness, uniformity, and bonding tolerance of the bonding layer, etc. The design and automatic control of the rubber boot 31 ensure the uniformity and consistency of glue application, reduce glue application defects, and improve the surface quality and durability of the wind turbine blade. The automatic operation reduces manual intervention, reduces the labor intensity of the operators, improves work safety and production efficiency, and shortens the production cycle.

[0053] Through the above structure, according to the blade shape, the traveling mechanism 1 and the suspension mechanism 2 can be controlled in real time to move the rubber boot 31, so as to realize continuous glue application and position adjustment of the device on the wind turbine blade.

[0054] The wind turbine blade glue application device provided by the present invention controls the movement of the bracket 13 along the direction of the track 11 through the controller 4, suspends the glue application assembly 3 through the suspension mechanism 2, and drives the glue application assembly 3 to move along the direction of the bracket 13 and the direction of the suspension mechanism 2, realizing the adjustment of the position of the glue application assembly 3 from three dimensions, ensuring that the rubber boot 31 is kept in contact with the bonding surface, and adjusting the traveling speed of the bracket 13 in real time according to the process parameters to accurately control the glue consumption and reduce glue waste.

[0055] In an embodiment provided by the present invention, the glue application assembly 3 further includes a glue machine 32 and a glue pipe 33. The glue machine 32 is arranged on the bracket 13, ensuring the stability of the glue machine 32 during operation. The glue machine 32 is connected to the rubber boot 31 through the glue pipe 33, and the controller 4 is communicatively connected to the glue machine 32 for adjusting the glue output speed of the glue machine 32. For example, when rapid glue application is required to improve production efficiency, or when fine glue application is required to ensure product quality, the controller 4 can meet these requirements by adjusting the glue output speed.

[0056] Specifically, the bracket 13 may include a flat car 131 and a vertical column 132 arranged on the flat car 131, and the reel 34 corresponding to the glue pipe 33 may be arranged on the vertical column 132. The glue pipe 33 and the corresponding control cable extend along the vertical column 132, the suspension assembly, and the above-mentioned rigid vertical rod 35 until the rubber boot 31.

[0057] In use, the rubber boot 31 is usually arranged above the surface to be sprayed. Therefore, in the corresponding embodiment, the glue outlet of the rubber boot 31 can be downward to better fit the blade bonding surface.

[0058] Furthermore, in an embodiment provided by the present invention, multiple glue barrels are arranged in the glue machine 32, and the multiple glue barrels accommodate various glue components. With this structure, various glue components can be mixed in proportion, so that the properties of the glue, such as viscosity, curing speed, chemical resistance, etc., can be adjusted according to specific application requirements, with high flexibility. It should be noted that the controller 4 is communicatively connected to each glue barrel, and by controlling the glue output speed of each glue barrel, the proportion of each glue component is controlled, thereby controlling the glue output composition of the glue boot 31.

[0059] Moreover, the glue pipe 33 includes multiple pipe bodies and a static mixing pipe 33. Each glue barrel is connected to one pipe body, and the ends of the multiple pipe bodies are connected to the glue boot 31 through the static mixing pipe 33. Therefore, the glue components in each glue barrel can be individually transported to the static mixing pipe 33 through their corresponding pipe bodies. Inside the static mixing pipe 33, the glue components from different glue barrels will be mixed together. Due to the design of the static mixing pipe 33, this mixing process is carried out without an external power source, namely the so-called "static mixing". This mixing method ensures that the glue components can be fully and evenly mixed together before reaching the glue boot 31, thus ensuring the stability and consistency of the glue application quality.

[0060] In an embodiment provided by the present invention, the suspension mechanism 2 includes a second power member 21 and a suspension arm 22. The second power member 21 is used to drive the lifting of the suspension arm 22; the controller 4 is communicatively connected to the second power member 21.

[0061] Among them, the second power member 21 is used to provide power to drive the lifting of the suspension arm 22. Specifically, the second power member 21 can be in the form of a motor, a hydraulic cylinder or a pneumatic cylinder, etc., and this embodiment does not limit this. For example, it can be a servo motor. A servo motor is a device that can convert electrical energy into mechanical energy. By receiving control signals, it can achieve the control of the motor speed, rotation direction and position. It has the characteristics of high precision, high speed and high efficiency, and can convert voltage signals into torque and speed to drive the controlled object.

[0062] In an embodiment provided by the present invention, the suspension mechanism 2 includes a third power member 36. The third power member 36 is used to drive the translation of the glue application assembly 3; the controller 4 is communicatively connected to the third power member 36.

[0063] Among them, the third power member 36 is used to provide power to drive the translation of the glue application assembly 3. Specifically, the third power member 36 can be in the form of a motor, a hydraulic cylinder or a pneumatic cylinder, etc., and this embodiment does not limit this. For example, it can be a servo motor. A servo motor is a device that can convert electrical energy into mechanical energy. By receiving control signals, it can achieve the control of the motor speed, rotation direction and position. It has the characteristics of high precision, high speed and high efficiency, and can convert voltage signals into torque and speed to drive the controlled object.

[0064] Specifically, a rack 221 is installed on the side of the suspension arm 22, and a transmission gear is driven by a servo motor to translate along the rack 221, thereby realizing the guiding function.

[0065] In an embodiment provided by the present invention, it further includes: a visual recognition component, which is arranged on the rubber boot 31 and communicatively connected to the controller 4. The visual recognition component is used to recognize and send the meter marks to the controller 4, and the controller 4 is used to perform position calibration based on the meter marks.

[0066] Specifically, in the work of applying glue to the wind turbine blade, the meter marks usually refer to a kind of reference marks used for positioning, measuring or marking the glue application position and range. These marks can be physical, such as lines, scales or labels, or specific features in an image. During the glue application process, the role of the meter marks is crucial. They not only help the operator accurately determine the starting and ending positions of the glue application, but also ensure the uniformity and consistency of the glue application layer, thereby guaranteeing the quality and performance of the final wind turbine blade.

[0067] Specifically, the visual recognition component can be a camera. By recognizing and sending the meter marks to the controller 4, the controller 4 is used to perform position calibration based on the meter marks. Moreover, by recognizing these meter marks through the visual recognition component, the controller 4 can also accurately determine the starting position, ending position and other key nodes during the glue application process.

[0068] The wind turbine blade glue application device provided by the present invention controls the movement of the bracket 13 along the direction of the track 11 through the controller 4, suspends the glue application assembly 3 through the suspension mechanism 2, and drives the glue application assembly 3 to move along the direction of the bracket 13 and the direction of the suspension mechanism 2, realizing the adjustment of the position of the glue application assembly 3 from three dimensions, ensuring that the rubber boot 31 is kept in contact with the bonding surface, and adjusting the traveling speed of the bracket 13 in real time according to the process parameters to accurately control the amount of glue used and reduce glue waste.

[0069] The embodiment of the present invention also provides a method for applying glue to a wind turbine blade, Figure 3 which is a flowchart of a method for applying glue to a wind turbine blade provided by the embodiment of the present invention; Figure 4 which is a control algorithm flowchart of a method for applying glue to a wind turbine blade provided by the embodiment of the present invention. Please refer to Figures 3 to 4 . This method includes:

[0070] 301. The controller 4 establishes a three-dimensional rectangular coordinate system with the axial direction of the wind turbine blade as the X-axis, the horizontal direction as the Y-axis, and the vertical direction as the Z-axis according to the structure of the wind turbine blade.

[0071] In this step, the controller 4 establishes a three-dimensional rectangular coordinate system according to the structural characteristics of the wind turbine blade. The establishment of this coordinate system provides a reference for subsequent positioning and movement.

[0072] 302. Based on a three-dimensional rectangular coordinate system, set the track 11 along the X-axis direction, set the bracket 13 along the Z-axis direction, and set the suspension mechanism 2 along the Y-axis direction.

[0073] In this step, place the device at a position corresponding to the wind turbine blade structure. Specifically, the track 11 is arranged parallel to the wind turbine blade and substituted into the coordinate system established based on the wind turbine blade structure to facilitate determining the relative position relationship between the device and the wind turbine blade.

[0074] Based on the established three-dimensional rectangular coordinate system, set the track 11 along the X-axis direction to guide the movement of the glue application assembly 3 in the axial direction of the wind turbine blade.

[0075] Set the bracket 13 along the Z-axis direction to support and fix the glue application assembly 3 to ensure that it can stably lift and lower in the Z-axis direction.

[0076] Set the suspension mechanism 2 along the Y-axis direction to suspend and move the glue application assembly 3 so that its position can be flexibly adjusted in the Y-axis direction.

[0077] 303. According to the pre-closing die process of the wind turbine blade, obtain the closing die gap thickness, bonding surface width, and density of the mixed glue for each bonding section, and combine with the glue output flow rate to obtain the advancing speed of the glue boot 31.

[0078] Specifically, it can be to obtain the closing die gap thickness H, bonding surface width W, and density ρ of the mixed glue for each bonding section according to the pre-closing die process of the wind turbine blade, and calculate the theoretical glue consumption k of the bonding section by the formula k = H×W×ρ. Further, a safety factor can be multiplied on the basis of the closing die gap thickness H and then calculated to improve the glue application quality.

[0079] In this step, to ensure the bonding quality, it is required that the glue machine 32 maintain a constant flow rate f during the bonding operation. Thus, the theoretical operation time for each bonding section can be calculated according to the formula t = k / f, and further the running speed v = 1 / t of the glue application device on each glue application surface can be obtained.

[0080] Further, during the glue application operation process, the controller 4 adjusts and controls the advancing speed of the glue application device according to the speed v. In one embodiment, the glue application process is carried out in sections, and for each glue application section, the speed adjustment in the X direction, Y direction, and Z direction is independent of each other.

[0081] 304. Control the glue output of the glue application assembly 3, and control the starting of the traveling mechanism 1 and the suspension mechanism 2. Based on the geometric parameters of the glue application surface of the wind turbine blade, obtain the corresponding relationship between the moving speeds of the glue boot 31 in three directions, and adjust the moving speeds of the glue boot 31 in three directions in real time through the corresponding relationship and the advancing speed.

[0082] The walking mechanism 1 uses the track 11 for movement and transmission control, and can realize the adjustment of the movement speed and position positioning of the whole device in the axial direction of the blade during the gluing operation.

[0083] Based on the suspension mechanism 2, the rubber boot 31 can be adjusted along the radial direction of the blade and the vertical direction of the bonding surface. Therefore, during the gluing operation, according to the blade shape and bonding process parameters, the relative position of the rubber boot 31 and the bonding surface in the axial direction, as well as the relative distance between the rubber boot 31 and the bonding surface in the vertical direction, can be adjusted.

[0084] In this step, specifically, the controller 4 can adjust the speed of the moving mechanism and the position of the suspension mechanism 2 in real time according to the set blade shape parameters, so as to realize the automatic operation of the gluing device.

[0085] Furthermore, the bracket 13 moves along the laid track 11 to ensure that the forward direction of the gluing device is always parallel to the X-axis, that is, the axial direction of the blade. Through the servo motor, the control of the moving distance and moving speed is accurately realized.

[0086] In this step, through the geometric parameters of the gluing surface of the wind turbine blade, the real-time position of the rubber boot 31 and the next position after a preset time can be obtained in real time. Through the difference between these two positions, the corresponding relationship between the moving speeds of the rubber boot 31 in three directions within a preset time can be obtained.

[0087] It should be noted that this forward speed can be the actual moving speed of the rubber boot 31, that is, the vector sum of the moving speeds in three directions. However, since the moving speeds of the rubber boot 31 in the Y-direction and Z-direction are relatively small during the actual working process, in one embodiment, this forward speed can also be simplified to the moving speed of the rubber boot 31 in the X-direction.

[0088] Furthermore, in an embodiment provided by the present invention, based on the geometric parameters of the gluing surface of the wind turbine blade, obtaining the corresponding relationship between the moving speeds of the rubber boot 31 in three directions includes:

[0089] 3041. According to the starting point coordinates of the arc segment in the gluing surface, the radius r of the circle where the arc segment is located, and the center coordinates of the circle where the arc segment is located, obtain the central angle passed by the rubber boot 31 for each preset forward distance within the X-axis projection range.

[0090] Specifically, some gluing surfaces have arc segments in the Y-axis direction or Z-axis direction. Given the starting point coordinates of the arc segment, the radius r of the circle where the arc is located, and the center coordinates. According to the cosine theorem, the central angle n passed by the gluing device for every 1 mm forward within the X-axis projection range can be obtained.

[0091] 3042. According to the central angle, obtain the corresponding Y-axis coordinates and Z-axis coordinates.

[0092] According to the central angle, the Y-axis coordinate y corresponding to a 1-mm advancement along the X-axis can be obtained from the formula y = r×sin(n). According to the above steps, during the gluing operation, the suspension mechanism 2 is controlled to adjust the positions of the rubber boot 31 along the Y-axis and Z-axis according to the current coordinate of the gluing device on the X-axis, so that the rubber boot 31 always remains in contact with the gluing surface.

[0093] Furthermore, in an embodiment provided by the present invention, the controller 4 controls the dispensing ratios of various glue components in the gluing assembly 3.

[0094] Specifically, a plurality of glue barrels are provided in the glue machine 32, and the plurality of glue barrels accommodate various glue components. With this structure, various glue components can be mixed in proportion, so that the properties of the glue, such as viscosity, curing speed, chemical resistance, etc., can be adjusted according to specific application requirements, with high flexibility. It should be noted that the controller 4 is communicatively connected to each glue barrel, and by controlling the dispensing speed of each glue barrel, the ratio of each glue component is controlled, thereby controlling the dispensing composition of the rubber boot 31.

[0095] Furthermore, the controller 4 can be a programmable logic controller to control the coordinated operation between mechanisms.

[0096] In an embodiment provided by the present invention, it further includes:

[0097] 305. The controller 4 receives an abnormal alarm sent by the gluing assembly 3.

[0098] Specifically, the abnormal alarm includes abnormal mixing ratio or lack of glue in the glue barrel, etc. In order to avoid affecting the gluing quality, the area that has just been passed needs to be reglued. At the same time, the operator can check and replenish the glue in the glue barrel, etc.

[0099] 306. Based on the abnormal alarm, the controller 4 controls the traveling mechanism 1 and the suspension mechanism 2 to move backward by a preset length.

[0100] Specifically, the preset length can be set as needed. For example, starting from the X-axis coordinate of the current stop position, running backward 300 mm, and at the same time, the suspension mechanism 2 will synchronously adjust the positions of the rubber boot 31 along the Y-axis and Z-axis according to the X-axis coordinate.

[0101] 307. The abnormal alarm received by the controller 4 stops.

[0102] That is to say, the gluing assembly 3 returns to normal and can continue to work.

[0103] 308. The controller 4 controls the traveling mechanism 1 and the suspension mechanism 2 to continue moving.

[0104] The abnormal alarm stops and continues to run from the current position. The functions of the controller 4 also include safety interlock control, alarm, and history query for the gluing operation.

[0105] In this embodiment, the actual running speed of the traveling mechanism 1 can be added with a safety factor c, and its purpose is to adjust the amount of glue used per meter of the glue application surface according to actual needs. The calculation formula is v = c / t.

[0106] Such as Figure 3 As shown, during the glue application operation, the controller 4 calculates the theoretical amount of glue used per meter of the glue application section according to the glue application surface parameters, and obtains the forward speed of the traveling mechanism 1 per meter of the glue application section according to the flow rate of the glue machine 32.

[0107] At the same time, the suspension mechanism 2 will adjust the coordinates in the Y-axis and Z-directions according to the shape parameters of the glue application surface through the above calculation method, so as to adjust the distances between the glue boot 31 and the glue application surface in the vertical and horizontal directions, ensuring that the glue boot 31 moves along the glue application surface without manual intervention. Since the glue output flow rate of the glue machine 32 remains constant, during the operation process, the forward speed of the glue application device is adjusted in real time through the traveling mechanism 1. The suspension mechanism 2 replaces the action of manually holding the glue boot 31, making the glue boot 31 keep in sync with the traveling mechanism 1, so that the amount of glue used becomes controllable, while also ensuring the glue application quality and reducing the labor intensity of workers. This device can also be paired with an adjustable glue boot 31 to optimize the shape of the glue application surface.

[0108] The glue application method for wind turbine blades provided by the present invention controls the movement of the bracket 13 along the direction of the track 11 through the controller 4, suspends the glue application assembly 3 through the suspension mechanism 2, and drives the glue application assembly 3 to move along the direction of the bracket 13 and the direction of the suspension mechanism 2, realizing the adjustment of the position of the glue application assembly 3 from three dimensions, ensuring that the glue boot 31 is kept in contact with the bonding surface, and adjusting the traveling speed of the bracket 13 in real time according to the process parameters to accurately control the amount of glue used and reduce glue waste.

[0109] It should be understood that the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood with reference to the context.

[0110] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (s) or plural item (s). For example, at least one (item) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0111] It should be understood that in various embodiments of the present invention, the magnitude of the sequence numbers of the above processes does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0112] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A glue - applying device for a wind turbine blade, characterized in that, The device includes: A traveling mechanism, which includes a track, a first power component, and a bracket. The bracket matches the track. The first power component is arranged on the bracket, and the first power component can drive the bracket to reciprocate along the track; A suspension mechanism, which is arranged on the bracket in a liftable manner. The length direction of the suspension mechanism is perpendicular to the track; A glue application assembly, which includes a glue boot. The glue boot is rigidly suspended on the suspension mechanism, and the glue boot can move along the length direction of the suspension mechanism; A controller, which is respectively communicatively connected to the first power component, the suspension mechanism, and the glue application assembly.

2. The glue coating device for wind power blades according to claim 1, characterized in that, The glue application assembly further includes a glue machine and a glue pipe. The glue machine is arranged on the bracket. The glue machine is connected to the glue boot through the glue pipe. The controller is communicatively connected to the glue machine for adjusting the glue output speed of the glue machine.

3. The glue application device for wind turbine blades according to claim 2, wherein A plurality of glue barrels are arranged in the glue machine, and the plurality of glue barrels accommodate various glue components; The glue pipe includes a plurality of pipe bodies and a static mixing pipe. Each glue barrel is connected to a pipe body, and the ends of the plurality of pipe bodies are connected to the glue boot through the static mixing pipe.

4. The glue - applying device for a wind turbine blade according to claim 1, wherein, The suspension mechanism includes a second power component and a suspension arm. The second power component is used to drive the lifting of the suspension arm; The controller is communicatively connected to the second power component.

5. The glue coating device for wind power blades according to claim 1, wherein, The suspension mechanism includes a third power component, and the third power component is used to drive the translation of the glue application assembly; The controller is communicatively connected to the third power component.

6. The glue - applying device for wind - power blades according to claim 1, wherein, It further includes: A vision recognition component, which is arranged on the glue boot and communicatively connected to the controller. The vision recognition component is used to recognize and send a meter mark to the controller, and the controller is used to perform position calibration based on the meter mark.

7. A method for gluing a wind power blade, characterized in that, The method includes: The controller establishes a three-dimensional rectangular coordinate system with the axial direction of the wind turbine blade as the X-axis, the horizontal direction as the Y-axis, and the vertical direction as the Z-axis according to the structure of the wind turbine blade; Based on the three-dimensional rectangular coordinate system, a track is arranged along the X-axis direction, a bracket is arranged along the Z-axis direction, and a suspension mechanism is arranged along the Y-axis direction; According to the pre-assembly process of the wind turbine blade, the mold closing gap thickness, the bonding surface width, and the density of the mixed glue of each bonding section are obtained, and combined with the glue output flow, the forward speed of the glue boot is obtained; Control the glue output of the glue application assembly, and control the start of the traveling mechanism and the suspension mechanism. Based on the geometric parameters of the glue application surface of the wind turbine blade, obtain the corresponding relationship between the moving speeds of the glue boot in three directions, and adjust the moving speeds of the glue boot in three directions in real time through the corresponding relationship and the forward speed.

8. The glue application method for a wind turbine blade according to claim 7, characterized in that, The obtaining of the corresponding relationship between the moving speeds of the glue boot in three directions based on the geometric parameters of the glue application surface of the wind turbine blade includes: According to the starting point coordinates of the arc section in the glue application surface, the radius r of the circle where the arc section is located, and the center coordinates of the circle where the arc section is located, obtain the central angle passed by the glue boot for every preset distance advanced within the X-axis projection range; According to the central angle, obtain the corresponding Y-axis coordinates and Z-axis coordinates.

9. The glue application method for a wind turbine blade according to claim 7, characterized in that, The controller controls the glue output ratio of various glue components in the glue application assembly.

10. The glue application method for a wind turbine blade according to claim 7, characterized in that, It further includes: The controller receives an abnormal alarm sent by the glue - applying assembly; Based on the abnormal alarm, the controller controls the traveling mechanism and the suspension mechanism to move backward by a preset length; The abnormal alarm received by the controller stops; The controller controls the traveling mechanism and the suspension mechanism to continue moving.

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