Synchronous lifting control system and method for bonding of wind power blade web

Abstract

The invention discloses a synchronous lifting control system and method for wind power blade web bonding. The synchronous lifting control system for wind power blade web bonding comprises a web pressurizing tool, an adsorption device, a control system, an execution mechanism, a mold, a web and a wind power blade. The adsorption device is mounted in the web pressurizing tool and is used for adsorbing a plurality of mounted webs; the control system and the actuating mechanism are connected and then mounted at the bottom of the web pressurizing tool and the top of the mold; the mold is connected with the web pressurizing tool through the executing mechanism and is used for determining a mounting position for the web pressurizing tool; the control system is used for sending a generated motion control instruction to the executing mechanism, and the executing mechanism responds to the motion control instruction to control the web pressurizing tool to ascend and descend at the mounting position above the mold. And the web pressurizing tool is used for bonding and mounting the plurality of webs adsorbed by the adsorption device and the wind power blade arranged above the mold at the fixed mounting position. The web bonding precision and stability are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of wind turbine blades, and in particular to a wind turbine blade web bonding synchronous lifting control system and method. Background Art

[0002] As non-renewable energy sources on Earth gradually deplete, research on renewable energy is becoming increasingly important, and the wind power industry, a key sector within this sector, is also receiving increasing attention. Within the wind power industry, wind turbine blades are the most crucial components of wind turbines, generating electricity through the rotation of wind power. Therefore, a wind turbine blade with excellent design, reliable quality, and efficient performance is crucial to ensuring the proper operation of the entire wind turbine.

[0003] The patent application number 202110186502.8 provides a system and method for installing webs, which relates to the technical field of wind turbine blades. The system includes: a mounting device, an adsorption device, a fixing device and a mold. The adsorption device is installed inside the mounting device and is used to adsorb multiple webs to be installed. The fixing device is installed at the bottom of the mounting device and the top of the mold. The mold is connected to the mounting device through the fixing device to determine the installation position for the mounting device. The fixing device fixes the mounting device at the installation position above the mold, and is used for the mounting device to batch install multiple webs adsorbed by the adsorption device at the fixed installation position. The system can move and adjust the positions of multiple webs in a wind turbine blade and install multiple webs in batches, effectively improving the installation efficiency and installation accuracy of multiple webs in a wind turbine blade, and can be widely used in the installation of webs of various wind turbine blades. However, the fixing device in the above patent has problems such as poor stability, complex installation, high maintenance cost, and low lifting accuracy. Summary of the Invention

[0004] The present invention provides a wind turbine blade web bonding synchronous lifting control system and method, which solves the problems of poor stability, complex installation, high maintenance cost and low lifting accuracy of the fixing device, realizes the autonomous and precise synchronous lifting and positioning of the web pressurizing tooling, and improves the web bonding accuracy and stability.

[0005] According to one aspect of the present invention, a wind turbine blade web bonding synchronous lifting and lowering control system is provided, which comprises: a web pressurizing tool, an adsorption device, a control system, an actuator, a mold, a web, and a wind turbine blade;

[0006] The adsorption device is installed inside the web pressurizing tooling and is used to adsorb the multiple webs being installed;

[0007] The control system and the actuator are connected and installed at the bottom of the web pressurizing fixture and the top of the mold;

[0008] The mold is connected to the web pressurizing tool via the actuator, and is used to determine an installation position for the web pressurizing tool;

[0009] The control system is used to send the generated motion control instructions to the actuator, and the actuator controls the web pressing tool to rise and fall at the installation position above the mold in response to the motion control instructions. The web pressing tool is used to bond and install the multiple webs adsorbed by the adsorption device and the wind turbine blades arranged above the mold at the fixed installation position.

[0010] Optionally, the control system includes: a display device, a control device and multiple servo systems;

[0011] The display device is connected to the control device, and the display device is used to transmit the operation instructions received from the user input to the control device;

[0012] The control device is connected to the multiple servo systems, and is used to generate control instructions according to the operation instructions and send them to the multiple servo systems;

[0013] The multiple servo systems are connected to the actuators, and the multiple servo systems are used to parse the control instructions into motion data and perform motion control on the actuators;

[0014] The multiple servo systems are connected to the control device and are also used to feed back faults and abnormal conditions to the control device.

[0015] Optionally, the number of the servo systems is 12.

[0016] Optionally, each of the servo systems comprises: a servo driver and a servo motor;

[0017] The servo driver is connected between the control device and the servo motor, and is used to parse the control instruction into motion data and transmit the motion data to the servo motor;

[0018] The servo motor is connected to the actuator, and the servo motor is used to control the motion of the actuator according to the motion data.

[0019] Optionally, the actuator includes: a coupling, a flange reducer, a lifting ball head and an absolute encoder;

[0020] The coupling is connected between the servo motor and the flange reducer, and the lifting ball head is arranged at the lower end of the flange reducer, and the lifting ball head is used for transmission lifting;

[0021] The absolute encoder is arranged at the upper end of the servo motor. The absolute encoder is used to collect the position, speed, and torque data of the servo motor in real time and transmit them to the servo driver. The servo driver is also used to dynamically adjust the speed, position, and torque of the servo motor.

[0022] Optionally, the servo motor includes an IMU module, the IMU module is arranged inside the servo motor, and the IMU module is used to monitor the real-time position and tilt angle of the web pressurizing tooling during lifting and lowering and feed back to the control device;

[0023] The IMU module is also used to detect that when the tilt angle of the web pressing tool is greater than a preset angle, the control device adjusts the speed of the servo motor to adjust the overall posture of the web pressing tool.

[0024] Optionally, the control device includes: a programmable controller, and the display device includes: a touch screen;

[0025] The touch screen is used for human-computer interaction, operating the lifting and lowering of the web pressurizing tooling and displaying real-time lifting height, synchronization error and alarm information.

[0026] Optionally, the communication protocol between the touch screen and the programmable controller includes: CAN open bus or Ether CAT bus.

[0027] According to another aspect of the present invention, a method for controlling the synchronous lifting and lowering of a web of a wind turbine blade during bonding is provided, which is applied to the synchronous lifting and lowering control system for the web of a wind turbine blade during bonding as described in any one of the above aspects. The method comprises:

[0028] Adsorbing the plurality of webs to be installed by a suction device, wherein the suction device is installed inside the web pressurizing tool;

[0029] Determining the installation position of the web pressurizing tool by a mold, wherein the mold is connected to the web pressurizing tool via the actuator;

[0030] The control system sends the generated motion control instructions to the actuator, and the actuator controls the web pressurizing tool to move up and down at the installation position above the mold in response to the motion control instructions, wherein the control system and the actuator are connected and installed at the bottom of the web pressurizing tool and the top of the mold;

[0031] The web pressing tool is used to bond and install the plurality of webs adsorbed by the adsorption device and the wind turbine blades arranged above the mold at the fixed installation position.

[0032] Optionally, the method further includes:

[0033] Assembling the web pressurizing fixture by means of an assembling bracket;

[0034] The web pressurizing tool is hoisted to an installation position above the mold by a hoisting mechanism.

[0035] The technical solution of the embodiment of the present invention improves the lifting accuracy and stability by replacing the traditional hydraulic lifting system in the prior art with a web pressurizing tool; reduces the installation complexity and maintenance cost by replacing the fixing device in the prior art with a control system and an actuator; and achieves precise and synchronous lifting of the web pressurizing tool through multi-axis synchronous control of the control system and the actuator, so that the lifting of the web pressurizing tool is smooth and jitter-free, realizing autonomous precise and synchronous lifting and positioning of the web pressurizing tool, and improving the web bonding accuracy and stability. In summary, the present invention solves the problems of poor stability, complex installation, high maintenance cost, and low lifting accuracy of the existing fixing device.

[0036] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] Figure 1 This is a structural diagram of a wind turbine blade web bonding synchronous lifting control system provided by an embodiment of the present invention;

[0039] Figure 2 This is an overall logic control diagram of a control system provided according to an embodiment of the present invention; Figure 3 1 is a schematic diagram of electrical circuit connections of a servo system provided according to an embodiment of the present invention;

[0040] Figure 4 1 is a schematic diagram of electrical circuit connections of a servo system provided according to an embodiment of the present invention;

[0041] Figure 51 is a schematic diagram of electrical circuit connections of a servo system provided according to an embodiment of the present invention;

[0042] Figure 6 is a structural diagram of an actuator provided according to an embodiment of the present invention;

[0043] Figure 7 is a schematic diagram of a control device provided according to an embodiment of the present invention;

[0044] Figure 8 is a schematic diagram of a display device provided according to an embodiment of the present invention;

[0045] Figure 9 The present invention provides a flowchart of a method for controlling the synchronous lifting and lowering of a wind turbine blade web during bonding according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] Figure 1 This is a schematic diagram of a wind turbine blade web bonding synchronous lifting control system according to an embodiment of the present invention, with reference to Figure 1An embodiment of the present invention provides a synchronous lifting and lowering control system for bonding the web of a wind turbine blade, which includes: a web pressing tool 10, an adsorption device 20, a control system 30, an actuator 40, a mold 50, a web 60, and a wind turbine blade 70; the adsorption device 20 is installed inside the web pressing tool 10 and is used to adsorb multiple webs 60 to be installed; the control system 30 and the actuator 40 are connected and installed at the bottom of the web pressing tool 10 and the top of the mold 50; the mold 50 is connected to the web pressing tool 10 through the actuator 40 and is used to determine the installation position for the web pressing tool 10; the control system 30 is used to send the generated motion control instructions to the actuator 40, and the actuator 40 controls the web pressing tool 10 to rise and fall at the installation position above the mold 50 in response to the motion control instructions. The web pressing tool 10 is used to bond and install the multiple webs 60 adsorbed by the adsorption device 20 and the wind turbine blade 70 arranged above the mold 50 at the fixed installation position.

[0049] Specifically, the adsorption device 20 can be set at the bottom position inside the web pressurizing tool 10, and can simultaneously adsorb multiple webs 60 to move and adjust multiple webs 60, so as to facilitate the web pressurizing tool 10 to position and install multiple webs 60.

[0050] The mold 50 can be set to fit the shape of the wind turbine blade 70. The wind turbine blade 70 is set above the mold 50. When the web pressing tool 10 installs the multiple webs 60, a suitable installation position is determined, so that the web pressing tool 10 is located at a suitable position in the wind turbine blade 70 to install the multiple webs 60 during installation, which is conducive to the bonding installation of the wind turbine blade 70 and the multiple webs 60.

[0051] The control system 30 and the actuator 40 are respectively installed at the bottom of the web pressurizing tooling 10 and the top of the mold 40. After the mold 50 fits the position of the wind turbine blade 70, the installation position for installing multiple webs 60 is determined. The web pressurizing tooling 10 is connected to the mold 50 through the control system 30 and the actuator 40, and the web pressurizing tooling 10 is fixed in the installation position to improve the stability of the web pressurizing tooling 10.

[0052] The web pressurizing tool 10 includes 12 sets of actuators 40 and 12 supporting arms. Figure 1Only two supporting arms are shown for example. Each actuator is located at the end of a corresponding supporting arm, and all 12 supporting arms can be raised and lowered synchronously. The control system 30 receives external input operating instructions and performs program design to implement program logic control. It then communicates with the 12 sets of actuators 40 through its own CAN port and performs motion control, causing the web pressurizing tool 10 to rise and fall at the installation position above the mold 50. Through multi-axis synchronous control, the web pressurizing tool 10 is precisely and synchronously raised and lowered, ensuring smooth and jitter-free lifting and lowering. This achieves autonomous, precise, synchronous lifting and positioning of the web pressurizing tool 10, allowing the wind turbine blade 70 to be bonded and installed to the web 60, improving the bonding accuracy and stability of the web 60.

[0053] The system can adsorb multiple webs and adjust their positions, and stably install multiple webs in batches at the same time in the determined suitable installation positions, effectively saving the time and labor of web installation, and improving the efficiency and installation accuracy of the bonding installation of wind turbine blades and webs.

[0054] Compared with the existing technology, the wind turbine blade web bonding synchronous lifting and lowering control system in this embodiment has four major advantages: improved precision, optimized stability, improved intelligence, and improved energy efficiency.

[0055] Improved precision: The synchronous lifting error of the web pressurizing tooling is less than 0.1mm, the error of the traditional hydraulic lifting system is ≥2mm, and the error of the traditional crane direct drop type is ≥5mm. The fluctuation of the adhesive layer thickness is reduced by 60%.

[0056] Stability optimization: It eliminates the common problems of traditional hydraulic lifting, such as oil leakage, abnormal pipeline pressure, pressure pulsation, etc., and reduces maintenance costs by 40%.

[0057] Intelligent improvement: The control system automatically records operation records, such as motor current, position trajectory, fault alarm, etc., and supports process data traceability.

[0058] Improved energy efficiency: The actuator only consumes energy during motion control, saving more than 30% energy compared to traditional hydraulic pump stations.

[0059] The technical solution of the embodiment of the present invention improves the lifting accuracy and stability by replacing the traditional hydraulic lifting system in the prior art with a web pressurizing tool; reduces the installation complexity and maintenance cost by replacing the fixing device in the prior art with a control system and an actuator; and achieves precise and synchronous lifting of the web pressurizing tool through multi-axis synchronous control of the control system and the actuator, so that the lifting of the web pressurizing tool is smooth and jitter-free, realizing autonomous precise and synchronous lifting and positioning of the web pressurizing tool, and improving the web bonding accuracy and stability. In summary, the present invention solves the problems of poor stability, complex installation, high maintenance cost, and low lifting accuracy of the existing fixing device.

[0060] Figure 2 This is an overall logic control diagram of a control system provided according to an embodiment of the present invention, with reference to Figure 2 , Optionally, the control system 30 includes: a display device 31, a control device 32 and multiple servo systems 33;

[0061] The display device 31 is connected to the control device 32, and the display device 31 is used to transmit the operation instructions received from the user input to the control device 32;

[0062] The control device 32 is connected to the multiple servo systems 33. The control device 32 is used to generate control instructions according to the operation instructions and send them to the multiple servo systems 33.

[0063] Multiple servo systems 33 are connected to the actuator 40, and the multiple servo systems 33 are used to parse the control instructions into motion data and perform motion control on the actuator 40;

[0064] The multiple servo systems 33 are connected to the control device 32 , and the multiple servo systems 33 are also used to feed back faults and abnormal conditions to the control device 32 .

[0065] Specifically, the display device 31 allows for human-machine interaction, controlling the lifting and lowering of the web pressurizing tooling and displaying real-time lifting height, synchronization error, and alarm information. The control device 32 is programmed to implement program logic control and then communicates with multiple servo systems 33 via its built-in CAN port for motion control.

[0066] Optionally, the number of servo systems is 12.

[0067] Continue to refer Figure 2 , Optionally, each servo system 33 includes: a servo driver 331 and a servo motor 332;

[0068] The servo driver 331 is connected between the control device and the servo motor 332. The servo driver 331 is used to parse the control instruction into motion data and transmit the motion data to the servo motor 332.

[0069] The servo motor 332 is connected to the actuator, and the servo motor 332 is used to control the motion of the actuator according to the motion data.

[0070] Specifically, Figure 3 1 is a schematic diagram of electrical circuit connections of a servo system provided according to an embodiment of the present invention. Figure 4 1 is a schematic diagram of electrical circuit connections of a servo system provided according to an embodiment of the present invention. Figure 5 This is a schematic diagram of electrical circuit connections of a servo system according to an embodiment of the present invention. Figure 3 , Figure 4 and Figure 5 A total of 12 servo systems are used, each consisting of a servo drive and a servo motor. The servo drive interprets commands and then transmits motion data to the servo motor for motion control. The 12 servo drives utilize a daisy-chain topology, terminated with 120Ω resistors to enhance interference resistance and ensure stable and reliable synchronous lifting.

[0071] It should be noted that the servo motor can be replaced by a stepper motor to reduce costs, but the dynamic response needs to be sacrificed and the synchronization error may increase to 0.5mm.

[0072] Figure 6 is a schematic diagram of the structure of an actuator provided according to an embodiment of the present invention, with reference to Figure 6 Optionally, the actuator 40 includes: a coupling 41, a flange reducer 42, a lifting ball head 43 and an absolute encoder 44;

[0073] The coupling 41 is connected between the servo motor 332 and the flange reducer 42. The lifting ball head 43 is set at the lower end of the flange reducer 42. The lifting ball head 43 is used for transmission lifting;

[0074] The absolute encoder 44 is set at the upper end of the servo motor 332. The absolute encoder 44 is used to collect the position, speed, and torque data of the servo motor 332 in real time and transmit them to the servo driver. The servo driver is also used to dynamically adjust the speed, position, and torque of the servo motor 332.

[0075] Specifically, the servo motor 332 is connected to a direct-connect flange reducer 42 via a coupling 41. A lifting ball head 43 is located at the lower end of the flange reducer 42 for transmission and lifting. An absolute encoder 44 is located at the upper end of the servo motor 332. This encoder collects position, speed, and torque data from the servo motor 332 in real time with 17-bit resolution and transmits it to the servo driver, which dynamically adjusts the speed, position, and torque of the servo motor 332. A laser rangefinder can also be added to assist with calibration of the absolute encoder 44, providing further redundancy and fault tolerance.

[0076] Optionally, the servo motor includes: an IMU module, the IMU module is arranged inside the servo motor, the IMU module is used to monitor the real-time position and tilt angle of the web pressurizing tooling when it is lifted and lowered and to feed back to the control device;

[0077] The IMU module is also used to detect that when the tilt angle of the web pressurizing tooling is greater than a preset angle, the control device adjusts the speed of the servo motor to adjust the overall posture of the web pressurizing tooling.

[0078] Specifically, the IMU module monitors the real-time position of the web pressurizing tooling as it is raised and lowered with an accuracy of ±0.1°.

[0079] Figure 7 is a schematic diagram of a control device provided according to an embodiment of the present invention, Figure 8 is a schematic diagram of a display device provided according to an embodiment of the present invention, with reference to Figure 7 and Figure 8 Optionally, the control device 32 includes: a programmable controller, and the display device 31 includes: a touch screen; the touch screen is used for human-computer interaction, operating the lifting of the web pressurizing tooling and displaying real-time lifting height, synchronization error and alarm information.

[0080] Specifically, a programmable controller (PLC) is a digital computer specifically designed for industrial control, enabling automated control of machinery or production processes through programming. The touchscreen, such as the Delta DOP-110WS, is a 10-inch touchscreen that facilitates human-machine interaction, allowing for tooling lifts and displays real-time lift height, synchronization errors, and alarm information. The human-machine interface (HMI) is a graphical interface for operator interaction with machinery and equipment, typically a touchscreen or a display with buttons.

[0081] PLC is used to complete the master-slave collaborative architecture and PID control algorithm control, and then the servo driver analyzes and transmits it to the servo motor and deceleration on the support arm for motion control. The servo motor is equipped with an absolute encoder to monitor and feedback the motor movement position in real time, targeting and solving problems such as motion jitter and fault alarm, so that the web pressurizing tooling can be lifted and lowered smoothly without jitter, realizing autonomous, precise and synchronous lifting and positioning of the web pressurizing tooling, and improving the web bonding accuracy and stability.

[0082] Optionally, the communication protocol between the touch screen and the programmable controller includes: CAN open bus or EtherCAT bus.

[0083] Specifically, CAN open is a high-level communication protocol based on the CAN (Controller Area Network) that standardizes data exchange between devices. EtherCAT is an Ethernet-based real-time industrial communication protocol that achieves microsecond-level synchronization through hardware optimization. By switching from CAN open to EtherCAT, the communication control method is adjusted, sacrificing compatibility in exchange for increased bandwidth, and the communication cycle is reduced from 5ms to 1ms.

[0084] Operation steps of the wind turbine blade web bonding synchronous lifting control system:

[0085] 1. Manually lift the web pressurizing tooling to the top of the mold and position it;

[0086] 2. PLC automatically reads the position of the ball head on each support arm and performs error compensation;

[0087] 3. Manually control the touch screen (HMI) to issue a descending instruction, set the speed to 10 mm / min, and the servo drive to execute an S-shaped acceleration and deceleration curve with an acceleration of 0.1 m / s2;

[0088] 4. The absolute encoder at the end of the servo motor collects the servo motor position, speed, and torque data every 50ms to dynamically adjust the servo motor torque. The PID parameters are: Kp = 1.2, Ki = 0.05, Kd = 0.3;

[0089] 5. When the IMU module detects that the web press tooling is tilted more than 0.3°, the tilt compensation algorithm is triggered, and the system adjusts the servo motor speed and the overall posture of the web press tooling to maintain stability;

[0090] 6. When the web pressurizing tooling descends to a height close to the target (20 mm from the mold surface), it switches to fine-tuning mode, with the servo motor stepping in 0.1 mm steps, and slowly descends to the bonding surface to complete the positioning and bonding of the web and the wind turbine blade;

[0091] 7. If a fault occurs during the lifting process of the web pressurizing tooling, for example, the synchronization error is greater than 1mm or the servo motor overload is greater than 110%, an alarm will be immediately issued and the fault point will be displayed on the touch screen (such as "3# motor out of step"). Then, use the manual mode to make single-axis jog adjustments with an adjustment accuracy of ±0.05mm. After manual recovery, the synchronous lifting action will continue.

[0092] The embodiment of the present invention further provides a method for controlling the synchronous lifting and lowering of the web bonding of a wind turbine blade. The method for controlling the synchronous lifting and lowering of the web bonding of a wind turbine blade is applied to the synchronous lifting and lowering control system of the web bonding of a wind turbine blade in any embodiment of the present invention. Figure 9 This is a flow chart of a method for controlling synchronous lifting and lowering of a wind turbine blade web bonding according to an embodiment of the present invention. Figure 9 The wind turbine blade web bonding synchronous lifting control method includes:

[0093] S110 , adsorbing the plurality of webs to be installed by an adsorption device, wherein the adsorption device is installed inside the web pressurizing tooling.

[0094] Specific, combined Figure 1 The adsorption device 20 can be set at the bottom position inside the web pressurizing tool 10, and can simultaneously adsorb multiple webs 60 to move and adjust the multiple webs 60, so as to facilitate the web pressurizing tool 10 to position and install the multiple webs 60.

[0095] S120. Determine an installation position of a web pressurizing tooling device through a mold, wherein the mold is connected to the web pressurizing tooling device through an actuator.

[0096] Specific, combined Figure 1 The mold 50 can be set to fit the shape of the wind turbine blade 70. The wind turbine blade 70 is set above the mold 50. When the web pressing tool 10 installs the multiple webs 60, a suitable installation position is determined, so that the web pressing tool 10 is located at a suitable position in the wind turbine blade 70 to install the multiple webs 60 during installation, which is conducive to the bonding installation of the wind turbine blade 70 and the multiple webs 60.

[0097] S130. The control system sends the generated motion control instructions to the actuator, and the actuator controls the web pressurizing tooling to rise and fall at the installation position above the mold in response to the motion control instructions, wherein the control system and the actuator are connected and installed at the bottom of the web pressurizing tooling and the top of the mold.

[0098] Specific, combined Figure 1 The control system 30 and the actuator 40 are respectively installed at the bottom of the web pressurizing tooling 10 and the top of the mold 40. After the mold 50 fits the position of the wind turbine blade 70, the installation position for installing the multiple webs 60 is determined. The web pressurizing tooling 10 is connected to the mold 50 through the control system 30 and the actuator 40, and the web pressurizing tooling 10 is fixed in the installation position to improve the stability of the web pressurizing tooling 10.

[0099] The web pressurizing tool 10 includes 12 sets of actuators 40 and 12 supporting arms. Figure 1Only two supporting arms are shown for example. Each actuator is located at the end of a corresponding supporting arm, and all twelve supporting arms can be raised and lowered synchronously. The control system 30 receives external operating instructions and performs program logic control. It then communicates with the twelve actuators 40 via its built-in CAN port and controls motion, causing the web pressurizing fixture 10 to raise and lower its installation position above the mold 50. S140: The web pressurizing fixture adhesively mounts the multiple webs, which are held by the suction device, to the wind turbine blades positioned above the mold at the fixed installation position.

[0100] Specific, combined Figure 1 Through multi-axis synchronous control of the web pressurizing tooling 10, the web pressurizing tooling 10 can be lifted and lowered accurately and synchronously, so that the lifting and lowering of the web pressurizing tooling 10 is smooth and without shaking, and the web pressurizing tooling 10 can be lifted and positioned autonomously and accurately synchronously, and the wind turbine blade 70 and the web 60 are bonded and installed, thereby improving the bonding accuracy and stability of the web 60.

[0101] The wind turbine blade web bonding synchronous lifting control method provided in an embodiment of the present invention is used to control the wind turbine blade web bonding synchronous lifting control system provided in any embodiment of the present invention. Therefore, the wind turbine blade web bonding synchronous lifting control method provided in an embodiment of the present invention also has the beneficial effects described in the above embodiments, which will not be repeated here.

[0102] Optionally, the wind turbine blade web bonding synchronous lifting control method further includes:

[0103] Assembling the web pressurizing fixture by assembling the bracket;

[0104] The web pressurizing tooling is hoisted to the installation position above the mold by the hoisting mechanism.

[0105] Specifically, in the above implementation process, before the web pressurizing tool is installed on multiple webs, the assembly bracket allows for stable assembly of the web pressurizing tool on the ground. The web pressurizing tool can be moved to a suitable installation position via a hoisting mechanism. By assembling and moving the web pressurizing tool quickly, multiple webs in various locations on a wind turbine blade can be hoisted, suitable for different scenarios and meeting the diverse needs of users.

[0106] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A wind turbine blade web bonding synchronous lifting control system, characterized in that: include: Web pressurizing tooling, adsorption device, control system, actuator, mold, web and wind turbine blade; The adsorption device is installed inside the web pressurizing tooling and is used to adsorb the multiple webs being installed; The control system and the actuator are connected and installed at the bottom of the web pressurizing fixture and the top of the mold; The mold is connected to the web pressurizing tool via the actuator, and is used to determine an installation position for the web pressurizing tool; The control system is used to send the generated motion control instructions to the actuator, and the actuator controls the web pressing tool to rise and fall at the installation position above the mold in response to the motion control instructions. The web pressing tool is used to bond and install the multiple webs adsorbed by the adsorption device and the wind turbine blades arranged above the mold at the fixed installation position.

2. The system according to claim 1, wherein: The control system includes: a display device, a control device and multiple servo systems; The display device is connected to the control device, and the display device is used to transmit the operation instructions received from the user input to the control device; The control device is connected to the multiple servo systems, and is used to generate control instructions according to the operation instructions and send them to the multiple servo systems; The multiple servo systems are connected to the actuators, and the multiple servo systems are used to parse the control instructions into motion data and perform motion control on the actuators; The multiple servo systems are connected to the control device and are also used to feed back faults and abnormal conditions to the control device.

3. The system according to claim 2, characterized in that The number of sets of the servo system is 12.

4. The system according to claim 2, wherein: Each of the servo systems comprises: a servo driver and a servo motor; The servo driver is connected between the control device and the servo motor, and is used to parse the control instruction into motion data and transmit the motion data to the servo motor; The servo motor is connected to the actuator, and the servo motor is used to control the motion of the actuator according to the motion data.

5. The system according to claim 4, characterized in that The actuator includes: a coupling, a flange reducer, a lifting ball head and an absolute encoder; The coupling is connected between the servo motor and the flange reducer, and the lifting ball head is arranged at the lower end of the flange reducer, and the lifting ball head is used for transmission lifting; The absolute encoder is arranged at the upper end of the servo motor. The absolute encoder is used to collect the position, speed, and torque data of the servo motor in real time and transmit them to the servo driver. The servo driver is also used to dynamically adjust the speed, position, and torque of the servo motor.

6. The system according to claim 4, characterized in that The servo motor includes an IMU module, which is arranged inside the servo motor and is used to monitor the real-time position and tilt angle of the web pressurizing tooling during lifting and lowering and to feed back to the control device; The IMU module is also used to detect that when the tilt angle of the web pressing tool is greater than a preset angle, the control device adjusts the speed of the servo motor to adjust the overall posture of the web pressing tool.

7. The system according to claim 6, characterized in that The control device includes: a programmable controller, and the display device includes: a touch screen; The touch screen is used for human-computer interaction, operating the lifting and lowering of the web pressurizing tooling and displaying real-time lifting height, synchronization error and alarm information.

8. The system according to claim 7, characterized in that The communication protocol between the touch screen and the programmable controller includes: CAN open bus or EtherCAT bus.

9. A method for controlling synchronous lifting and lowering of a web of a wind turbine blade during bonding, applied to the synchronous lifting and lowering control system for a web of a wind turbine blade during bonding according to any one of claims 1 to 8, characterized in that: The method comprises: Adsorbing the plurality of webs to be installed by a suction device, wherein the suction device is installed inside the web pressurizing tool; Determining the installation position of the web pressurizing tool by a mold, wherein the mold is connected to the web pressurizing tool via the actuator; The control system sends the generated motion control instructions to the actuator, and the actuator controls the web pressurizing tool to move up and down at the installation position above the mold in response to the motion control instructions, wherein the control system and the actuator are connected and installed at the bottom of the web pressurizing tool and the top of the mold; The web pressing tool is used to bond and install the plurality of webs adsorbed by the adsorption device and the wind turbine blades arranged above the mold at the fixed installation position.

10. The method according to claim 9, characterized in that The method further comprises: Assembling the web pressurizing fixture by means of an assembling bracket; The web pressurizing tool is hoisted to an installation position above the mold by a hoisting mechanism.

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