Wind power blade root pre-embedded component assembling equipment

Abstract

The invention relates to wind power blade root embedded component assembling equipment. The wind power blade root embedded assembly assembling equipment comprises a feeding device, an embedded part conveying device, an embedded part assembling device, a flange fixing device and a bolt mounting device. The embedded part conveying device comprises a conveying assembly and a material fixing jig. The conveying assembly is used for driving the material fixing jig to move from the feeding station to the assembling station. The feeding device comprises a rack and a material transferring assembly, and the material transferring assembly is used for transferring materials to the material fixing jig and assembling the materials into the embedded part. The embedded part comprises a bolt sleeve. The flange fixing device comprises a flange fixing frame, the flange fixing frame is used for fixing a semicircular flange, and the flange comprises a flange hole. The embedded part assembling device is used for transferring an embedded part to one side of a flange and aligning a bolt sleeve with a flange hole in the horizontal direction. The bolt mounting device is used for transferring bolts to the other side of the flange and enabling the bolts to penetrate through flange holes in the horizontal direction to be connected with the bolt sleeves.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and in particular to an assembly device for pre-embedded components of wind turbine blade roots. Background Art

[0002] Wind turbine blades are the core components of wind turbines, capturing wind energy. Their operating status is directly related to wind energy utilization efficiency. Wind turbine blades are connected to the hub of the generator engine via pre-embedded bolt sleeves at the blade root. These sleeves have internal threads and are bolted to the hub. The pre-embedded bolt sleeves are a key load-bearing component of the pre-embedded blade root structure. In current blade structure designs, bolt sleeves are pre-embedded during the layup process. Specifically, during blade root production, the outer skin is first laid, and then the bolt sleeve, first wedge block, and second wedge block are manually assembled and arranged on the outer skin. One bolt sleeve, one first wedge block, and one second wedge block constitute an embedded component. The bolt sleeve and the second wedge block are arranged axially along the blade root, and the first wedge block and the bolt sleeve are alternately arranged circumferentially along the blade root. The second wedge block and the bolt sleeve are alternately arranged circumferentially along the blade root. After the multiple embedded components are arranged, the inner skin is laid over the embedded components, and then resin is infused using vacuum infusion. After the resin cures, the blade root component is formed. However, due to the increasing diameter of the blade root, the assembly of the blade root embedded components is time-consuming and labor-intensive, making it difficult for operators to operate and resulting in low blade root preparation efficiency. Summary of the Invention

[0003] The present application provides a wind turbine blade root pre-embedded component assembly device, which is beneficial to improving production efficiency.

[0004] The present application provides an assembly device for embedded components of wind turbine blade roots, which includes a loading device, an embedded component conveying device, an embedded component assembly device, a flange fixing device and a bolt installation device. Among them, the embedded component conveying device includes a connected conveying component and a material fixing jig, and the conveying component is used to drive the material fixing jig to move from the loading station to the assembly station. The loading device includes a connected frame and a material transfer component, and the material transfer component is used to transfer the material to be assembled to the material fixing jig at the loading station, and assemble the embedded components on the material fixing jig. The embedded components include bolt sleeves. The flange fixing device includes a flange fixing frame, and the flange fixing frame is used to fix the semicircular flange so that the axis of the flange is horizontal. The flange includes a flange hole, and a plurality of flange holes are spaced apart along the circumference of the flange. The embedded component assembly device is used to transfer the embedded components at the assembly station to one side of the flange, and align the bolt sleeve with the flange hole in the horizontal direction. The bolt installation device is used to transfer the bolt to the other side of the flange, and pass the bolt horizontally through the flange hole to connect with the bolt sleeve, so that the bolt, embedded parts and flange are connected and fixed.

[0005] The wind turbine blade root embedded component assembly equipment of the embodiment of the present application improves the degree of automation of the blade root embedded component assembly through the coordinated cooperation of the feeding device, the embedded component conveying device, the embedded component assembly device, the flange fixing device and the bolt installation device, which is beneficial to improving the quality of the finished product of the blade root embedded component assembly, and is also beneficial to improving the efficiency of the blade root embedded component assembly. In the blade root embedded components assembled and formed by the wind turbine blade root embedded component assembly equipment, the position accuracy of each embedded component is high, which is beneficial to improving the quality of the formed blade root. The method of assembling and forming the blade root embedded components by the wind turbine blade root embedded component assembly equipment transfers the assembly process of each embedded component to the outside of the blade root mold, and does not need to manually assemble each embedded component in the blade root mold, which reduces the time occupied by the mold, is beneficial to improving production efficiency, and at the same time reduces labor input and labor intensity.

[0006] In some feasible embodiments, the flange fixing frame includes a base and a vertical bracket, the two vertical brackets are arranged on the base at intervals in the horizontal direction, the vertical bracket includes a top limit groove, the flange includes a positioning ear plate, the top limit groove is used to be plugged into the positioning ear plate in the vertical direction so that the vertical bracket limits the flange in the axial direction of the flange, the base includes a fixing seat, the flange includes a fixing ear plate, and the fixing seat is used to be connected and fixed with the fixing ear plate.

[0007] The vertical brackets constrain the flange, preventing it from shifting horizontally. The flange precisely mates with the vertical brackets and is installed precisely in the desired position, reducing the difficulty and improving the efficiency of assembly between the flange and the flange fixture. Once the flange is in place, the vertical brackets constrain it, preventing it from tipping over and improving production safety.

[0008] The fixing ear plate of the flange is connected and fixed to the fixing seat, which increases the connection points between the flange and the flange fixing frame, improves the connection stability between the flange and the flange fixing frame, and further forms a limit constraint on the flange, so that the flange will not tip over and the position of the flange will not shift, which is beneficial to improve the position accuracy of the embedded parts and bolts after connection.

[0009] In some achievable embodiments, the flange fixing device further includes a horizontal driving unit, the flange fixing frame is connected to the horizontal driving unit, and the horizontal driving unit is used to drive the flange fixing frame to move between the assembly station and the unloading station.

[0010] The way in which the horizontal drive unit drives the flange fixing frame to move between the assembly station and the blanking station can make the blanking station away from the embedded part assembly device and the bolt installation device, so that during the blanking process of the blade root embedded component or the installation process of the flange and the flange fixing frame, the blade root embedded component or the flange is away from the embedded part assembly device and the bolt installation device, which is beneficial to reducing the possibility of collision or scratch between the blade root embedded component or the flange and the embedded part assembly device, and reducing the possibility of collision or scratch between the blade root embedded component or the flange and the bolt installation device.

[0011] In some feasible embodiments, the horizontal drive unit includes a horizontal guide rail, an adapter seat and a drive assembly. The adapter seat can be slidably connected to the horizontal guide rail, and the base is connected to the adapter seat. The drive assembly is used to drive the adapter seat and the flange fixing frame to slide synchronously relative to the horizontal guide rail so that the flange fixing frame can move between the assembly station and the unloading station.

[0012] The horizontal guide rail can carry the flange fixing frame and provide guidance for the flange fixing frame, which is beneficial to improving the movement stability of the flange fixing frame and reducing the possibility of the flange fixing frame shaking during movement between the assembly station and the unloading station.

[0013] In some feasible embodiments, the embedded part assembly device and the bolt installation device are respectively arranged on both sides of the flange fixing device in the horizontal direction, and the loading device, the embedded part conveying device and the embedded part assembly device are located on the same side of the flange fixing device.

[0014] The manner in which the loading device, the embedded parts conveying device and the embedded parts assembly device are located on the same side of the flange fixing device facilitates the material transfer from the loading device to the embedded parts conveying device, while also shortening the material transmission path and facilitating the embedded parts assembly device to remove the embedded parts from the embedded parts conveying device, thereby improving the material transfer efficiency and convenience.

[0015] In some feasible embodiments, the loading device includes a clamping unit, the clamping unit includes a first base, a first clamp and a rotary drive, the first clamp is arranged on the first base, the first clamp is used to clamp or release the material to be assembled, the first base is connected to the rotary drive, and the rotary drive is used to drive the first base and the first clamp to rotate synchronously around the horizontal axis.

[0016] When materials are stored in the loading area, they may be in different positions. The first jaw can be adjusted by rotating the actuator to hold the material at the desired location. This helps improve the stability of the first jaw's grip on the material, reducing the possibility of insufficient clamping force due to misalignment of the first jaw's grip and the possibility of the material falling during transfer due to insufficient clamping force.

[0017] In some feasible embodiments, the material transfer assembly includes a horizontal moving unit, a lifting moving unit and a clamping unit, the horizontal moving unit is connected to the frame, the lifting moving unit is connected to the horizontal moving unit, the clamping unit is connected to the lifting moving unit, the clamping unit is used to clamp the material to be assembled, the horizontal moving unit is used to drive the lifting moving unit and the clamping unit to move horizontally, and the lifting moving unit is used to drive the clamping unit to move up and down in the vertical direction.

[0018] The gripping unit is used to grip or release materials to facilitate the transfer of the corresponding materials by the loading device. The horizontal movement unit can adjust the gripping unit's position in the horizontal direction, widening the gripping unit's range of motion, thereby covering a wider range of material loading areas. This helps to store more materials in the material loading area, reduce the number of material replenishments, and improve operational efficiency.

[0019] The lifting and moving unit can adjust the position of the clamping unit in the vertical direction to facilitate the clamping unit to avoid the structural components of the material loading area, reducing the possibility of collision between the material and the structural components in the loading area. When the clamping unit transfers the material to the material holding fixture, it can maintain a large vertical distance between the clamping unit and the material holding fixture, reducing the possibility of collision between the clamping unit or the material and the material holding fixture.

[0020] In some feasible embodiments, the horizontal moving unit includes a first transverse guide rail and a second transverse guide rail that are perpendicular to each other, the first transverse guide rail is set on the frame, and the second transverse guide rail is slidably connected to the first transverse guide rail. The lifting moving unit includes a vertical guide rail and a slide, the vertical guide rail is slidably connected to the second transverse guide rail, the slide is slidably connected to the vertical guide rail, and the clamping unit is connected to the slide.

[0021] The first and second transverse guide rails can carry and guide the lifting and moving unit, thereby improving the movement stability of the lifting and moving unit and reducing the possibility of the lifting and moving unit shaking during movement. The vertical guide rails and slide can carry and guide the clamping unit, thereby improving the movement stability of the clamping unit and reducing the possibility of shaking during movement.

[0022] In some feasible embodiments, the loading device also includes a first camera module, which is arranged on the lifting and moving unit. The first camera module is used to perform image recognition on the material to be assembled to obtain position information of the material to be assembled, and the clamping unit clamps the material to be assembled according to the position information.

[0023] When materials are stored in the loading area, their positions may vary. The first camera module is used to perform image recognition on the materials to be assembled to obtain their positional information. For materials in different positions, the position of the clamping unit can be adjusted to ensure that the clamping unit can clamp the material at the desired location. This helps improve the stability of the clamping unit's grip on the material, reduces the possibility of insufficient clamping force due to deviation from the clamping unit's gripping position, and reduces the possibility of the material falling during transfer due to insufficient clamping force.

[0024] In some feasible embodiments, the conveying assembly includes an annular conveying member, a material fixing jig is detachably connected to the annular conveying member, a plurality of material fixing jigs are arranged at intervals along the conveying direction of the annular conveying member, the material fixing jig includes a material fixing cylinder, the material fixing cylinder has an opening facing away from the annular conveying member, the annular conveying member is used to drive the material fixing cylinder to move from the loading station to the assembly station, and when the material fixing cylinder is at the loading station, the material transfer assembly is used to insert the corresponding material into the material fixing cylinder through the opening in the vertical direction.

[0025] The material holding cylinder facilitates material transfer by the loading device and removal by the embedded parts conveyor, improving material transfer efficiency. A portion of the embedded parts is located within the material holding cylinder, allowing the cylinder to limit the embedded parts and reduce the possibility of them tipping over.

[0026] In some feasible embodiments, the embedded part assembly device includes a first robotic arm, a second base, a second clamp and a third clamp, the second base is connected to the first robotic arm, the second clamp and the third clamp are spaced apart on the second base, the second clamp and the third clamp are used to clamp at different positions of the embedded part, and the first robotic arm is used to drive the second base, the second clamp and the third clamp to move or rotate synchronously.

[0027] The second clamping jaw and the third clamping jaw can clamp the embedded part at different positions of the embedded part, which is beneficial to increase the number of clamping points, improve clamping stability, and reduce the possibility of the embedded part falling due to unstable clamping during the transfer process of the embedded part.

[0028] In some feasible embodiments, the bolt installation device includes a second robotic arm, a third base, a bolt clamp and a bolt tightening assembly. The third base is connected to the second robotic arm, and the bolt clamp and the bolt tightening assembly are spaced apart on the third base. The bolt clamp is used to clamp the bolt, and the second robotic arm is used to drive the third base and the bolt clamp to move or rotate synchronously, and the bolt tightening assembly is used to tighten the bolt.

[0029] The second robotic arm flexibly adjusts the position of the bolt clamp and bolt tightening assembly. The bolt clamp secures the bolt, keeping it in place during transfer and minimizing the risk of it falling. The bolt clamp and bolt tightening assembly work together to automate bolt installation, improving precision and efficiency.

[0030] In some achievable embodiments, the bolt tightening assembly includes a drive feed mechanism and a bolt tightening machine, the drive feed mechanism is connected to the third base, the bolt tightening machine is connected to the drive feed mechanism, the drive feed mechanism is used to drive the bolt tightening machine close to or away from the flange, and the bolt tightening machine is used to connect the bolts and tighten the bolts.

[0031] The drive feed mechanism and the bolt tightening machine work together to improve the automation of the bolt installation process and enhance the accuracy and work efficiency of bolt installation.

[0032] In some feasible embodiments, the driving feed mechanism includes a support, a slide and a driving mechanism, the support is connected to the third base, the slide is slidably connected to the support, the bolt tightening machine is connected to the slide, and the driving mechanism is used to drive the slide and the bolt tightening machine to slide relative to the support so that the bolt tightening machine is close to or away from the flange.

[0033] The support can carry the bolt tightening machine and provide a guide for the bolt tightening machine, which is beneficial to improving the movement stability of the bolt tightening machine and reducing the possibility of shaking of the bolt tightening machine during the bolt tightening process.

[0034] In some feasible embodiments, the bolt installation device further includes a second camera module, which is disposed on a third base. The second camera module is used to perform image recognition on the bolt to obtain the bolt position, and the bolt clamp clamps the bolt according to the bolt position information.

[0035] The second robotic arm can drive the second camera module to perform image recognition of the bolts in the loading area to determine their positions. For bolts in different positions, the position of the bolt clamp can be adjusted to ensure that the bolt clamp is clamped at the predetermined position. This helps improve the stability of the bolt clamp and reduces the possibility of insufficient clamping force due to deviation from the clamping position, thereby reducing the possibility of the bolt falling during transfer due to insufficient clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0037] Figure 1 A schematic diagram of the structure of a wind turbine generator set provided in some embodiments of the present application;

[0038] Figure 2A schematic diagram of the structure of a blade provided in some embodiments of the present application;

[0039] Figure 3 A schematic diagram of a partial cross-sectional structure of a blade root provided in some embodiments of the present application;

[0040] Figure 4 A schematic diagram of the arrangement of embedded parts in a blade root according to some embodiments of the present application;

[0041] Figure 5 A schematic diagram of the exploded structure of a blade root pre-embedded component provided in some embodiments of the present application;

[0042] Figure 6 A schematic structural diagram of a first wedge block provided in some embodiments of the present application;

[0043] Figure 7 A schematic structural diagram of a second wedge block provided in some embodiments of the present application;

[0044] Figure 8 A first-perspective schematic diagram of the wind turbine blade root pre-embedded component assembly equipment provided in some embodiments of the present application in use;

[0045] Figure 9 A second perspective schematic diagram of the wind turbine blade root embedded component assembly equipment provided in some embodiments of the present application in use;

[0046] Figure 10 A schematic diagram of a partial structure of an embedded part conveying device provided in some embodiments of the present application;

[0047] Figure 11 A schematic structural diagram of a loading device provided in some embodiments of the present application;

[0048] Figure 12 A schematic diagram of the partial structure of an embedded part conveying device carrying embedded parts provided in some embodiments of the present application;

[0049] Figure 13 A schematic structural diagram of a flange supporting flange of a flange fixing device provided in some embodiments of the present application;

[0050] Figure 14 for Figure 13 The enlarged schematic diagram of M in the middle;

[0051] Figure 15 for Figure 13 The enlarged schematic diagram of point P in the middle;

[0052] Figure 16 A schematic diagram of the connection process between the positioning ear plate and the vertical bracket provided in some embodiments of the present application;

[0053] Figure 17A third-view schematic diagram of the wind turbine blade root pre-embedded component assembly equipment in use according to some embodiments of the present application;

[0054] Figure 18 for Figure 11 Enlarged schematic diagram of the V in the middle;

[0055] Figure 19 A schematic structural diagram of an embedded part assembly device provided in some embodiments of the present application;

[0056] Figure 20 A schematic structural diagram of a bolt installation device provided in some embodiments of the present application;

[0057] Figure 21 A schematic diagram of the partial structure of a bolt installation device provided in some embodiments of the present application.

[0058] In the accompanying drawings, the drawings are not necessarily drawn to scale.

[0059] Description of reference numerals:

[0060] 10. Wind turbine generator set; 20. Blades; 30. Main body; 40. Blade root;

[0061] 100, blade root embedded assembly; 110, embedded part; 120, flange; 121, flange hole; 122, positioning lug; 1221, arc transition surface; 123, fixing lug; 130, bolt; 140, first wedge; 141, arc-shaped recess; 150, second wedge; 151, tapered section; 160, bolt sleeve; 161, tapered hole;

[0062] 200. Wind turbine blade root embedded component assembly equipment; 210. Loading device; 211. Frame; 212. Material transfer assembly; 213. Clamping unit; 2131. First base; 2132. First clamping jaw; 2133. Rotary drive; 214. Horizontal moving unit; 2141. First transverse guide rail; 2142. Second transverse guide rail; 215. Lifting moving unit; 2151. Vertical guide rail; 2152. Slide; 216. First camera module; 220. Embedded component conveying device; 221. Conveying assembly; 222. Material fixing fixture; 223. Annular conveying member; 230. Embedded component assembly device; 231. First robotic arm; 232. Second base; 233. Second clamping jaw; 234. Third clamping jaw; 240. Method Flange fixing device; 241. Flange fixing frame; 242. Base; 243. Vertical bracket; 244. Top limiting groove; 2441. Inclined wall; 2442. Arc transition wall; 2443. Horizontal wall; 245. Fixing seat; 246. Horizontal drive unit; 2461. Horizontal guide rail; 2462. Adapter seat; 2463. Drive assembly; 250. Bolt mounting device; 251. Second robotic arm; 252. Third base; 253. Bolt clamp; 254. Bolt tightening assembly; 255. Drive feed mechanism; 2551. Support; 2552. Slide; 2553. Drive mechanism; 256. Bolt tightening machine; 2561. Servo motor; 2562. Reducer; 2563. Sleeve; 257. Second camera module. DETAILED DESCRIPTION

[0063] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0064] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first" and "second" in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary-secondary relationship.

[0065] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments.

[0066] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "attached" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0067] In the embodiments of this application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components in different embodiments are omitted. It should be understood that the thickness, length, width, and other dimensions of the various components in the embodiments of this application, as well as the overall thickness, length, width, and other dimensions of the integrated device shown in the drawings are merely illustrative and should not constitute any limitation on this application.

[0068] The term "plurality" used in this application refers to two or more (including two).

[0069] See also Figure 1 As shown, an embodiment of the present application provides a wind turbine generator set 10. The wind turbine generator set 10 includes a tower, a nacelle, and a rotor. The nacelle is disposed at the top of the tower. The rotor includes a hub and blades 20. The blades 20 are connected to the hub. The hub is connected to the main shaft of the nacelle. The blades 20 can generate torque under the action of wind. The blades 20 and the hub drive the main shaft of the nacelle to rotate, thereby converting wind energy into mechanical energy. The main shaft of the nacelle can be connected to the rotor of the generator, thereby converting mechanical energy into electrical energy.

[0070] See also Figure 2 、 Figure 3 and Figure 4 As shown, an embodiment of the present application provides a blade 20. The blade 20 includes a main body 30, a blade root 40 and an embedded part 110. The blade root 40 is arranged on the main body 30. The embedded part 110 is arranged on the blade root 40. The embedded part 110 includes a bolt sleeve 160. The bolt sleeve 160 can be connected to the hub by screws. The embedded part 110 includes a first wedge block 140, a second wedge block 150 and a bolt sleeve 160. Along the circumference of the blade root 40, the bolt sleeve 160 and the first wedge block 140 are alternately arranged, and the first wedge block 140 and the second wedge block 150 are alternately arranged. From the blade root 40 to the blade tip, the bolt sleeve 160 and the second wedge block 150 are arranged in an array.

[0071] See also Figure 5 As shown, the blade root embedded assembly 100 of the embodiment of the present application includes a flange 120, a bolt 130, and an embedded part 110. The flange 120 includes a flange hole 121. A plurality of flange holes 121 are arranged at intervals along the circumference of the flange 120. The flange holes 121 are arranged near the outer peripheral edge of the flange 120. The plurality of flange holes 121 are arranged in an arc shape. One bolt 130 and one embedded part 110 are correspondingly provided for each flange hole 121. The bolt 130 is connected to the bolt sleeve 160 of the embedded part 110. In the blade root embedded assembly 100, a plurality of embedded parts 110 are provided on the flange 120 along the circumference of the flange 120.

[0072] In some implementations, each of the multiple embedded components 110 includes a first wedge block 140, a second wedge block 150, and a bolt sleeve 160. Along the circumference of the flange 120, the bolt sleeves 160 and the first wedge blocks 140 are alternately arranged, and the first wedge blocks 140 and the second wedge blocks 150 are alternately arranged. Along the axial direction of the flange 120, the bolt sleeves 160 and the second wedge blocks 150 are arranged in an aligned manner.

[0073] In some implementations, among the multiple embedded parts 110, the first embedded part 110 located at the starting position includes a second wedge block 150 and a bolt sleeve 160, and the remaining embedded parts 110 include a first wedge block 140, a second wedge block 150, and a bolt sleeve 160. Along the circumference of the flange 120, the bolt sleeves 160 and the first wedge blocks 140 are alternately arranged, and the first wedge blocks 140 and the second wedge blocks 150 are alternately arranged. Along the axial direction of the flange 120, the bolt sleeves 160 and the second wedge blocks 150 are arranged in an aligned manner.

[0074] In some possible implementations, see Figure 3 As shown, the bolt sleeve 160 is cylindrical. Figure 6 As shown, the first wedge block 140 includes an arc-shaped recess 141 that cooperates with the bolt sleeve 160. Figure 3 and Figure 7 As shown, a tapered hole 161 is provided at one end of the bolt sleeve 160 facing the second wedge block 150 , and the second wedge block 150 includes a tapered section 151 that is plugged into and fits with the tapered hole 161 .

[0075] In some implementations, the material of the first wedge-shaped block 140 includes resin and glass fiber. The first wedge-shaped block 140 is formed by a pultrusion process.

[0076] In some embodiments, the second wedge block 150 may be a foam wedge block. The overall weight of the second wedge block 150 is relatively light. The material of the second wedge block 150 includes polyvinyl chloride (PVC).

[0077] In some possible implementations, the processing of the blade 20 includes:

[0078] Laying out the outer skin in the blade root 40 mold;

[0079] The blade root pre-embedded assembly 100 is hoisted as a whole to the blade root 40 mold, and each embedded part 110 in the blade root pre-embedded assembly 100 is arranged corresponding to the outer skin;

[0080] Laying the inner skin to cover each embedded part 110;

[0081] The resin is infused using a vacuum infusion process. After the resin is cured, the outer skin, the embedded part 110 and the inner skin form a blade root structure.

[0082] Transferring the flange 120 and the blade root structure to the blade 20 mold to form the blade 20;

[0083] After the blade 20 is formed, the bolts 130 and the flange 120 are removed, and the embedded part 110 is embedded in the formed blade 20 .

[0084] The removed bolts 130 and flanges 120 can be reused, and the bolts 130 and flanges 120 can be reassembled with the next batch of embedded parts 110 to form the blade root embedded assembly 100 .

[0085] In this embodiment of the present application, the blade root pre-embedded assembly 100 can be assembled and formed separately. During the blade root 40 forming process, after the outer skin is laid on the blade root 40 mold, the blade root pre-embedded assembly 100 can accurately place multiple embedded parts 110 on the outer skin at one time, eliminating the need for manual placement of the embedded parts 110 in the blade root 40 mold, thereby optimizing production cycle time and improving production efficiency.

[0086] In some possible implementations, see Figure 5 As shown, the flange 120 in the embedded blade root assembly 100 is semicircular. The blade root structure of the blade root 40 after mold forming is semicircular. Two semicircular blade root structures are used to form a circular blade root 40.

[0087] See also Figure 8 and Figure 9 As shown, an embodiment of the present application provides a wind turbine blade root embedded component assembly device 200, which includes a loading device 210, an embedded part conveying device 220, an embedded part assembly device 230, a flange fixing device 240 and a bolt installation device 250.

[0088] Among them, see Figure 10 As shown, the embedded part conveying device 220 includes a connected conveying assembly 221 and a material fixing fixture 222. The conveying assembly 221 is used to drive the material fixing fixture 222 to move from the loading station to the assembly station.

[0089] See also Figure 11 As shown, the loading device 210 includes a connected frame 211 and a material transfer assembly 212. The material transfer assembly 212 is used to transfer the material to be assembled to the material fixing fixture 222 at the loading station, and assemble the embedded part 110 on the material fixing fixture 222. The embedded part 110 includes a bolt sleeve 160.

[0090] The flange fixing device 240 includes a flange fixing frame 241. The flange fixing frame 241 is used to fix the semicircular flange 120 so that the axis of the flange 120 is horizontal. The flange 120 includes flange holes 121. A plurality of flange holes 121 are distributed along the circumference of the flange 120 at intervals.

[0091] The embedded part assembly device 230 is used to transfer the embedded part 110 at the assembly station to one side of the flange 120 and align the bolt sleeve 160 with the flange hole 121 in the horizontal direction.

[0092] The bolt installation device 250 is used to transfer the bolt 130 to the other side of the flange 120 and pass the bolt 130 horizontally through the flange hole 121 to connect with the bolt sleeve 160, so that the bolt 130, the embedded part 110 and the flange 120 are connected and fixed.

[0093] In some achievable embodiments, the material to be assembled includes a first wedge block 140, a bolt sleeve 160, and a second wedge block 150. The first wedge block 140, the bolt sleeve 160, and the second wedge block 150 used to assemble the embedded part 110 are stored in the material loading area. The loading device 210 can transfer the corresponding material to the material fixing jig 222, and assemble the embedded part 110 on the material fixing jig 222. The material fixing jig 222 is used to fix the assembled embedded part 110, reducing the possibility of the embedded part 110 tipping over or position shifting during the transportation process. After the embedded part 110 is assembled on the material fixing jig 222 at the loading station, the conveying component 221 drives the material fixing jig 222 to move toward the assembly station, and at the same time, an empty material fixing jig 222 moves to the loading station.

[0094] The bolt sleeve 160 on the embedded part conveying device 220 is in an upright position, with the axial direction of the bolt sleeve 160 aligned with the vertical direction. The tapered hole 161 of the bolt sleeve 160 faces upward. The tapered section 151 of the second wedge block 150 is inserted into the tapered hole 161 of the bolt sleeve 160.

[0095] The semicircular flange 120 can be hoisted onto the flange fixing frame 241 using a lifting device. After the flange fixing frame 241 secures the flange 120, the embedded component assembly device 230 moves the embedded component 110 at the assembly station to one side of the flange 120 and horizontally aligns the bolt sleeve 160 with the flange hole 121. The bolt installation device 250 then moves the bolt 130 to the other side of the flange 120 and horizontally inserts the bolt 130 through the flange hole 121 to connect it to the bolt sleeve 160.

[0096] In some possible implementations, see Figure 12 As shown, the loading device 210 can transfer the bolt sleeve 160 and the second wedge block 150 to the material fixing fixture 222 in sequence, and assemble them on the material fixing fixture 222 to form the embedded component 110. The bolt sleeve 160 and the second wedge block 150 in the embedded component 110 are arranged in a vertical direction, with the bolt sleeve 160 located below the second wedge block 150.

[0097] Then, the loading device 210 can transfer the first wedge block 140, the bolt sleeve 160, and the second wedge block 150 to the material fixing jig 222 in this order, and assemble them on the material fixing jig 222 to form the embedded component 110. The bolt sleeve 160 and the second wedge block 150 in the embedded component 110 are arranged vertically, with the bolt sleeve 160 located below the second wedge block 150. Horizontally, the bolt sleeve 160 and the second wedge block 150 are both located on one side of the first wedge block 140.

[0098] The embedded part assembly device 230 first connects and secures the embedded part 110 formed by assembling the bolt sleeve 160 and the second wedge block 150 to the flange 120, and then connects and secures the embedded part 110 formed by assembling the first wedge block 140, the bolt sleeve 160, and the second wedge block 150 to the flange 120. In some examples, the embedded part 110 formed by assembling the bolt sleeve 160 and the second wedge block 150 can be connected to the first flange hole 121 on the flange 120 via the bolt 130, and the embedded part 110 formed by assembling the first wedge block 140, the bolt sleeve 160, and the second wedge block 150 can be connected to the remaining flange holes 121 on the flange 120 via the bolt 130.

[0099] In the assembled blade root embedded assembly 100, along the circumference of the flange 120, a first wedge block 140 is provided with a bolt sleeve 160 and a second wedge block 150 on one side, and a bolt sleeve 160 and a second wedge block 150 on the other side. The first wedge block 140 is restrained by the bolt sleeves 160 and the second wedge block 150 on both sides, preventing it from falling.

[0100] After the corresponding bolts 130 are sequentially connected and secured to the bolt sleeves 160 of the embedded parts 110 in the corresponding flange holes 121, the plurality of bolts 130, the plurality of embedded parts 110, and the flanges 120 form the blade root embedded assembly 100. The entire blade root embedded assembly 100 can be stored in a predetermined area and transferred to the blade root 40 mold when the blade root 40 is to be formed.

[0101] The wind turbine blade root embedded component assembly equipment 200 of the present embodiment improves the automation level of the blade root embedded component 100 assembly through the coordinated cooperation of the loading device 210, the embedded component conveying device 220, the embedded component assembly device 230, the flange fixing device 240, and the bolt installation device 250. This helps improve the quality of the finished blade root embedded component 100 and also helps improve the efficiency of the blade root embedded component 100 assembly process. In the blade root embedded component 100 assembled and formed using the wind turbine blade root embedded component assembly equipment 200, the positioning accuracy of each embedded component 110 is high, which helps improve the quality of the formed blade root 40. The wind turbine blade root embedded component assembly equipment 200 transfers the assembly process of each embedded component 110 to outside the blade root 40 mold, eliminating the need for manual assembly of each embedded component 110 in the blade root 40 mold. This reduces mold occupancy time, helps improve production efficiency, and reduces labor input and labor intensity.

[0102] In some possible implementations, see Figure 13 and Figure 14 As shown, the flange fixing frame 241 includes a base 242 and a vertical bracket 243. The two vertical brackets 243 are arranged horizontally on the base 242 at intervals. The vertical brackets 243 include a top limiting groove 244. The flange 120 includes a positioning ear plate 122. The top limiting groove 244 is used to plug into the positioning ear plate 122 in the vertical direction. The vertical brackets 243 limit the flange 120 in the axial direction. Figure 15 As shown, the base 242 includes a fixing seat 245. The flange 120 includes a fixing lug 123. The fixing seat 245 is used to connect and fix with the fixing lug 123.

[0103] When assembling the flange 120 with the flange fixing frame 241, the flange 120 is transferred to the top of the flange fixing frame 241. The flange 120 descends in the vertical direction. After the flange 120 descends a predetermined distance, a portion of the flange 120 is inserted into the top limiting groove 244, so that the vertical bracket 243 can form a limiting constraint on the flange 120, making it difficult for the flange 120 to deviate in the horizontal direction. The flange 120 can accurately cooperate with the vertical bracket 243 and be accurately installed to the predetermined position of the vertical bracket 243, reducing the assembly difficulty between the flange 120 and the flange fixing frame 241 and improving the assembly efficiency between the flange 120 and the flange fixing frame 241. After the flange 120 is installed in place, the vertical bracket 243 can form a limiting constraint on the flange 120, preventing the flange 120 from tipping over, thereby improving production safety.

[0104] The fixing ear plate 123 of the flange 120 is connected and fixed to the fixing seat 245, which increases the connection points between the flange 120 and the flange fixing frame 241, improves the connection stability between the flange 120 and the flange fixing frame 241, and further forms a limiting constraint on the flange 120, so that the flange 120 will not fall over and the position of the flange 120 will not shift, which is beneficial to improving the position accuracy of the embedded part 110 and the bolt 130 after connection.

[0105] In some examples, a lifting device is used to lift the flange 120 above the flange fixing frame 241, and the flange 120 is controlled to descend close to the flange fixing frame 241. After the flange 120 is installed in place, the flange 120 and the lifting device are separated.

[0106] For some examples, see Figure 16 As shown, the top limiting groove 244 includes an inclined wall surface 2441, an arc transition wall surface 2442 and a horizontal wall surface 2443 which are connected in sequence.

[0107] The positioning lug 122 has a circular transition surface 1221. When the flange 120 is lowered vertically, the circular transition surface 1221 of the positioning lug 122 contacts the inclined wall 2441. The inclined wall 2441 guides the positioning lug 122 to gradually slide into the circular transition wall 2442, thereby correcting the position of the flange 120. After the flange 120 has descended a predetermined distance, the circular transition surface 1221 of the positioning lug 122 contacts the circular transition wall 2442, and the positioning lug 122 simultaneously contacts the horizontal wall 2443, allowing the flange 120 to be accurately installed in the predetermined position on the vertical bracket 243.

[0108] In some examples, the fixing lug 123 is fixed to the fixing base 245 via a pin connection. Pin holes are provided on the fixing lug 123 and the fixing base 245, respectively. When the flange 120 is installed, the pin holes on the fixing lug 123 align with the pin holes on the fixing base 245. The pins are inserted into the pin holes on the fixing lug 123 and the fixing base 245.

[0109] In some examples, there are three fixing lugs 123 and three fixing seats 245 , and the fixing lugs 123 and the fixing seats 245 are arranged in a one-to-one correspondence.

[0110] In some examples, the horizontal spacing between the two vertical brackets 243 is adapted to the pitch diameter of the flange 120. By designing different flange mounts 241, the spacing between the two vertical brackets 243 can be varied. Different flange mounts 241 can be selected for flanges 120 with different pitch diameters, allowing the flange mounts 241 to adapt to flanges 120 with varying pitch diameters. For example, the pitch diameter of the flange 120 ranges from 2800 mm to 3600 mm.

[0111] In some possible implementations, see Figure 13 As shown, the flange fixing device 240 further includes a horizontal driving unit 246. The flange fixing frame 241 is connected to the horizontal driving unit 246. The horizontal driving unit 246 is used to drive the flange fixing frame 241 to move between the assembly station and the unloading station.

[0112] When the flange fixing frame 241 and the flange 120 are in the assembly station, the embedded part assembly device 230 transfers the embedded part 110 to one side of the flange 120 and horizontally aligns the bolt sleeve 160 with the flange hole 121. The bolt installation device 250 is used to transfer the bolt 130 to the other side of the flange 120 and connect the bolt 130 to the bolt sleeve 160. After the embedded parts 110 and bolts 130 are correspondingly installed in each flange hole 121 to form the blade root embedded assembly 100, the horizontal drive unit 246 is used to drive the flange fixing frame 241 and the blade root embedded assembly 100 from the assembly station to the unloading station.

[0113] When the flange holder 241 and the blade root pre-embedded assembly 100 are in the unloading station, the flange 120 is separated from the flange holder 241 and the entire blade root pre-embedded assembly 100 is removed from the flange holder 241. Then, a new flange 120 is installed on the flange holder 241. The horizontal drive unit 246 is used to drive the flange holder 241 and the flange 120 from the unloading station to the assembly station for the next assembly process.

[0114] The horizontal drive unit 246 drives the flange fixing frame 241 to move between the assembly station and the unloading station in such a manner that the unloading station can be kept away from the embedded part assembly device 230 and the bolt installation device 250, so that during the unloading process of the blade root embedded component 100 or the installation process of the flange 120 and the flange fixing frame 241, the blade root embedded component 100 or the flange 120 is kept away from the embedded part assembly device 230 and the bolt installation device 250, which is beneficial to reducing the possibility of collision or scratch between the blade root embedded component 100 or the flange 120 and the embedded part assembly device 230, and reducing the possibility of collision or scratch between the blade root embedded component 100 or the flange 120 and the bolt installation device 250.

[0115] For some examples, see Figure 13 As shown, the horizontal drive unit 246 includes a horizontal guide rail 2461, an adapter 2462, and a drive assembly 2463. The adapter 2462 is slidably connected to the horizontal guide rail 2461. The base 242 is connected to the adapter 2462. The drive assembly 2463 is used to drive the adapter 2462 and the flange mount 241 to slide synchronously relative to the horizontal guide rail 2461, thereby moving the flange mount 241 between the assembly station and the unloading station.

[0116] The horizontal guide rail 2461 can support the flange fixing frame 241 and provide guidance for the flange fixing frame 241, which is beneficial to improving the movement stability of the flange fixing frame 241 and reducing the possibility of the flange fixing frame 241 shaking during movement between the assembly station and the unloading station.

[0117] Illustratively, the base 242 and the adapter 2462 are detachably connected, which facilitates the disassembly and assembly of the flange fixing frame 241 and the adapter 2462 , thereby improving the convenience of maintaining or replacing the flange fixing frame 241 .

[0118] Illustratively, drive assembly 2463 includes a motor, a gear, and a rack. The gear is connected to the motor. The rack is connected to adapter 2462. The motor drives the gear to rotate. The gear, via the rack, drives adapter 2462 to move.

[0119] Illustratively, the drive assembly 2463 includes a motor and a screw. The screw is connected to the motor and the adapter 2462. The motor drives the screw to rotate. The screw drives the adapter 2462 to move.

[0120] In some possible implementations, see Figure 17 As shown, in the horizontal direction, the embedded part assembly device 230 and the bolt installation device 250 are respectively arranged on both sides of the flange fixing device 240, and the loading device 210, the embedded part conveying device 220 and the embedded part assembly device 230 are located on the same side of the flange fixing device 240.

[0121] When the flange 120 is fixed on the flange fixing device 240, the embedded part assembly device 230 and the bolt installation device 250 can respectively assemble the embedded parts 110 and the bolts 130 from both sides of the flange 120. There is no interference between the embedded part assembly device 230 and the bolt installation device 250, which facilitates improving assembly efficiency.

[0122] When the flange 120 is fixed to the flange fixing device 240, the flange fixing frame 241 is in the assembly station, and the flange fixing frame 241 and the flange 120 are located between the embedded part assembly device 230 and the bolt installation device 250. When the flange fixing frame 241 moves from the assembly station to the unloading station, the flange fixing frame 241 moves away from between the embedded part assembly device 230 and the bolt installation device 250.

[0123] The manner in which the loading device 210, the embedded part conveying device 220 and the embedded part assembly device 230 are located on the same side of the flange fixing device 240 facilitates the loading device 210 to transfer materials to the embedded part conveying device 220, while also shortening the material transmission path, and facilitates the embedded part assembly device 230 to remove the embedded part 110 from the embedded part conveying device 220, which is beneficial to improving the material transfer efficiency and material transfer convenience.

[0124] In some examples, the flange fixing device 240 further includes a horizontal driving unit 246. The horizontal driving unit 246 includes a horizontal guide rail 2461. Along the horizontal direction, the embedded component assembly device 230 and the bolt installation device 250 are respectively disposed on both sides of the horizontal guide rail 2461.

[0125] In some possible implementations, see Figure 11 and Figure 18 As shown, the loading device 210 includes a clamping unit 213. The clamping unit 213 includes a first base 2131, a first clamping jaw 2132, and a rotary actuator 2133. The first clamping jaw 2132 is mounted on the first base 2131. The first clamping jaw 2132 is used to clamp or release the material to be assembled. The first base 2131 is connected to the rotary actuator 2133. The rotary actuator 2133 is used to drive the first base 2131 and the first clamping jaw 2132 to rotate synchronously about a horizontal axis.

[0126] The material to be assembled includes the first wedge block 140, the bolt sleeve 160, or the second wedge block 150. The clamping unit 213 is used to clamp the first wedge block 140, the bolt sleeve 160, or the second wedge block 150 to facilitate the material transfer by the loading device 210, while improving the stability of the material transfer process and reducing the possibility of material falling off.

[0127] When the first wedge block 140, bolt sleeve 160, or second wedge block 150 is stored in the material loading area, different positions of the first wedge block 140, bolt sleeve 160, or second wedge block 150 may exist. For the first wedge block 140, bolt sleeve 160, or second wedge block 150 in different positions, the position of the first clamping jaw 2132 can be adjusted by rotating the driver 2133 so that the first clamping jaw 2132 can clamp at the predetermined position of the first wedge block 140, bolt sleeve 160, or second wedge block 150. This helps to improve the stability of the first clamping jaw 2132 in clamping the material, reduce the possibility of insufficient clamping force due to deviation of the first clamping jaw 2132 from the clamping position, and reduce the possibility of material falling during the transfer process due to insufficient clamping force.

[0128] In some examples, the loading device 210 transfers the bolt sleeve 160 to the embedded part conveying device 220 via the first clamping jaw 2132. The bolt sleeve 160 on the embedded part conveying device 220 is in an upright position, with the axial direction of the bolt sleeve 160 aligned with the vertical direction. The tapered hole 161 of the bolt sleeve 160 faces upward. The first clamping jaw 2132 transfers the second wedge block 150 to the embedded part conveying device 220. The tapered section 151 of the second wedge block 150 is inserted into the tapered hole 161 of the bolt sleeve 160, thereby assembling the bolt sleeve 160. Exemplarily, the height of the integrated structure consisting of the bolt sleeve 160 and the second wedge block 150 is 1.2 to 1.5 meters. Along the axial direction of the bolt sleeve 160, the length of the tapered hole 161 of the bolt sleeve 160 is 10 to 15 centimeters.

[0129] In some examples, the material holding fixture 222 includes a material holding cylinder. The material holding cylinder has an opening. The material holding cylinder is used to hold material. When the material holding cylinder is in the loading station, the material transfer assembly 212 is used to vertically insert the material into the material holding cylinder through the opening. A portion of the embedded component 110 is located within the material holding cylinder, so that the material holding cylinder can limit the embedded component 110 and reduce the possibility of the embedded component 110 tipping over.

[0130] After the first clamping jaw 2132 transfers the material (such as the first wedge block 140 or the bolt sleeve 160) to the top of the material fixing cylinder, the rotary driver 2133 drives the first clamping jaw 2132 to rotate to make the material stand upright, making it easier to insert the material into the material fixing cylinder through the opening of the material fixing cylinder.

[0131] In some examples, the loading device 210 includes a cylinder that is used to drive the first clamping jaw 2132 to open and close.

[0132] In some examples, the rotation driver 2133 includes a motor and a reducer. The reducer is connected to the motor. The output end of the reducer is connected to the first base 2131. The rotation axis of the output end of the reducer is a horizontal axis.

[0133] In some possible implementations, see Figure 11 As shown, the material transfer assembly 212 includes a horizontal moving unit 214, a lifting moving unit 215, and a clamping unit 213. The horizontal moving unit 214 is connected to the frame 211. The lifting moving unit 215 is connected to the horizontal moving unit 214. The clamping unit 213 is connected to the lifting moving unit 215. The clamping unit 213 is used to clamp the materials to be assembled, such as the first wedge block 140, the bolt sleeve 160, or the second wedge block 150. The horizontal moving unit 214 is used to drive the lifting moving unit 215 and the clamping unit 213 to move horizontally. The lifting moving unit 215 is used to drive the clamping unit 213 to move vertically.

[0134] The clamping unit 213 is used to clamp or release the first wedge block 140, bolt sleeve 160, or second wedge block 150 to facilitate the transfer of corresponding materials by the loading device 210. The horizontal movement unit 214 can adjust the position of the clamping unit 213 in the horizontal direction, widening the range of movement of the clamping unit 213 to cover a wider range of the material loading area. This facilitates the storage of a larger number of first wedge blocks 140, bolt sleeves 160, or second wedge blocks 150 in the material loading area, reduces the number of times the first wedge blocks 140, bolt sleeves 160, or second wedge blocks 150 are replenished, and improves operating efficiency.

[0135] The lifting and moving unit 215 can adjust the position of the clamping unit 213 in the vertical direction to facilitate the clamping unit 213 to avoid the structural components of the material loading area (such as storage boxes or shelves, etc.), thereby reducing the possibility of collision between the material and the structural components of the loading area. When the clamping unit 213 transfers the material to the material holding fixture 222, the clamping unit 213 can maintain a large vertical distance from the material holding fixture 222, thereby reducing the possibility of collision between the clamping unit 213 or the material and the material holding fixture 222.

[0136] In some possible implementations, see Figure 11 As shown, the horizontal movement unit 214 includes a first transverse guide rail 2141 and a second transverse guide rail 2142, which are perpendicular to each other. The first transverse guide rail 2141 is disposed on the frame 211. The second transverse guide rail 2142 is slidably connected to the first transverse guide rail 2141. The lifting movement unit 215 includes a vertical guide rail 2151 and a slide 2152. The vertical guide rail 2151 is slidably connected to the second transverse guide rail 2142. The slide 2152 is slidably connected to the vertical guide rail 2151. The clamping unit 213 is connected to the slide 2152.

[0137] The first transverse guide rail 2141 and the second transverse guide rail 2142 can support and guide the lifting and moving unit 215, thereby improving the movement stability of the lifting and moving unit 215 and reducing the possibility of shaking of the lifting and moving unit 215 during movement. The vertical guide rail 2151 and the slide 2152 can support and guide the clamping unit 213, thereby improving the movement stability of the clamping unit 213 and reducing the possibility of shaking of the clamping unit 213 during movement.

[0138] In some examples, the loading device 210 includes a motor and a screw. The screw is connected to the motor. The second transverse guide rail 2142 is connected to the screw. The motor drives the screw to rotate, and the screw drives the second transverse guide rail 2142 to move horizontally along the first transverse guide rail 2141.

[0139] In some examples, the loading device 210 includes a motor and a screw. The vertical guide rail 2151 is connected to the screw. The motor drives the screw to rotate, and the screw drives the vertical guide rail 2151 to move horizontally along the second transverse guide rail 2142.

[0140] In some examples, the loading device 210 includes a motor and a screw. The slide 2152 is connected to the screw. The motor drives the screw to rotate, and the screw drives the slide 2152 to rise and fall along the vertical guide rail 2151.

[0141] In some examples, the clamping unit 213 includes a first base 2131 , a first clamping jaw 2132 , and a rotation driver 2133 . The rotation driver 2133 is disposed on the slide 2152 .

[0142] In some possible implementations, see Figure 11 and Figure 18 As shown, the loading device 210 further includes a first camera module 216. The first camera module 216 is disposed on the lifting and moving unit 215. The first camera module 216 is used to perform image recognition on the material to be assembled to obtain position information of the material to be assembled. The clamping unit 213 clamps the material to be assembled based on the position information.

[0143] The material to be assembled includes a first wedge block 140, a bolt sleeve 160 or a second wedge block 150. When the first wedge block 140, the bolt sleeve 160 or the second wedge block 150 is stored in the material loading area, the position states of different first wedge blocks 140, bolt sleeves 160 or second wedge blocks 150 are different. The first camera module 216 is used to perform image recognition on the material to be assembled to obtain the position information of the material to be assembled. For the first wedge block 140, the bolt sleeve 160 or the second wedge block 150 in different positions, the position of the clamping unit 213 can be adjusted so that the clamping unit 213 can be clamped at the predetermined position of the first wedge block 140, the bolt sleeve 160 or the second wedge block 150, which is beneficial to improve the stability of the clamping unit 213 in clamping the material, reduce the possibility of the clamping force being too small due to the deviation of the clamping position of the clamping unit 213, and reduce the possibility of the material falling during the transfer process due to the small clamping force.

[0144] In some examples, first camera module 216 includes a machine vision camera.

[0145] In some examples, the lifting and moving unit 215 includes a vertical guide rail 2151 and a slide 2152. The first camera module 216 is disposed on the slide 2152.

[0146] In some possible implementations, see Figure 12 As shown, conveyor assembly 221 includes an endless conveyor member 223. A material holding fixture 222 is detachably connected to endless conveyor member 223. Multiple material holding fixtures 222 are spaced apart along the conveying direction of endless conveyor member 223. Material holding fixture 222 includes a material holding cylinder. The material holding cylinder has an opening facing away from endless conveyor member 223. The endless conveyor member 223 is used to drive the material holding cylinder from the loading station to the assembly station.

[0147] When the material holding cylinder is in the loading station, the material transfer assembly 212 is used to vertically insert the corresponding material into the material holding cylinder through the opening. When the material holding cylinder is in the assembly station, the embedded part conveying device 220 can remove the embedded part 110 from the material holding cylinder.

[0148] The material holding cylinder facilitates material transfer by the loading device 210 and removal by the embedded component conveying device 220, thereby improving material transfer efficiency. A portion of the embedded component 110 is located within the material holding cylinder, allowing the material holding cylinder to limit the embedded component 110 and reduce the possibility of the embedded component 110 tipping over.

[0149] In some examples, the endless conveyor 223 includes a conveyor belt or a conveyor chain. The conveyor assembly 221 includes a driving roller, a driven roller, and a motor. The endless conveyor 223 is mounted on the driving roller and the driven roller. The motor drives the driving roller to rotate. The driving roller drives the endless conveyor 223 and the driven roller to rotate.

[0150] In some examples, the material holding cylinder is detachably connected to the annular conveying member 223 .

[0151] In some examples, the material holding cylinder may be in the shape of a cuboid.

[0152] In some possible implementations, see Figure 19 As shown, the embedded component assembly device 230 includes a first robotic arm 231, a second base 232, a second clamping jaw 233, and a third clamping jaw 234. The second base 232 is connected to the first robotic arm 231. The second clamping jaw 233 and the third clamping jaw 234 are spaced apart from the second base 232. The second clamping jaw 233 and the third clamping jaw 234 are used to clamp at different positions of the embedded component 110. The first robotic arm 231 is used to drive the second base 232, the second clamping jaw 233, and the third clamping jaw 234 to move or rotate synchronously.

[0153] The second clamping jaw 233 and the third clamping jaw 234 can clamp the embedded part 110 at different positions of the embedded part 110, which is beneficial to increase the number of clamping points, improve clamping stability, and reduce the possibility of the embedded part 110 falling due to unstable clamping during the transfer process of the embedded part 110.

[0154] The first robotic arm 231 can flexibly adjust the positions of the second and third jaws 233, 234. When clamping the embedded component 110, the second jaw 233 clamps the embedded component 110 at the location where the bolt sleeve 160 is located, and the third jaw 234 clamps the embedded component 110 at the location where the second wedge block 150 is located. To remove the embedded component 110 from the material holding fixture 222 at the assembly station, the first robotic arm 231 can rotate the second and third jaws 233, 234, vertically spacing them apart, with the second jaw 233 positioned below the third jaw 234. After the second and third jaws 233 and 234 grip the embedded component 110, the first robotic arm 231 drives the second and third jaws 233 and 234 to move vertically, separating the embedded component 110 from the material securing jig 222 and creating a vertical gap between the embedded component 110 and the material securing jig 222. The first robotic arm 231 then drives the second and third jaws 233 and 234 to one side of the flange 120. The first robotic arm 231 rotates the second and third jaws 233 and 234, spacing them horizontally to align the bolt sleeve 160 with the flange hole 121. The second jaw 233 is located on the side of the third jaw 234 that is closest to the flange 120.

[0155] In some examples, the first robotic arm 231 may include a multi-jointed robotic arm.

[0156] In some examples, the embedded component assembly device 230 includes a cylinder that is used to drive the second clamping jaw 233 or the third clamping jaw 234 to open and close.

[0157] In some possible implementations, see Figure 20 and Figure 21 As shown, the bolt installation device 250 includes a second robotic arm 251, a third base 252, a bolt clamp 253, and a bolt tightening assembly 254. The third base 252 is connected to the second robotic arm 251. The bolt clamp 253 and the bolt tightening assembly 254 are spaced apart from the third base 252. The bolt clamp 253 is used to clamp the bolt 130. The second robotic arm 251 is used to drive the third base 252 and the bolt clamp 253 to move or rotate synchronously. The bolt tightening assembly 254 is used to tighten the bolt 130 to connect the bolt 130 to the bolt sleeve 160.

[0158] The second robotic arm 251 can flexibly adjust the position of the bolt clamp 253 and the bolt screwing assembly 254. The bolt clamp 253 can clamp the fixed bolt 130 so that the bolt 130 remains in a stable position during the transfer process, reducing the possibility of the bolt 130 falling.

[0159] The bolt 130 can be placed upright in the loading area (such as a storage rack, etc.). When the bolt 130 needs to be taken, the second robotic arm 251 drives the bolt clamp 253 to move to the bolt 130, and the bolt clamp 253 opens horizontally. The bolt clamp 253 clamps the bolt 130. The second robotic arm 251 drives the bolt clamp 253 to move up in the vertical direction to remove the bolt 130 from the loading area. The second robotic arm 251 drives the bolt clamp 253 to move to the side of the flange 120, and drives the bolt clamp 253 to rotate to adjust the bolt 130 to a horizontal state. The bolt 130 is aligned with the flange hole 121. The bolt tightening assembly 254 is connected to the bolt 130, and the bolt clamp 253 releases the bolt 130. The bolt tightening assembly 254 tightens the bolt 130 so that the bolt 130 is connected to the bolt sleeve 160 to fix the embedded part 110 on the flange 120.

[0160] The bolt clamping jaws 253 cooperate with the bolt tightening assembly 254 to realize the automation of the installation of the bolt 130 , thereby improving the accuracy and work efficiency of the installation of the bolt 130 .

[0161] In some examples, the second robotic arm 251 may include a multi-jointed robotic arm.

[0162] In some examples, the bolt installation device 250 includes a pneumatic cylinder that is used to drive the bolt clamping jaws 253 to open and close.

[0163] In some possible implementations, see Figure 21 As shown, the bolt tightening assembly 254 includes a drive feed mechanism 255 and a bolt tightening machine 256. The drive feed mechanism 255 is connected to the third base 252. The bolt tightening machine 256 is connected to the drive feed mechanism 255. The drive feed mechanism 255 is used to drive the bolt tightening machine 256 toward or away from the flange 120. The bolt tightening machine 256 is used to connect the bolts 130 and tighten the bolts 130.

[0164] While the bolt tightener 256 is tightening the bolt 130, the drive feed mechanism 255 simultaneously drives the bolt tightener 256 toward the flange 120, ensuring that the bolt tightener 256 remains connected to the bolt 130. After the bolt 130 is properly installed, the drive feed mechanism 255 drives the bolt tightener 256 away from the flange 120, separating the bolt tightener 256 from the bolt 130. The drive feed mechanism 255 then drives the bolt tightener 256 back to its original position.

[0165] The driving feed mechanism 255 and the bolt tightening machine 256 cooperate with each other to improve the automation of the bolt 130 installation process, thereby improving the accuracy and work efficiency of the bolt 130 installation.

[0166] In some examples, the bolt tightening assembly 254 can record the torque information when tightening the bolt 130 and save the torque value to facilitate the determination of whether the torque is qualified and quality traceability.

[0167] For some examples, see Figure 21 As shown, bolt tightening machine 256 includes a servo motor 2561, a reducer 2562, and a sleeve 2563. Sleeve 2563 is connected to the output end of reducer 2562. Reducer 2562 is connected to servo motor 2561. Sleeve 2563 is used to connect bolt 130. Servo motor 2561 and reducer 2562 are used to drive sleeve 2563 to rotate, so that sleeve 2563 tightens bolt 130.

[0168] In some possible implementations, see Figure 20 and Figure 21 As shown, the drive feed mechanism 255 includes a support 2551, a slide 2552, and a drive mechanism 2553. The support 2551 is connected to the third base 252. The slide 2552 is slidably connected to the support 2551. The bolt tightener 256 is connected to the slide 2552. The drive mechanism 2553 is used to drive the slide 2552 and the bolt tightener 256 to slide relative to the support 2551, so that the bolt tightener 256 moves closer to or away from the bolt clamp 253.

[0169] The support 2551 can support the bolt tightening machine 256 and provide guidance for the bolt tightening machine 256, which is beneficial to improving the movement stability of the bolt tightening machine 256 and reducing the possibility of the bolt tightening machine 256 shaking during the process of tightening the bolt 130.

[0170] In some examples, the drive mechanism 2553 includes a motor and a screw. The screw is connected to the motor and the slide 2552. The motor drives the screw to rotate. The screw drives the slide 2552 to move relative to the support 2551.

[0171] In some possible implementations, see Figure 20 and Figure 21 As shown, the bolt installation device 250 further includes a second camera module 257. The second camera module 257 is disposed on the third base 252. The second camera module 257 is used to perform image recognition on the bolt 130 to obtain the position of the bolt 130. The bolt clamp 253 clamps the bolt 130 based on the position information of the bolt 130.

[0172] The second robotic arm 251 can drive the second camera module 257 to perform image recognition on the bolts 130 in the loading area to obtain the position of the bolts 130. For bolts 130 in different positions, the position of the bolt clamp 253 can be adjusted so that the bolt clamp 253 can clamp the bolt 130 at the predetermined position. This helps to improve the stability of the bolt clamp 253 in clamping the bolt 130, reduce the possibility of insufficient clamping force due to deviation of the clamping position of the bolt clamp 253, and reduce the possibility of the bolt 130 falling during the transfer process due to insufficient clamping force.

[0173] In some examples, the second camera module 257 includes a machine vision camera.

[0174] The present invention provides a method for assembling a pre-embedded component of a wind turbine blade root, which includes:

[0175] A flange 120 is provided. The flange 120 is semicircular and includes flange holes 121. A plurality of flange holes 121 are spaced apart along the circumference of the flange 120.

[0176] Provide an embedded part 110, and place the embedded part 110 on one side of the flange 120. The embedded part 110 includes a bolt sleeve 160, and the bolt sleeve 160 is aligned with the flange hole 121;

[0177] Provide a bolt 130, pass the bolt 130 through the flange hole 121 from one side of the flange 120, and connect and fix the bolt 130 to the bolt sleeve 160;

[0178] A plurality of embedded parts 110 and a plurality of bolts 130 are provided in sequence. One embedded part 110 and one bolt 130 are correspondingly provided for one flange hole 121 . The plurality of embedded parts 110 , the plurality of bolts 130 and the flange 120 are connected to form a blade root embedded assembly 100 .

[0179] The wind turbine blade root embedded component assembly method of the embodiment of the present application can assemble the embedded parts 110 outside the blade root 40 mold. The flange 120 supports each embedded part 110. When the blade root 40 needs to be formed, the blade root embedded component 100 can be transferred as a whole to the blade root 40 mold. During the molding process of the blade root 40, multiple embedded parts 110 can be accurately placed at the predetermined positions of the blade root 40 mold at one time through the blade root embedded component 100. By assembling the blade root embedded component 100 using the wind turbine blade root embedded component assembly method, the assembly process of each embedded part 110 is transferred to the outside of the blade root 40 mold, and there is no need to manually assemble each embedded part 110 in the blade root 40 mold, which reduces the mold occupation time, improves production efficiency, and reduces labor input and labor intensity.

[0180] In some implementations, in the blade root embedded assembly 100, the bolt sleeves 160 and the second wedge blocks 150 are arranged and distributed along the axial direction of the flange 120. Along the circumference of the flange 120, the bolt sleeves 160 and the first wedge blocks 140 are alternately arranged, and the second wedge blocks 150 and the first wedge blocks 140 are alternately arranged.

[0181] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions within the scope of the claims.

Claims

1. A wind turbine blade root embedded component assembly device, characterized in that: include: Feeding device, embedded parts conveying device, embedded parts assembly device, flange fixing device and bolt installation device, among which, The embedded parts conveying device includes a conveying assembly and a material fixing jig connected to each other, and the conveying assembly is used to drive the material fixing jig to move from the loading station to the assembly station; The loading device includes a connected frame and a material transfer assembly, the material transfer assembly is used to transfer the material to be assembled to the material fixing fixture at the loading station, and assemble the embedded parts on the material fixing fixture, the embedded parts including bolt sleeves; The flange fixing device includes a flange fixing frame, the flange fixing frame is used to fix the semicircular flange so that the axis of the flange is horizontal, the flange includes flange holes, and a plurality of flange holes are distributed at intervals along the circumference of the flange; The embedded part assembly device is used to transfer the embedded part at the assembly station to one side of the flange, and align the bolt sleeve with the flange hole in the horizontal direction; The bolt installation device is used to transfer the bolt to the other side of the flange, and pass the bolt through the flange hole in a horizontal direction to connect with the bolt sleeve, so that the bolt, the embedded part and the flange are connected and fixed.

2. The wind turbine blade root embedded component assembly equipment according to claim 1, characterized in that: The flange fixing frame includes a base and a vertical bracket, wherein two vertical brackets are arranged on the base at intervals along the horizontal direction. The vertical bracket includes a top limiting groove, and the flange includes a positioning ear plate. The top limiting groove is used to be plugged into the positioning ear plate in the vertical direction. The vertical bracket limits the flange in the axial direction of the flange. The base includes a fixing seat, the flange includes a fixing ear plate, and the fixing seat is used to be connected and fixed to the fixing ear plate.

3. The wind turbine blade root embedded component assembly equipment according to claim 2, characterized in that: The flange fixing device further includes a horizontal driving unit, and the flange fixing frame is connected to the horizontal driving unit. The horizontal driving unit is used to drive the flange fixing frame to move between the assembly station and the unloading station.

4. The wind turbine blade root embedded component assembly equipment according to claim 3, characterized in that: The horizontal driving unit includes a horizontal guide rail, a transfer seat and a driving assembly. The transfer seat is slidably connected to the horizontal guide rail, and the base is connected to the transfer seat. The driving assembly is used to drive the adapter and the flange fixing frame to slide synchronously relative to the horizontal guide rail, so that the flange fixing frame moves between the assembly station and the blanking station.

5. The wind turbine blade root embedded component assembly equipment according to claim 1, characterized in that: In the horizontal direction, the embedded part assembly device and the bolt installation device are respectively arranged on both sides of the flange fixing device, and the loading device, the embedded part conveying device and the embedded part assembly device are located on the same side of the flange fixing device.

6. The wind turbine blade root embedded component assembly equipment according to claim 1, characterized in that: The feeding device includes a clamping unit, and the clamping unit includes a first base, a first clamping jaw and a rotary driver. The first clamping jaw is provided on the first base, and is used to clamp or release the material to be assembled. The first base is connected to the rotary driver, and the rotary driver is used to drive the first base and the first clamping jaw to rotate synchronously around a horizontal axis.

7. The wind turbine blade root embedded component assembly equipment according to claim 1, characterized in that: The material transfer assembly includes a horizontal moving unit, a lifting moving unit and a clamping unit, wherein the horizontal moving unit is connected to the frame, the lifting moving unit is connected to the horizontal moving unit, and the clamping unit is connected to the lifting moving unit. The clamping unit is used to clamp the materials to be assembled, the horizontal moving unit is used to drive the lifting moving unit and the clamping unit to move horizontally, and the lifting moving unit is used to drive the clamping unit to move up and down in the vertical direction.

8. The wind turbine blade root embedded component assembly equipment according to claim 7, characterized in that: The horizontal moving unit includes a first transverse guide rail and a second transverse guide rail perpendicular to each other, the first transverse guide rail is arranged on the frame, and the second transverse guide rail is slidably connected to the first transverse guide rail. The lifting and moving unit includes a vertical guide rail and a slide seat. The vertical guide rail is slidably connected to the second transverse guide rail. The slide seat is slidably connected to the vertical guide rail. The clamping unit is connected to the slide seat.

9. The wind turbine blade root embedded component assembly equipment according to claim 7, characterized in that: The loading device further includes a first camera module, which is arranged on the lifting and moving unit. The first camera module is used to perform image recognition on the material to be assembled to obtain the position information of the material to be assembled. The clamping unit clamps the material to be assembled according to the position information.

10. The wind turbine blade root embedded component assembly equipment according to claim 1, characterized in that: The conveying assembly includes an annular conveying member, the material fixing jig is detachably connected to the annular conveying member, and a plurality of the material fixing jigs are arranged at intervals along the conveying direction of the annular conveying member. The material fixing jig includes a material fixing cylinder having an opening facing away from the annular conveyor, and the annular conveyor is used to drive the material fixing cylinder to move from the loading station to the assembly station. When the material fixing cylinder is at the loading station, the material transfer assembly is used to insert the corresponding material into the material fixing cylinder through the opening in a vertical direction.

11. The wind turbine blade root embedded component assembly equipment according to claim 1, characterized in that: The embedded part assembly device includes a first mechanical arm, a second base, a second clamping claw and a third clamping claw. The second base is connected to the first robotic arm, The second clamping jaw and the third clamping jaw are spaced apart and arranged on the second base. The second clamp and the third clamp are used to clamp different positions of the embedded part, and the first robotic arm is used to drive the second base, the second clamp and the third clamp to move or rotate synchronously.

12. The wind turbine blade root embedded component assembly equipment according to claim 1, characterized in that: The bolt installation device includes a second mechanical arm, a third base, a bolt clamp and a bolt tightening assembly. The third base is connected to the second robotic arm, The bolt clamp and the bolt tightening assembly are spaced apart and arranged on the third base. The bolt clamp is used to clamp the bolt, the second mechanical arm is used to drive the third base and the bolt clamp to move or rotate synchronously, and the bolt tightening assembly is used to tighten the bolt.

13. The wind turbine blade root embedded component assembly equipment according to claim 12, characterized in that: The bolt tightening assembly includes a drive feed mechanism and a bolt tightening machine, The driving feed mechanism is connected to the third base, The bolt tightening machine is connected to the driving feed mechanism, The driving and feeding mechanism is used to drive the bolt tightening machine to approach or move away from the flange, and the bolt tightening machine is used to connect the bolts and tighten the bolts.

14. The wind turbine blade root embedded component assembly equipment according to claim 13, characterized in that: The driving feed mechanism includes a support, a slide and a driving mechanism, wherein the support is connected to the third base, the slide is slidably connected to the support, and the bolt tightening machine is connected to the slide. The driving mechanism is used to drive the slide and the bolt tightening machine to slide relative to the support, so that the bolt tightening machine moves closer to or away from the flange.

15. The wind turbine blade root embedded component assembly equipment according to claim 12, characterized in that: The bolt installation device further includes a second camera module, which is arranged on the third base. The second camera module is used to perform image recognition on the bolt to obtain the bolt position, and the bolt clamp clamps the bolt according to the bolt position information.

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