Blade root embedded part feeding equipment

Abstract

The invention relates to blade root embedded part feeding equipment. The blade root embedded part feeding equipment comprises a feeding device and an embedded part conveying device. The embedded part conveying device comprises a conveying assembly and a material fixing jig which are connected, and the conveying assembly is configured to drive the material fixing jig to move from the feeding station to the assembling station. The material fixing jig comprises a material fixing barrel and a first clamping jaw which are connected, the first clamping jaw is configured to clamp and fix the embedded part, the first clamping jaw comprises a clamping part and a driving part, the clamping part is located in the barrel, the embedded part conveying device further comprises driving assemblies, and the feeding station and the assembling station are each provided with the driving assembly. The driving assembly is configured to be connected with or separated from the driving part, and the driving assembly is configured to drive the clamping part to be switched between the clamping position and the opening position through the driving part. The feeding device is configured to transfer the embedded parts to the material fixing jig located on the feeding station.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and in particular to a blade root embedded part feeding device. 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. Current blade structure designs employ the method of pre-embedded bolt sleeves during the layup process. Specifically, during blade root production, the outer skin is first laid. The bolt sleeve, first wedge block, and second wedge block are manually assembled and arranged sequentially on the outer skin. Each bolt sleeve, first wedge block, and second wedge block form an embedded component. The bolt sleeve and second wedge block are arranged axially along the blade root. The first wedge blocks and bolt sleeves are alternately arranged circumferentially along the blade root. The second wedge blocks and bolt sleeves are alternately arranged circumferentially along the blade root. After the multiple embedded components are arranged, the inner skin is laid over the embedded components. Vacuum infusion is then used to infuse resin, which cures to form the blade root component. However, the aforementioned production process results in low blade root production efficiency. Summary of the Invention

[0003] The present application provides a blade root embedded part loading device, which is beneficial to improving the preparation efficiency of the blade root.

[0004] An embodiment of the present application provides a blade root embedded part feeding device, comprising a feeding device and an embedded part conveying device.

[0005] The embedded parts conveying device includes a connected conveying assembly and a material holding jig. The conveying assembly is configured to drive the material holding jig from the loading station to the assembly station. The material holding jig includes a connected material holding cylinder and a first clamping jaw. The first clamping jaw is configured to clamp and secure the embedded parts. The first clamping jaw includes a clamping portion and a driving portion, and the clamping portion is located within the cylinder. The embedded parts conveying device also includes a drive assembly, which is provided at both the loading station and the assembly station. The drive assembly is configured to connect and disconnect with the driving portion and, via the driving portion, drive the clamping portion between a clamped position and an open position. The loading device is configured to transfer the embedded parts to the material holding jig at the loading station.

[0006] The blade root embedded parts loading device of the embodiment of the present application can automatically transfer the embedded parts to the material fixing jig through the loading device, and insert the corresponding embedded parts into the material fixing cylinder. The embedded parts inserted into the material fixing cylinder can be clamped by the corresponding first clamping jaws to fix the embedded parts. In the process of the conveying component conveying the material fixing jig, the first clamping jaws clamp the embedded parts, reducing the possibility of the embedded parts tipping over or position shifting during the conveying process, so as to ensure that the material fixing jig can stably and accurately convey the embedded parts to the assembly station, which is conducive to improving the position accuracy of the embedded parts in the assembly station, improving the subsequent assembly efficiency of the embedded parts and the blade root flange, and improving the efficiency of blade root preparation.

[0007] In some feasible embodiments, the material fixing cylinder includes a bottom plate and a side plate, the first clamping jaw is rotatably connected to the bottom plate via a rotating shaft, and the driving assembly is configured to drive the clamping part to rotate relative to the rotating shaft via the driving part so that the clamping part switches between a clamping position and an open position.

[0008] The first jaw switches between a clamped position and an open position via a relative rotational axis, which reduces the difficulty of switching the first jaw's position and improves its operability. The first jaw's rotatable connection to the base plate via the rotational axis reduces the complexity of the connection between the first jaw and the material holding cylinder, improving the convenience of the connection between the first jaw and the material holding cylinder.

[0009] In some feasible embodiments, a through hole is provided on the side plate, and the driving part passes through the through hole. When the clamping part is in the clamping position, the driving part is pressed against the inner wall of the through hole. The driving component is located outside the material fixing cylinder. The driving component is configured to press the driving part or release the driving part in a direction perpendicular to the side plate, so as to drive the clamping part to rotate relative to the rotating shaft through the driving part.

[0010] The driving portion of the first clamp extends out of the side plate through the through hole of the side plate, which is beneficial to shortening the connection path between the driving portion and the driving assembly and improving the convenience of connection between the driving portion and the driving assembly.

[0011] In some achievable embodiments, the clamping portion includes a first connecting segment and a second connecting segment that are intersectingly arranged, the intersection of the first connecting segment and the second connecting segment is connected to the rotating shaft, and the first connecting segment is connected to the driving portion.

[0012] When the clamping portion clamps the embedded part, the second connecting section can abut against the embedded part to limit the embedded part and reduce the possibility of the embedded part moving or tipping over. The first connecting section can avoid the embedded part and reduce the possibility of positional interference between the first connecting section and the embedded part.

[0013] In some feasible embodiments, the clamping portion further includes a sliding rod, the second connecting section is connected to the sliding rod, the bottom plate is provided with an arc-shaped sliding hole, and the sliding rod is slidably connected to the arc-shaped sliding hole.

[0014] When the first jaw rotates relative to the rotating shaft, the second connecting section drives the slide bar to slide synchronously in the arc-shaped sliding hole. The slide bar and the rotating shaft can jointly limit the first jaw, making the rotation process of the first jaw more stable and preventing the first jaw from deflecting.

[0015] In some feasible embodiments, the clamping portion further includes a limiting member, which is disposed below the bottom plate and connected to the slide rod. The size of the limiting member is greater than the width of the arc-shaped slide hole.

[0016] When the first clamping jaw is subjected to torque causing the end of the second connecting section to tend to move away from the bottom plate, the limiting member can contact the outer surface of the bottom wall to prevent the end of the second connecting section from moving away from the bottom plate and tilting.

[0017] In some feasible embodiments, the material fixing jig further includes an elastic reset member, and the elastic reset member is arranged between the clamping part and the material fixing cylinder. When the driving assembly drives the clamping part to switch between the clamping position and the open position through the driving part, the elastic reset member accumulates or releases elastic potential energy.

[0018] The first clamping jaw can be smoothly restored to its initial state through an elastic reset member with a relatively simple structure, which is conducive to reducing the structural design difficulty of restoring the first clamping jaw to its initial state, reducing the overall structural complexity of the material fixing jig, and improving the production convenience and assembly convenience of the material fixing jig.

[0019] In some feasible embodiments, two groups of first jaws are provided on the material fixing cylinder, and the two groups of first jaws are spaced apart along the conveying direction of the conveying assembly. Each group of first jaws includes two first jaws, and the two first jaws are spaced apart along a direction perpendicular to the conveying direction.

[0020] In some feasible embodiments, at the loading station and the assembly station, drive assemblies are respectively provided on both sides of the conveying assembly along a direction perpendicular to the conveying direction.

[0021] In some achievable embodiments, the conveying assembly includes an annular conveying member, the material fixing jig is detachably connected to the annular conveying member, and a plurality of material fixing jigs are arranged at intervals along the conveying direction of the annular conveying member.

[0022] The material fixing jig can be detachably connected to the ring conveyor, which facilitates the replacement or repair of the material fixing jig and reduces the difficulty of replacement and maintenance of the material fixing jig.

[0023] In some feasible embodiments, the loading device includes a frame, 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 embedded parts to be assembled, the horizontal moving unit is configured to drive the lifting moving unit and the clamping unit to move horizontally, and the lifting moving unit is configured to drive the clamping unit to move up and down in the vertical direction.

[0024] The position of the clamping unit can be adjusted in the horizontal direction through the horizontal moving unit, thereby widening the range of movement of the clamping unit and covering a larger range of material loading areas.

[0025] In some feasible embodiments, the clamping unit includes a base, a second clamping jaw and a rotary drive, the second clamping jaw is arranged on the base, the second clamping jaw is configured to clamp or release the embedded parts in the loading area, the base is connected to the rotary drive, and the rotary drive is configured to drive the base and the second clamping jaw to rotate synchronously around the horizontal axis.

[0026] The position of the second clamping jaw can be adjusted by rotating the driver so that the second clamping jaw can clamp at a predetermined position of the embedded part, which is beneficial to improving the stability of the second clamping jaw in clamping the embedded part, reducing the possibility of the clamping force being too small due to deviation of the clamping position of the second clamping jaw, and reducing the possibility of the embedded part falling during the transfer process due to too small clamping force.

[0027] In some feasible embodiments, the loading device further includes a camera module, which is arranged on the lifting and moving unit. The camera module is configured to perform image recognition on the embedded parts to obtain position information of the embedded parts, and the clamping unit clamps the embedded parts according to the position information.

[0028] The camera module is used to perform image recognition on embedded parts to obtain their position information. For embedded parts in different locations, the position of the clamping unit can be adjusted to ensure that the clamping unit can clamp the embedded part at the predetermined position. This helps improve the stability of the clamping unit's grip on the embedded part and reduces the possibility of insufficient clamping force due to deviation from the clamping unit's clamping position, thereby reducing the possibility of material falling during transfer due to insufficient clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0030] Figure 1 A schematic diagram of the structure of a wind turbine generator set provided in some embodiments of the present application;

[0031] Figure 2 A schematic diagram of the structure of a blade provided in some embodiments of the present application;

[0032] Figure 3 A schematic diagram of a partial cross-sectional structure of a blade root provided in some embodiments of the present application;

[0033] Figure 4 A schematic diagram of the arrangement of embedded parts in a blade root according to some embodiments of the present application;

[0034] Figure 5 A schematic diagram of the exploded structure of a blade root pre-embedded component provided in some embodiments of the present application;

[0035] Figure 6 A schematic structural diagram of a first wedge block provided in some embodiments of the present application;

[0036] Figure 7 A schematic structural diagram of a second wedge block provided in some embodiments of the present application;

[0037] Figure 8 A schematic diagram of the structure of a wind turbine blade root embedded component assembly system and a blade root embedded component loading device provided in some embodiments of the present application;

[0038] Figure 9 A schematic structural diagram of an embedded parts conveying device provided in some embodiments of the present application;

[0039] Figure 10 A schematic diagram of a partial structure of an embedded part conveying device provided in some embodiments of the present application;

[0040] Figure 11 A schematic diagram of the structure of an embedded part conveying device conveying embedded parts provided in some embodiments of the present application;

[0041] Figure 12 A schematic top view of the material fixing fixture provided in some embodiments of the present application;

[0042] Figure 13 A schematic diagram of the structure of a material fixing fixture provided in some embodiments of the present application;

[0043] Figure 14 A schematic structural diagram of the connection state of the first clamping jaw, the sliding rod, and the limiting member provided in some embodiments of the present application;

[0044] Figure 15 A schematic diagram of the bottom perspective structure of a material fixing fixture provided in some embodiments of the present application;

[0045] Figure 16 A schematic diagram of the structure of the material fixing fixture and the driving assembly provided in some embodiments of the present application;

[0046] Figure 17 A schematic structural diagram of a loading device provided in some embodiments of the present application;

[0047] Figure 18 for Figure 17 Enlarged schematic diagram of the V in the middle.

[0048] In the accompanying drawings, the drawings are not necessarily drawn to scale.

[0049] Description of reference numerals:

[0050] 10. Wind turbine generator set; 20. Blade; 30. Main body; 40. Blade root; 100. Blade root embedded assembly; 110. Embedded part; 120. Blade root flange; 121. Flange hole; 130. Bolt; 140. First wedge block; 141. Arc-shaped recess; 150. Second wedge block; 151. Conical section; 160. Bolt sleeve; 161. Conical hole; 200. Blade root embedded part feeding device; 210. Feeding device; 211. Frame; 212. Clamping unit; 2121. Base; 2122. Second clamping jaw; 2123. Rotary drive; 213. Horizontal movement unit; 2131. First transverse guide rail; 2132. Second transverse guide rail; 214 , lifting and moving unit; 2141, vertical guide rail; 2142, slide; 215, camera module; 220, embedded part conveying device; 221, conveying assembly; 222, material fixing fixture; 230, material fixing cylinder; 231, bottom plate; 2311, arc-shaped sliding hole; 232, side plate; 233, through hole; 240, first clamping jaw; 241, clamping part; 242, driving part; 243, first connecting section; 244, second connecting section; 245, sliding rod; 246, limiting part; 250, driving assembly; 251, telescopic part; 260, elastic reset part; 300, rotating shaft; 400, wind turbine blade root embedded component assembly system; X, conveying direction. DETAILED DESCRIPTION

[0051] 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.

[0052] 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 this specification 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 this specification, claims, and the accompanying drawings are intended to cover non-exclusive inclusions. The terms "first," "second," etc. in this specification, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order or a primary-secondary relationship.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] The term "plurality" used in this application refers to two or more (including two).

[0057] 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.

[0058] See also Figure 2 、 Figure 3 and Figure 4As 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 may include a first wedge block 140, a second wedge block 150, and a bolt sleeve 160. The bolt sleeve 160 may be connected to the hub by bolts. 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.

[0059] See also Figure 5 As shown, the blade root embedded assembly 100 of the embodiment of the present application includes a blade root flange 120, bolts 130, and an embedded component 110. The blade root flange 120 includes flange holes 121. Multiple flange holes 121 are spaced apart along the circumference of the blade root flange 120. The flange holes 121 are positioned near the outer edge of the blade root flange 120. The multiple flange holes 121 are arranged in an arc shape. Each flange hole 121 is provided with a bolt 130 and a bolt sleeve 160. The bolt 130 is connected to the bolt sleeve 160.

[0060] In some implementations, the embedded component 110 includes a first wedge block 140, a second wedge block 150, and a bolt sleeve 160. Along the circumference of the blade root flange 120, the bolt sleeve 160 and the first wedge block 140 are arranged side by side, and the first wedge block 140 and the second wedge block 150 are arranged side by side. Along the axial direction of the blade root flange 120, the bolt sleeve 160 and the second wedge block 150 are arranged in an aligned manner.

[0061] 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 .

[0062] 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.

[0063] 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).

[0064] In some possible implementations, the processing of the blade 20 includes:

[0065] Laying out the outer skin in the mold;

[0066] The blade root pre-embedded assembly 100 is hoisted as a whole to the blade root mold, and each embedded part 110 in the blade root pre-embedded assembly 100 is arranged corresponding to the outer skin;

[0067] Laying the inner skin to cover each embedded part 110;

[0068] 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, thereby completing the formation of the blade 20.

[0069] After the blade 20 is formed, the bolts 130 and the blade root flange 120 are removed, and the embedded part 110 is embedded in the formed blade 20 .

[0070] The removed bolts 130 and the blade root flange 120 can be reused. The bolts 130 and the blade root flange 120 can be used to be reassembled with the next batch of embedded parts 110 to form the blade root embedded assembly 100 .

[0071] 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 molding process, after the outer skin is laid on the 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 mold, thereby optimizing production cycle time and improving production efficiency.

[0072] Furthermore, if the mold is a blade mold, the blade root flange 120 and the blade root structure are transferred to the blade mold to form the blade 20 .

[0073] If the mold is a blade root mold, the blade root embedded component 100 is first formed into a blade root structure on the blade root mold, and the blade root structure is transferred to the blade mold through the blade root flange 120. This eliminates the need for manual placement of the embedded parts 110 in sequence in the blade root mold. At the same time, since the blade root flange 120 is pre-fixedly connected to the blade root embedded component 100, the blade root structure can be transferred to the blade mold without the use of additional lifting tooling, thereby reducing the number of tooling and the flow process, reducing production costs, and improving production efficiency.

[0074] In some possible implementations, see Figure 5 As shown, the blade root flange 120 in the blade root embedded assembly 100 is semicircular. The blade root structure after the blade root mold is formed is semicircular. Two semicircular blade root structures are used to form a circular blade root 40.

[0075] See also Figure 8As shown, the embodiment of the present application provides a wind turbine blade root embedded component assembly system 400. The wind turbine blade root embedded component assembly system 400 can remove the embedded part 110 at the assembly station and assemble the embedded part 110 with the blade root flange 120 to obtain the above-mentioned blade root embedded component 100.

[0076] At present, the embedded parts 110 to be assembled are placed manually at the assembly station, resulting in deviation in the position accuracy of the embedded parts 110. There is a possibility that the wind turbine blade root embedded component assembly system 400 cannot accurately remove the embedded parts 110 at the assembly station, affecting the assembly efficiency of the embedded parts 110 and the blade root flange 120, thereby affecting the preparation efficiency of the blade root 40.

[0077] See also Figure 8 As shown, an embodiment of the present application provides a blade root embedded part loading device 200. The blade root embedded part loading device 200 can accurately transport the embedded parts 110 to be assembled to the assembly station. The position of the embedded parts 110 to be assembled is highly accurate, so that the wind turbine blade root embedded component assembly system 400 can accurately remove the embedded parts 110 at the assembly station, which is beneficial to improving the assembly efficiency of the embedded parts 110 and the blade root flange 120, and improving the preparation efficiency of the blade root 40.

[0078] See also Figures 8 to 11 As shown, the blade root embedded part loading equipment 200 of the embodiment of the present application includes a loading device 210 and an embedded part conveying device 220. The embedded part conveying device 220 includes a connected conveying assembly 221 and a material fixing jig 222. The conveying assembly 221 is configured to drive the material fixing jig 222 to move from the loading station to the assembly station. The material fixing jig 222 includes a connected material fixing cylinder 230 and a first clamping jaw 240. The first clamping jaw 240 is configured to clamp and fix the embedded part 110. The first clamping jaw 240 includes a clamping portion 241 and a driving portion 242. The clamping portion 241 is located in the cylinder. The embedded part conveying device 220 also includes a driving assembly 250. The driving assembly 250 is provided at both the loading station and the assembly station. The driving assembly 250 is configured to be connected to or separated from the driving portion 242. When the drive assembly 250 is connected to the drive portion 242, the drive assembly 250 is configured to drive the clamping portion 241 to switch between the clamping position and the open position through the drive portion 242. The loading device 210 is configured to transfer the embedded part 110 to the material fixing fixture 222 at the loading station.

[0079] In the embodiment of the present application, the embedded component 110 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 are stored in the loading area. The loading device 210 can transfer the corresponding materials to the material fixing fixture 222.

[0080] The loading device 210 can transfer the first wedge 140 to the top of the material holding cylinder 230. The first wedge 140 is vertically inserted into the material holding cylinder 230. Before the first wedge 140 is inserted, the drive assembly 250 drives the corresponding clamping portion 241 to an open position via the drive portion 242, allowing the clamping portion 241 to avoid the first wedge 140 inserted into the material holding cylinder 230. After the first wedge 140 is inserted into the predetermined position, the drive assembly 250 releases the drive portion 242, causing the clamping portion 241 to switch to a clamping position to clamp the first wedge 140.

[0081] The loading device 210 then transfers the bolt sleeve 160 to the top of the material securing cylinder 230. The bolt sleeve 160 is vertically inserted into the material securing cylinder 230. The bolt sleeve 160 is positioned side by side with the first wedge block 140. Before the bolt sleeve 160 is inserted, the drive assembly 250 drives the corresponding clamping portion 241 to an open position via the drive portion 242, allowing the clamping portion 241 to clear the bolt sleeve 160 inserted into the material securing cylinder 230. After the bolt sleeve 160 is inserted to the predetermined position, the drive assembly 250 releases the drive portion 242, causing the clamping portion 241 to switch to a clamping position to clamp the bolt sleeve 160.

[0082] Finally, the loading device 210 transfers the second wedge 150 to the top of the material holding cylinder 230. The tapered section 151 of the second wedge 150 vertically engages with the tapered hole 161 of the bolt sleeve 160. The first wedge 140, bolt sleeve 160, and second wedge 150 are assembled into a single unit.

[0083] During the process of the conveying component 221 conveying the material fixing jig 222, the first clamping jaw 240 clamps the first wedge block 140 and the bolt sleeve 160, reducing the possibility of the first wedge block 140 and the bolt sleeve 160 tipping over or position shifting during the conveying process, so as to ensure that the material fixing jig 222 stably and accurately conveys the overall structure formed by the first wedge block 140, the bolt sleeve 160 and the second wedge block 150 to the assembly station.

[0084] The wind turbine blade root embedded component assembly system 400 can remove the integral structure formed by the first wedge block 140, the bolt sleeve 160 and the second wedge block 150 from the material fixing fixture 222 at the assembly station, and assemble the integral structure formed by the first wedge block 140, the bolt sleeve 160 and the second wedge block 150 with the blade root flange 120.

[0085] In some examples, the wind turbine blade root embedded component assembly system 400 can clamp the overall structure formed by the first wedge block 140, the bolt sleeve 160 and the second wedge block 150 through a clamp, and pull the overall structure formed by the first wedge block 140, the bolt sleeve 160 and the second wedge block 150 out of the material fixing cylinder 230 in the vertical direction.

[0086] Before removing the integral structure formed by the first wedge block 140, the bolt sleeve 160 and the second wedge block 150 from the material fixing fixture 222 at the assembly station, the driving assembly 250 drives the corresponding clamping part 241 to the open position through the driving part 242, and the clamping part 241 releases the first wedge block 140 and the bolt sleeve 160.

[0087] The material holding cylinder 230 facilitates the transfer of materials by the loading device 210 and facilitates the removal of materials, thereby improving the efficiency of material transfer. A portion of the embedded component 110 is located within the material holding cylinder 230, so that the material holding cylinder 230 can limit the embedded component 110 and reduce the possibility of the embedded component 110 tipping over.

[0088] The blade root embedded part loading device 200 of the embodiment of the present application can automatically transfer the embedded parts 110 to the material fixing jig 222 through the loading device 210, and insert the corresponding embedded parts 110 into the material fixing cylinder 230. The embedded parts 110 inserted into the material fixing cylinder 230 can be clamped by the corresponding first clamping jaws 240 to fix the embedded parts 110. During the process of the conveying assembly 221 conveying the material fixing jig 222, the first clamping jaws 240 clamp the embedded parts 110, reducing the possibility of the embedded parts 110 tipping over or position shifting during the conveying process, thereby ensuring that the material fixing jig 222 can stably and accurately convey the embedded parts 110 to the assembly station, which is conducive to improving the position accuracy of the embedded parts 110 at the assembly station, improving the subsequent assembly efficiency of the embedded parts 110 and the blade root flange 120, and improving the preparation efficiency of the blade root 40.

[0089] In some possible implementations, see Figure 12 As shown, the material holding cylinder 230 includes a bottom plate 231 and side plates 232. The first clamping jaw 240 is rotatably connected to the bottom plate 231 via a rotating shaft 300. The drive assembly 250 is configured to drive the clamping portion 241 to rotate relative to the rotating shaft 300 via the driving portion 242, thereby switching the clamping portion 241 between a clamped position and an open position.

[0090] When the driving portion 242 drives the clamping portion 241 to rotate relative to the rotating shaft 300, the rotating shaft 300 serves as a fulcrum. The first clamping jaw 240 switches between a clamped position and an open position relative to the rotating shaft 300, thereby simplifying the position switching of the first clamping jaw 240 and improving its operability. The first clamping jaw 240's rotatable connection to the base plate 231 via the rotating shaft 300 reduces the complexity of the connection between the first clamping jaw 240 and the material holding cylinder 230, thereby improving the convenience of the connection between the first clamping jaw 240 and the material holding cylinder 230.

[0091] In some examples, the rotating shaft 300 is disposed on the bottom plate 231 . The first clamping jaw 240 has an axial hole matched with the rotating shaft 300 .

[0092] In some possible implementations, see Figure 12 and Figure 13 As shown, the side plate 232 is provided with a through-hole 233. The driving portion 242 extends through the through-hole 233. When the clamping portion 241 is in the clamping position, the driving portion 242 presses against the inner wall of the through-hole 233. The driving assembly 250 is located outside the material holding cylinder 230. The driving assembly 250 is configured to press against the driving portion 242 in a direction perpendicular to the side plate 232 or release the driving portion 242, thereby driving the clamping portion 241 to rotate relative to the rotating shaft 300 via the driving portion 242.

[0093] In the initial state of the first clamping jaw 240, the clamping portion 241 is in the clamping position. When the driving assembly 250 moves toward the side plate 232 in a direction perpendicular to the side plate 232, the driving assembly 250 can apply an external force to the driving portion 242, which generates a torque relative to the rotating shaft 300, causing the driving portion 242 to rotate relative to the rotating shaft 300. The driving portion 242 simultaneously drives the clamping portion 241 to rotate relative to the rotating shaft 300, switching the clamping portion 241 from the clamping position to the open position.

[0094] When the driving assembly 250 moves away from the side plate 232 in a direction perpendicular to the side plate 232, the driving assembly 250 releases the driving portion 242, and the driving portion 242 rotates relative to the rotation shaft 300. The driving portion 242 simultaneously drives the clamping portion 241 to rotate relative to the rotation shaft 300, so that the clamping portion 241 switches from the open position to the clamping position.

[0095] When the conveying assembly 221 needs to convey the material fixing jig 222, the driving assembly 250 is separated from the driving part 242. After the driving assembly 250 and the driving part 242 are separated, the conveying assembly 221 drives the material fixing jig 222 to leave the loading station and move to the assembly station.

[0096] The driving portion 242 of the first clamp 240 extends out of the side plate 232 through the through hole 233 of the side plate 232, which is beneficial to shorten the connection path between the driving portion 242 and the driving assembly 250 and improve the convenience of connection between the driving portion 242 and the driving assembly 250.

[0097] In some examples, a through hole 233 is provided in an area of ​​the side plate 232 close to the bottom plate 231 .

[0098] In some possible implementations, see Figure 12 and Figure 14 As shown, the clamping portion 241 includes a first connecting segment 243 and a second connecting segment 244 that are intersecting. The intersection of the first connecting segment 243 and the second connecting segment 244 is connected to the rotating shaft 300, and the first connecting segment 243 is connected to the driving portion 242.

[0099] When the clamping portion 241 clamps the embedded part 110, the second connecting section 244 can abut against the embedded part 110 to limit the position of the embedded part 110 and reduce the possibility of the embedded part 110 shifting or tipping over. The first connecting section 243 can avoid the embedded part 110, reducing the possibility of positional interference between the first connecting section 243 and the embedded part 110.

[0100] In some examples, the distance between the second connecting segment 244 and the side plate 232 gradually increases in a direction away from the first connecting segment 243 .

[0101] In some examples, the driving portion 242 is a rod. The first connecting segment 243 is disposed perpendicular to the driving portion 242. The second connecting segment 244 is disposed obliquely relative to the first connecting segment 243. The angle between the first connecting segment 243 and the second connecting segment 244 is an obtuse angle.

[0102] In some possible implementations, see Figure 14 and Figure 15 As shown, the clamping portion 241 further includes a slide rod 245. The second connecting section 244 is connected to the slide rod 245. The bottom plate 231 is provided with an arc-shaped slide hole 2311. The slide rod 245 can be slidably connected to the arc-shaped slide hole 2311.

[0103] When the first clamping jaw 240 rotates relative to the rotating shaft 300, the second connecting section 244 drives the sliding rod 245 to slide synchronously within the arc-shaped sliding hole 2311. The sliding rod 245 and the rotating shaft 300 can jointly limit the first clamping jaw 240, making the rotation process of the first clamping jaw 240 more stable and preventing the first clamping jaw 240 from deflecting.

[0104] The structure of the arcuate sliding hole 2311 is the same as the swing trajectory of the end of the second connecting section 244, which reduces the possibility of the sliding rod 245 getting stuck when sliding in the arcuate sliding hole 2311. The center of the arcuate sliding hole 2311 can be located on the axis of the rotating shaft 300.

[0105] In some examples, a sliding rod 245 is provided at an end of the second connecting segment 244 away from the first connecting segment 243 .

[0106] In some examples, the second connecting segment 244 and the sliding rod 245 are integrally formed.

[0107] In some possible implementations, see Figure 14 and Figure 15 As shown, the clamping portion 241 further includes a limiting member 246. The limiting member 246 is disposed below the bottom plate 231. The limiting member 246 is connected to the slide bar 245. The size of the limiting member 246 is larger than the width of the arc-shaped slide hole 2311.

[0108] When the first clamping jaw 240 rotates relative to the rotating shaft 300, the second connecting section 244 drives the sliding rod 245 and the stopper 246 to move synchronously. The stopper 246 is larger than the width of the arcuate sliding hole 2311, making it difficult for the stopper 246 to enter and escape from the arcuate sliding hole 2311. When the first clamping jaw 240 is subjected to torque, causing the end of the second connecting section 244 to move away from the bottom plate 231, the stopper 246 can contact the outer surface of the bottom wall to prevent the end of the second connecting section 244 from moving away from the bottom plate 231 and tilting.

[0109] If the end of the second connecting section 244 undergoes reciprocating motion, tilting away from the base plate 231 and collapsing toward the base plate 231, there is a possibility of rubbing between the end of the second connecting section 244 and the embedded component 110, resulting in scratches on the embedded component 110 and the second connecting section 244. In this embodiment of the present application, the position limiting member 246 serves to limit and constrain the first clamping jaw 240, thereby reducing the possibility of such a problem.

[0110] In some examples, the stopper 246 is a sheet-like structure. For example, the stopper 246 can be welded to the end of the slide bar 245 away from the second connecting section 244. For example, the stopper 246 can be integrally formed with the slide bar 245. One end of the slide bar 245 is welded to the end of the second connecting section 244.

[0111] In some examples, the material fixing cylinder 230 includes a receiving recess located outside the bottom plate 231. The limiting member 246 is located in the receiving recess.

[0112] In some possible implementations, see Figure 12As shown, the material holding fixture 222 also includes an elastic return member 260. The elastic return member 260 is disposed between the clamping portion 241 and the material holding cylinder 230. When the drive assembly 250 drives the clamping portion 241 via the drive portion 242 to switch between the clamped position and the open position, the elastic return member 260 accumulates or releases elastic potential energy.

[0113] When the drive assembly 250 drives the clamping portion 241 from the clamped position to the open position via the drive unit 242, the clamping portion 241 can drive the elastic return member 260 to accumulate elastic potential energy. When the drive assembly 250 drives the clamping portion 241 from the open position to the clamped position via the drive unit 242, the elastic return member 260 releases the elastic potential energy, causing the clamping portion 241 to move. When the elastic return member 260 releases the elastic potential energy, it can drive the first clamping jaw 240 to rotate relative to the rotating shaft 300 until the first clamping jaw 240 returns to its initial state.

[0114] After the drive assembly 250 is separated from the drive portion 242, the elastic return member 260 maintains the first clamping jaw 240 in the clamped position. The drive portion 242 presses against the inner wall of the through-hole 233, and the side plate 232 limits the drive portion 242, preventing it from further rotation. The rotational torque applied by the elastic return member 260 to the first clamping jaw 240 is opposite to the rotational torque applied by the side plate 232.

[0115] The first clamping jaw 240 can be smoothly restored to its initial state through the elastic reset member 260 with a relatively simple structure, which is beneficial to reducing the structural design difficulty of restoring the first clamping jaw 240 to its initial state, reducing the overall structural complexity of the material fixing jig 222, and improving the production convenience and assembly convenience of the material fixing jig 222.

[0116] In some examples, an elastic return member 260 is disposed between the second connecting section 244 and the side plate 232. When the drive assembly 250 drives the clamping portion 241 from the clamped position to the open position via the drive portion 242, the second connecting section 244 can compress the elastic return member 260, thereby accumulating elastic potential energy in the elastic return member 260. When the drive assembly 250 drives the clamping portion 241 from the open position to the clamped position via the drive portion 242, the second connecting section 244 can release the elastic return member 260, thereby releasing the elastic potential energy in the elastic return member 260.

[0117] In some examples, the elastic return member 260 includes a spring.

[0118] In some possible implementations, see Figure 16As shown, two groups of first clamping jaws 240 are provided on the material fixing cylinder 230, and the two groups of first clamping jaws 240 are spaced apart along the conveying direction X of the conveying assembly 221. Each group of first clamping jaws 240 includes two first clamping jaws 240, and the two first clamping jaws 240 are spaced apart in a direction perpendicular to the conveying direction X.

[0119] Of the two groups of first clamping jaws 240 , one group of first clamping jaws 240 is used to clamp the first wedge block 140 , and the other group of first clamping jaws 240 is used to clamp the bolt sleeve 160 .

[0120] The first wedge block 140 and the bolt sleeve 160 are each clamped using a separate set of first clamping jaws 240, ensuring that the first wedge block 140 and the bolt sleeve 160 do not interfere with each other during the clamping process. After the first wedge block 140 is clamped by one set of first clamping jaws 240, when the bolt sleeve 160 is inserted into the material holding cylinder 230, the bolt sleeve 160 is clamped by the other set of first clamping jaws 240. This maintains the first wedge block 140 in a clamped state, reducing the possibility of the bolt sleeve 160 squeezing the first wedge block 140 during insertion, which could cause the first wedge block 140 to shift in position. This improves the positional stability of the first wedge block 140 and the bolt sleeve 160.

[0121] In some possible implementations, see Figure 10 As shown, at the loading station and the assembly station, along a direction perpendicular to the conveying direction X, driving components 250 are respectively provided on both sides of the conveying component 221.

[0122] Through holes 233 are provided on the two opposing side plates 232 of the material holding cylinder 230, perpendicular to the conveying direction X. The two first clamping jaws 240 in each set of first clamping jaws 240 are respectively provided corresponding to the through holes 233 in the two side plates 232. A drive assembly 250 is also provided for each of the two first clamping jaws 240 in each set of first clamping jaws 240.

[0123] The driving assemblies 250 on both sides of the transmission assembly 221 simultaneously drive the two first clamping jaws 240 in the same group to switch between the clamping position and the open position.

[0124] In some examples, four first clamping jaws 240 are provided on the material holding cylinder 230. At the loading station, two drive assemblies 250 are provided on either side of the conveyor assembly 221. The number of drive assemblies 250 is the same as the number of first clamping jaws 240. The two drive assemblies 250 provided on the same side of the conveyor assembly 221 are spaced apart along the conveying direction X. The two drive assemblies 250 provided on the same side of the conveyor assembly 221 are respectively used to control the corresponding two first clamping jaws 240 to switch between a clamped position and an open position.

[0125] At the assembly station, two drive assemblies 250 are provided on either side of the conveyor assembly 221. The number of drive assemblies 250 is the same as the number of first clamping jaws 240. The two drive assemblies 250 provided on the same side of the conveyor assembly 221 are spaced apart along the conveying direction X. The two drive assemblies 250 provided on the same side of the conveyor assembly 221 are respectively used to control the corresponding two first clamping jaws 240 to switch between the clamping position and the open position.

[0126] In some possible implementations, see Figure 16 As shown, the drive assembly 250 includes a telescopic member 251. The telescopic direction of the telescopic member 251 of the drive assembly 250 is perpendicular to the conveying direction X. After the telescopic member 251 of the drive assembly 250 is extended and abuts against the driving portion 242, the telescopic member 251 pushes the driving portion 242 of the first clamping jaw 240 to move, and the driving portion 242 synchronously drives the clamping portion 241 to switch from the clamping position to the open position. When the telescopic member 251 of the drive assembly 250 is retracted and separated from the driving portion 242, the telescopic member 251 releases the driving portion 242 of the first clamping jaw 240, the driving portion 242 moves to the initial position, and the clamping portion 241 switches from the open position to the clamping position.

[0127] In some examples, drive assembly 250 may include a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0128] In some embodiments, the conveying assembly 221 includes an annular conveying member. The material fixing fixture 222 is detachably connected to the annular conveying member. A plurality of material fixing fixtures 222 are spaced apart along the conveying direction X of the annular conveying member.

[0129] The material fixing jig 222 can be detachably connected to the annular conveyor, which facilitates replacement or repair of the material fixing jig 222 and reduces the difficulty of replacement and maintenance of the material fixing jig 222 .

[0130] In some examples, the endless conveyor 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 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 and the driven roller to rotate.

[0131] In some examples, the material fixing cylinder 230 is detachably connected to the annular conveying member by fasteners such as screws.

[0132] In some examples, the material holding cylinder 230 may be in the shape of a cuboid.

[0133] In some possible implementations, see Figure 17 and Figure 18As shown, the loading device 210 includes a frame 211, a horizontal moving unit 213, a lifting moving unit 214, and a clamping unit 212. The horizontal moving unit 213 is connected to the frame 211. The lifting moving unit 214 is connected to the horizontal moving unit 213. The clamping unit 212 is connected to the lifting moving unit 214. The clamping unit 212 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 213 is configured to drive the lifting moving unit 214 and the clamping unit 212 to move horizontally. The lifting moving unit 214 is configured to drive the clamping unit 212 to move up and down in the vertical direction.

[0134] The clamping unit 212 is used to clamp or release the first wedge block 140, bolt sleeve 160, or second wedge block 150 to facilitate the transfer of the corresponding embedded parts 110 by the loading device 210. The position of the clamping unit 212 can be adjusted horizontally by the horizontal movement unit 213, widening the range of motion of the clamping unit 212, thereby covering a larger 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 need to be replenished, and improves operating efficiency.

[0135] The lifting and moving unit 214 can adjust the position of the clamping unit 212 in the vertical direction to facilitate the clamping unit 212 to avoid the structural components of the loading area (such as storage boxes or shelves, etc.), reducing the possibility of collision between the embedded parts 110 and the structural components of the loading area. When the clamping unit 212 transfers material to the material fixing jig 222, the clamping unit 212 can maintain a large distance between the material fixing jig 222 in the vertical direction, reducing the possibility of collision between the clamping unit 212 or the material and the material fixing jig 222.

[0136] In some possible implementations, see Figure 17 and Figure 18 As shown, the horizontal movement unit 213 includes a first transverse guide rail 2131 and a second transverse guide rail 2132, which are perpendicular to each other. The first transverse guide rail 2131 is disposed on the frame 211. The second transverse guide rail 2132 is slidably connected to the first transverse guide rail 2131. The lifting movement unit 214 includes a vertical guide rail 2141 and a slide 2142. The vertical guide rail 2141 is slidably connected to the second transverse guide rail 2132. The slide 2142 is slidably connected to the vertical guide rail 2141. The clamping unit 212 is connected to the slide 2142.

[0137] The first transverse guide rail 2131 and the second transverse guide rail 2132 can support and guide the lifting and moving unit 214, thereby improving the movement stability of the lifting and moving unit 214 and reducing the possibility of shaking of the lifting and moving unit 214 during movement. The vertical guide rail 2141 and the slide 2142 can support and guide the clamping unit 212, thereby improving the movement stability of the clamping unit 212 and reducing the possibility of shaking of the clamping unit 212 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 2132 is connected to the screw. The motor drives the screw to rotate, and the screw drives the second transverse guide rail 2132 to move horizontally along the first transverse guide rail 2131.

[0139] In some examples, the loading device 210 includes a motor and a screw. The vertical guide rail 2141 is connected to the screw. The motor drives the screw to rotate, and the screw drives the vertical guide rail 2141 to move horizontally along the second transverse guide rail 2132.

[0140] In some examples, the loading device 210 includes a motor and a screw. The slide 2142 is connected to the screw. The motor drives the screw to rotate, and the screw drives the slide 2142 to rise and fall along the vertical guide rail 2141.

[0141] In some possible implementations, see Figure 18 As shown, the clamping unit 212 includes a base 2121, a second clamping jaw 2122, and a rotary actuator 2123. The second clamping jaw 2122 is mounted on the base 2121. The second clamping jaw 2122 is configured to clamp or release the embedded component 110 in the loading area. The base 2121 is connected to the rotary actuator 2123. The rotary actuator 2123 is configured to drive the base 2121 and the second clamping jaw 2122 to rotate synchronously around a horizontal axis.

[0142] The embedded part 110 includes a first wedge block 140, a bolt sleeve 160, or a second wedge block 150. The clamping unit 212 is used to clamp the first wedge block 140, the bolt sleeve 160, or the second wedge block 150 to facilitate the material transfer of the loading device 210, while improving the stability of the material transfer process and reducing the possibility of material falling off.

[0143] When the first wedge block 140, bolt sleeve 160, or second wedge block 150 is stored in the loading area, different first wedge blocks 140, bolt sleeve 160, or second wedge blocks 150 may be in different positions. The position of the second clamping jaw 2122 can be adjusted by rotating the driver 2123 for the first wedge block 140, bolt sleeve 160, or second wedge block 150 in different positions, so that the second clamping jaw 2122 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 second clamping jaw 2122 in clamping the embedded component 110, reduce the possibility of insufficient clamping force due to deviation of the second clamping jaw 2122 from the clamping position, and reduce the possibility of the embedded component 110 falling during the transfer process due to insufficient clamping force.

[0144] In some examples, after the second clamp 2122 transfers the embedded part 110 (e.g., the first wedge block 140 or the bolt sleeve 160) to the top of the material fixing cylinder 230, the rotary driver 2123 drives the second clamp 2122 to rotate so that the embedded part 110 stands upright, making it easier to insert the embedded part 110 into the material fixing cylinder 230 through the opening of the material fixing cylinder 230.

[0145] In some examples, the loading device 210 transfers the bolt sleeve 160 to the embedded part conveyor 220 via the second clamping jaw 2122. The bolt sleeve 160 on the embedded part conveyor 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 second clamping jaw 2122 transfers the second wedge block 150 to the embedded part conveyor 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 comprising 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 tapered hole 161 of the bolt sleeve 160 is 10 to 15 centimeters long. Exemplarily, the height of the first wedge block 140 is 1.2 to 1.5 meters.

[0146] In some examples, the loading device 210 includes a cylinder that is used to drive the second clamping jaw 2122 to open and close.

[0147] In some examples, the rotary driver 2123 is disposed on the slide 2142. The rotary driver 2123 includes a motor and a reducer. The reducer is connected to the motor. The output end of the reducer is connected to the base 2121. The rotation axis of the output end of the reducer is a horizontal axis.

[0148] In some possible implementations, see Figure 18As shown, the loading device 210 further includes a camera module 215. The camera module 215 is disposed on the lifting and moving unit 214. The camera module 215 is configured to perform image recognition on the embedded part 110 in the loading area to obtain position information of the embedded part 110. The clamping unit 212 clamps the embedded part 110 based on the position information.

[0149] The embedded part 110 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 loading area, the position states of different first wedge blocks 140, the bolt sleeve 160 or the second wedge block 150 are different. The camera module 215 is used to perform image recognition on the embedded part 110 to obtain the position information of the embedded part 110. 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 212 can be adjusted so that the clamping unit 212 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 conducive to improving the stability of the clamping unit 212 clamping the embedded part 110, reducing the possibility of the clamping force being too small due to the deviation of the clamping position of the clamping unit 212, and reducing the possibility of the material falling during the transfer process due to the too small clamping force.

[0150] In some examples, camera module 215 includes a machine vision camera.

[0151] In some examples, the lifting and moving unit 214 includes a vertical guide rail 2141 and a slide 2142. The camera module 215 is disposed on the slide 2142.

[0152] 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 blade root embedded parts feeding device, characterized in that: include: Loading device and embedded parts conveying device; The embedded parts conveying device includes a conveying assembly and a material fixing jig connected to each other, and the conveying assembly is configured to drive the material fixing jig to move from the loading station to the assembly station; The material fixing jig includes a connected material fixing cylinder and a first clamping jaw, the first clamping jaw is configured to clamp and fix the embedded part, the first clamping jaw includes a clamping portion and a driving portion, the clamping portion is located in the cylinder, the embedded part conveying device also includes a driving assembly, the loading station and the assembly station are both provided with the driving assembly, the driving assembly is configured to be connected to or separated from the driving portion, and the driving assembly is configured to drive the clamping portion to switch between a clamping position and an open position through the driving portion; The loading device is configured to transfer the embedded parts to the material fixing fixture located at the loading station.

2. The blade root embedded part feeding equipment according to claim 1, characterized in that: The material fixing cylinder includes a bottom plate and a side plate, the first clamping jaw is rotatably connected to the bottom plate via a rotating shaft, and the driving assembly is configured to drive the clamping part to rotate relative to the rotating shaft via the driving part so that the clamping part switches between a clamping position and an open position.

3. The blade root embedded part feeding equipment according to claim 2, characterized in that: The side plate is provided with a through hole, and the driving part passes through the through hole. When the clamping part is in the clamping position, the driving part presses against the inner wall of the through hole. The driving assembly is located outside the material fixing cylinder, and is configured to press the driving part or release the driving part in a direction perpendicular to the side plate, so as to drive the clamping part to rotate relative to the rotating shaft through the driving part.

4. The blade root embedded part feeding equipment according to claim 2, characterized in that: The clamping portion includes a first connecting segment and a second connecting segment that are intersectingly arranged, the intersection of the first connecting segment and the second connecting segment is connected to the rotating shaft, and the first connecting segment is connected to the driving portion.

5. The blade root embedded part feeding equipment according to claim 4, characterized in that: The clamping portion further includes a sliding rod, the second connecting section is connected to the sliding rod, the bottom plate is provided with an arc-shaped sliding hole, and the sliding rod is slidably connected to the arc-shaped sliding hole.

6. The blade root embedded part feeding equipment according to claim 5, characterized in that: The clamping portion further includes a limiting member, which is disposed below the bottom plate and connected to the sliding rod. The size of the limiting member is greater than the width of the arc-shaped sliding hole.

7. The blade root embedded part feeding equipment according to any one of claims 1 to 6, characterized in that: The material fixing jig also includes an elastic reset member, which is arranged between the clamping part and the material fixing cylinder. When the driving assembly drives the clamping part to switch between the clamping position and the open position through the driving part, the elastic reset member accumulates or releases elastic potential energy.

8. The blade root embedded part feeding equipment according to any one of claims 1 to 6, characterized in that: Two groups of the first clamping jaws are provided on the material fixing cylinder, and the two groups of the first clamping jaws are spaced apart along the conveying direction of the conveying assembly. Each group of the first clamping jaws includes two first clamping jaws, and the two first clamping jaws are spaced apart in a direction perpendicular to the conveying direction.

9. The blade root embedded part feeding equipment according to claim 8, characterized in that: At the loading station and the assembly station, the driving components are respectively arranged on both sides of the conveying component along a direction perpendicular to the conveying direction.

10. The blade root embedded part feeding equipment according to any one of claims 1 to 6, characterized in that: The loading device includes a frame, 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 embedded parts to be assembled, the horizontal moving unit is configured to drive the lifting moving unit and the clamping unit to move horizontally, and the lifting moving unit is configured to drive the clamping unit to move up and down in the vertical direction.

Images