Waste wind power blade water cutting robot device and water cutting process method

Abstract

The invention discloses a waste wind power blade water cutting robot device and a water cutting process method.The waste wind power blade water cutting robot device comprises a water cutting system, an industrial robot system, a circulating water treatment system, a generator set, a blade translation system and a control system, the industrial robot system is of a container type structure, and all the systems are of container type modular structures and are self-contained; the wind power blade water cutting device is suitable for remote field wind power blade disassembling operation and waste wind power blade water cutting, the automation degree is high, operation is simple and convenient, time and labor are saved, the water cutting technology is an environment-friendly technology, no harm is caused to the body of an operator, and no pollution is caused to the environment atmosphere; the circulating water treatment system ensures effective utilization of cutting wastewater, and solves the contradiction of insufficient cutting water resources in remote construction sites.

Description

Technical Field

[0001] This invention relates to the field of wind turbine blade cutting technology, and in particular to a water-cutting robot device and water-cutting process for waste wind turbine blades. Background Technology

[0002] Wind power equipment has a limited service life (approximately 20-25 years). After that, its safety and power generation efficiency are significantly reduced.

[0003] Currently, wind turbine blades are gradually reaching their designed lifespan and have entered the aging, scrapping, and replacement period.

[0004] The recycling of decommissioned blades has become a key focus and challenge for the industry. Current research focuses on environmentally friendly cutting, mechanical crushing, pyrolysis (resin decomposition), and chemical degradation (matrix depolymerization), and is accelerating development to achieve environmentally friendly recycling and large-scale application.

[0005] In terms of industrialized crushing processes, the disposal of wind turbine blades has certain requirements, and there are related downstream demands and applications. Wind turbine blades are made of materials such as long fiber composites, glass fiber composites, and carbon fiber composites. These materials are high in strength, lightweight, and the blades are very tough, making them difficult to disassemble using conventional equipment.

[0006] Currently, a large number of discarded wind turbine blades are dismantled on-site into unit blocks of a certain size using manual hand-held cutting saws and excavator rock saws. These unit blocks are then collected and transported by specialized vehicles to professional processing plants for further processing, such as mechanical crushing, pyrolysis, pulverization, and reuse.

[0007] Mechanical cutting generates a large amount of harmful dust (glass fiber and carbon fiber debris), posing a serious threat to the health of operators, causing secondary pollution to the surrounding atmosphere and soil, and producing significant noise pollution. The high temperatures generated by the friction between the saw blade and the material can damage the material structure, hindering subsequent recycling and disposal. Furthermore, it introduces safety risks during construction and does not comply with HSE standards. Relevant departments have clearly stated their intention to gradually phase out this treatment method, necessitating a new, highly automated, and intelligent device and treatment method that meets HSE standards. Summary of the Invention

[0008] The present invention aims to address the shortcomings of the prior art by providing a water-cutting robot device and water-cutting process method for waste wind turbine blades.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A water-jet cutting robot device for waste wind turbine blades includes a water-jet cutting system, an industrial robot system, a circulating water treatment system, a generator set, a blade translation system, and a control system. The industrial robot system has a containerized structure, including two industrial robots, a container, and a monitoring device. The two industrial robots are mounted longitudinally facing each other on a skid at the bottom of the container. One end of the folding track of the blade translation system is connected to the skid of the industrial robot system. The water-jet cutting system is installed on the right side of the industrial robot system, and the cutting nozzle of the water-jet cutting system is fixed on the end of the industrial robot arm. The circulating water treatment system is installed on the right side of the water-jet cutting system for storing, collecting, filtering, and settling the wastewater after cutting. The water collection tank in the circulating water treatment system is arranged on the skid platform directly below the cutting position of the industrial robot. The generator set is installed on the left side of the industrial robot system to provide power to all equipment. The control system controls the blade translation system, the water-jet cutting system, and the circulating water treatment system to work together through a PLC controller.

[0011] The industrial robot system described above uses an IP67 standard waterproof six-axis cleaning robot with a waterproof cover. Visual cameras are installed at the end of the robot arm and on both sides. The front and rear sides of the industrial robot system are connected to the top surface, and the sides can be opened and closed by rotation. The two sides and the top cover are supported by telescopic support columns.

[0012] The waterjet cutting system is a containerized structure, including an ultra-high pressure plunger pump assembly, an abrasive system, a cutting nozzle, a safety monitoring device, and a waterjet cutting control system installed inside the container. The ultra-high pressure plunger pump assembly provides ultra-high pressure water to the waterjet cutting system, the abrasive system provides stable abrasive to the waterjet cutting system, the cutting nozzle mixes the ultra-high pressure water and abrasive to form a high-pressure abrasive jet, and the safety monitoring device includes a laser sensor installed at the front end of the cutting nozzle. The waterjet cutting control system is electrically connected to the ultra-high pressure plunger pump assembly, the abrasive system, the cutting nozzle, and the safety monitoring device.

[0013] The circulating water treatment system is a container-type structure, including a water tank, a filter device, a water circulation pipeline installed inside the container, and a water collection tank installed on a skid directly below the cutting position of the industrial robot. The water tank is connected to the water supply pipeline of the water cutting system through a low-pressure water circulation pipeline, and the outlet of the water collection tank is connected to the filter device.

[0014] The blade translation system includes a foldable track and a blade support assembly. The foldable track is formed by several track segments rotatably connected by a connecting shaft. The blade support assembly consists of a V-shaped traveling support, a middle V-shaped moving support, and a V-shaped fixed support. The V-shaped traveling support is supported at the blade root at the end away from the robot. The bottom of the V-shaped traveling support is equipped with electric rollers that move along the foldable track. The bottom of the middle V-shaped moving support is equipped with rollers that move along the foldable track. A set of rollers is provided on the upper part of the middle V-shaped moving support, and a set of rollers is provided on the upper part of the V-shaped fixed support.

[0015] A waterjet cutting process for waste wind turbine blades, utilizing a waterjet cutting robot device for waste wind turbine blades, comprises the following steps:

[0016] S1. Waterjet cutting robot installation: Install and position the industrial robot system and blade translation system, install the waterjet cutting system, circulating water treatment system and generator set, and then connect the circuit and water pipes;

[0017] S2. Blade positioning: At the construction site, a crane lifts and places the blade onto three blade support groups and fixes it firmly. The blade with the suction surface SS facing upwards is placed horizontally on the blade support. The V-shaped traveling support is adjusted to move the blade to the initial cutting position. Two robots are positioned on the side of the leading edge and trailing edge of the blade, respectively, according to the set positions. The industrial robot located at the leading edge of the blade is called R1, and the industrial robot located at the trailing edge of the blade is called R2.

[0018] S3. Preset cutting path: The cutting path program of the cutting nozzle is preset by the control system. According to the shape curve size of the blade, the corresponding cutting size and process are determined. The cross-sectional curve of each segment of the blade is different. The cutting path of each cutting segment is compiled by the teach pendant programmer and combined with the actual working state. That is, the cutting process obtained by the first actual cutting is first stored in the PLC controller as the original program, and then the corresponding program is selected according to the segment for cutting.

[0019] S4. Cutting Process: First, the blade translation system moves the blade to the first cutting position and locks it. The cutting nozzle at the end of the industrial robot arm moves from its original position to the starting point of the cutting segment, calibrates and positions itself, selects the corresponding first cutting program, and runs according to the predetermined program to cut the first segment. To cut the second segment, the blade translation system moves the blade to the second cutting position and locks it. The cutting nozzle at the end of the industrial robot arm moves from its original position to the starting point of the cutting segment, calibrates and positions itself, selects the second cutting program, and cuts the second segment. This process is repeated, with each segment having a different cutting path and number of cuts.

[0020] The specific steps for installing the waterjet cutting robot are as follows:

[0021] P1. Industrial robot system positioning: Install the industrial robot system in the predetermined position and adjust the horizontal positioning. Open the two side doors of the industrial robot system housing and raise them together with the top cover to the working position. Install and lock them firmly to determine the positioning reference for the installation of the entire device.

[0022] P2. Blade translation system installation and positioning: Connect one end of the folding track of the blade translation system to the skid in the industrial robot system box with a V-block and quickly connect and position it with a pin. Adjust to keep the folding track vertical to the skid in the industrial robot system box, and adjust to ensure that the track surface is horizontal. Install the three supports of the blade support group in the set position.

[0023] P3. Installation of waterjet cutting system, circulating water treatment system and generator set: Install the waterjet cutting system in the designated position on the right side of the industrial robot system, install the circulating water treatment system in the designated position on the right side of the waterjet cutting system, and install the generator set in the designated position on the left side of the industrial robot system.

[0024] P4. Circuit and water pipe connection: Water pipe connection: Low pressure pipe, connecting the water tank of the water circulation system and the water supply line of the water cutting system, connecting the water collection tank outlet and the water circulation system inlet; High pressure pipe, connecting the high pressure water outlet of the water cutting system and the high pressure water nozzle at the end of the industrial robot arm.

[0025] Cable and control cable connections: Cables connecting the generator set to the circulating water treatment system, blade translation system and industrial robot, and cables connecting the control system.

[0026] In step S4, when cutting the blade, the cutting nozzles at the ends of the two industrial robot arms are controlled to maintain two postures: "horizontal cutting" and "vertical cutting". "Horizontal cutting" means that the water jet from the cutting nozzle is in a horizontal plane, and "vertical cutting" means that the water jet from the cutting nozzle is in a vertical plane. When cutting the blade, the direction along the blade length is longitudinal, and the direction perpendicular to the blade length is transverse.

[0027] In step S4, the first segment cutting position is on the blade at a distance of 73 / 75 from the origin with the blade root as the origin. The cutting process of the first segment is as follows: R1 cuts horizontally and vertically from the middle of the upper beam cap of the blade to the leading edge, with the middle of the upper beam cap being the starting point of R1 cutting; R2 cuts horizontally and vertically from the trailing edge of the blade to the middle of the beam cap on the SS surface. After cutting out a piece, it is numbered 01-01, and the blade cross-section exposes the shear web.

[0028] The second segment is cut on the leaf at a position 67 / 75 of the origin, with the leaf root as the origin. The cutting process for the second segment is as follows:

[0029] a. R1 cuts longitudinally from the left edge of the upper beam cap along the cross-section, i.e., the line where the upper beam cap intersects with the left upper shell, to the leaf root to the second cutting surface, then transversely to the front edge and cuts vertically, then cuts horizontally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory, cutting out a piece of the left upper shell, which is numbered 02-01.

[0030] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap and the upper right shell intersect, to the leaf root, to the second section cutting surface, then laterally to the rear edge, and then longitudinally along the rear edge to the cross-section perpendicularly. R2 cuts a "U" shaped trajectory, cutting out a piece of the upper right shell, which is numbered 02-02.

[0031] b. R1 cuts longitudinally from the cross-section along the left edge of the lower beam cap, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root to the second cutting surface, and then laterally to the front edge. R1 cuts an "L" shaped trajectory, cutting out a piece of the lower left shell, which is numbered 02-03.

[0032] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the lower beam cap, that is, the intersection line of the lower beam cap and the lower right shell, to the leaf root to the second cutting surface, and then transversely to the rear edge. R2 cuts an "L" shaped trajectory, cutting out a piece of the lower right shell, which is numbered 02-04.

[0033] c. R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically segments the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 02-05.

[0034] d. R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 02-06.

[0035] The third, fourth, fifth, and sixth segments are cut at positions on the blade with the leaf root as the origin, at distances of 61 / 75, 555 / 75, 47 / 75, and 39 / 75 from the origin, respectively. The cutting process for the third, fourth, fifth, and sixth segments is the same as that for the second segment.

[0036] The seventh segment is cut at a position 31 / 75 of the origin from the blade root. The cutting process for the seventh segment is as follows: A. R1 cuts longitudinally from the cross-section along the left edge of the upper beam cap, i.e., the line where the upper beam cap intersects with the upper left shell, to the blade root, then transversely to the front edge and cuts vertically, then longitudinally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory to cut out a piece of the upper left shell, numbered 07-01.

[0037] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap and the upper right shell intersect, to the leaf root, then laterally to the middle of the upper right shell, and then longitudinally to the cross-section to cut vertically. R2 cuts a "U" shaped trajectory, cutting out the first piece of the upper right shell, numbered 07-02.

[0038] R2 cuts the remaining upper right shell longitudinally from the rear edge of the cross-section to the cutting surface, and then cuts it horizontally and vertically along the cutting surface. R2 cuts an "L" shaped trajectory to cut out the second piece of the upper right shell, numbered 07-03.

[0039] B.R1 cuts longitudinally from the left edge of the lower beam cap along the cross-section, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root, then laterally to the front edge, making an L-shaped cut to cut out a piece of the lower left shell, numbered 07-04.

[0040] At the same time, R2 cuts longitudinally from the middle of the lower right shell section to the blade root to the cutting surface, and then laterally to the trailing edge. R2 cuts an "L" shaped trajectory, cutting out the first piece of the lower right shell, numbered 07-05.

[0041] R2 cuts the remaining lower right shell longitudinally from the cross-section along the intersection line of the lower beam cap and the lower right shell to the leaf root, and then cuts the lower right shell horizontally and vertically. R2 cuts an "L" shaped trajectory to cut out the second piece of the lower right shell, numbered 07-06.

[0042] C.R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically cuts the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 07-07.

[0043] D.R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 07-08.

[0044] The eighth, ninth, and tenth segments are cut at positions 24 / 75, 17 / 75, and 12 / 75 of the origin from the leaf root, respectively. The cutting process for the eighth, ninth, and tenth segments is the same as that for the seventh segment.

[0045] The eleventh segment is cut on the blade at a distance of 7 / 75 from the origin, with the blade root as the origin. The eleventh segment cutting process is as follows: R1 and R2 cut longitudinally from the cross-section along the outer circle to the blade root, and then cut horizontally and vertically along the outer circle to cut out 6 equal pieces. The cutting trajectory is "L" shaped and numbered as 11-01 / 02 / 03 / 04 / 05 / 06 respectively.

[0046] The twelfth segment is cut on the blade at a position 2 / 75 of the distance from the origin, with the leaf root as the origin. The cutting process for the twelfth segment is the same as that for the eleventh segment.

[0047] The thirteenth section is cut at the leaf root. The cutting process is as follows: 1) Cut the inner circular reinforcing plate of the leaf root: R1 and R2 are cut horizontally, and the “1 / 4 circular fan-shaped” trajectory is cut. Two 1 / 4 fan-shaped pieces are cut respectively, numbered 13-01 / 02 / 03 / 04.

[0048] 2) Cutting the leaf root body: R1 and R2 cut the leaf root tail longitudinally along the outer circle from the cross-section, cut 3 times each, and cut 6 equal pieces, numbered 13-05 / 06 / 07 / 08 / 09 / 10.

[0049] The beneficial effects of this invention are as follows: Each system of this invention has a containerized modular structure, which is self-contained and can be installed, disassembled, and relocated quickly on site. It is suitable for wind turbine blade dismantling operations in remote areas and water-jet cutting of waste wind turbine blades. It has a high degree of automation, is simple and convenient to operate, and saves time and labor. Water-jet cutting technology is a green and environmentally friendly technology that does not cause physical harm to operators and does not pollute the environment. The circulating water treatment system ensures the effective utilization of cutting wastewater and solves the contradiction of insufficient water resources for cutting in remote construction sites. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the water-cutting robot device of the present invention;

[0051] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle;

[0052] Figure 3 This is a schematic diagram of the cross-section of the wind turbine blade of the present invention;

[0053] Figure 4 This is a schematic diagram of the blade cutting section in an embodiment of the present invention;

[0054] In the diagram: 1-Waterjet cutting system; 2-Industrial robot system; 3-Circulating water treatment system; 4-Generator set; 5-Blade translation system; 6-Control system;

[0055] The following will describe in detail, with reference to the accompanying drawings, embodiments of the invention. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0057] A water-jet cutting robot device for waste wind turbine blades includes a water-jet cutting system 1, an industrial robot system 2, a circulating water treatment system 3, a generator set 4, a blade translation system 5, and a control system 6. The industrial robot system 2 has a container-type structure, including two industrial robots, a container, and a monitoring device. The two industrial robots are installed longitudinally facing each other on a skid at the bottom of the container. One end of the folding track of the blade translation system 5 is connected to the skid of the industrial robot system. The water-jet cutting system 1 is installed on the right side of the industrial robot system 2, and the cutting nozzle of the water-jet cutting system 1 is fixed on the end of the industrial robot arm. The circulating water treatment system 3 is installed on the right side of the water-jet cutting system 1 for storing, collecting, filtering, and settling the wastewater after cutting. The water collection tank in the circulating water treatment system 3 is arranged on the skid platform directly below the cutting position of the industrial robot. The generator set 4 is installed on the left side of the industrial robot system to provide power to all equipment. The control system 6 controls the blade translation system 5 through a PLC controller, the model of which is 1756-L82E. The water-jet cutting system 1 and the circulating water treatment system 3 work together.

[0058] The industrial robot system 2 is an IP67 standard waterproof six-axis cleaning robot with a waterproof cover. Visual cameras are installed at the end of the robot arm and on both sides. The front and rear sides of the box of the industrial robot system 2 are connected to the top surface, and the sides can be opened and closed by rotation. The two sides and the top cover are supported by telescopic support columns.

[0059] The waterjet cutting system 1 is a container-type structure, including an ultra-high pressure plunger pump assembly, an abrasive system, a cutting nozzle, a safety monitoring device, and a waterjet cutting control system installed inside the container. The ultra-high pressure plunger pump assembly provides ultra-high pressure water to the waterjet cutting system 1, the abrasive system provides stable abrasive to the waterjet cutting system 1, the cutting nozzle mixes the ultra-high pressure water and abrasive to form a high-pressure abrasive jet, and the safety monitoring device includes a laser sensor installed at the front end of the cutting nozzle. The waterjet cutting control system is electrically connected to the ultra-high pressure plunger pump assembly, the abrasive system, the cutting nozzle, and the safety monitoring device.

[0060] The circulating water treatment system 3 is a container-type structure, including a water tank, a filter device, a water circulation pipeline installed inside the container, and a water collection tank installed on a skid directly below the cutting position of the industrial robot. The water tank is connected to the water supply pipeline of the water cutting system through a low-pressure water circulation pipeline, and the outlet of the water collection tank is connected to the filter device.

[0061] The blade translation system 5 includes a foldable track and a blade support assembly. The foldable track is formed by several track units rotatably connected by a connecting shaft. The blade support assembly consists of a V-shaped walking support, a middle V-shaped moving support, and a V-shaped fixed support. The V-shaped walking support is supported at the blade root at the end away from the robot. The bottom of the V-shaped walking support is equipped with electric rollers that move along the foldable track. The bottom of the middle V-shaped moving support is equipped with rollers that move along the foldable track. A set of rollers is provided on the upper part of the middle V-shaped moving support, and a set of rollers is provided on the upper part of the V-shaped fixed support.

[0062] A waterjet cutting process for waste wind turbine blades, utilizing a waterjet cutting robot device for waste wind turbine blades, comprises the following steps:

[0063] S1. Waterjet cutting robot installation: Install and position the industrial robot system and blade translation system, install the waterjet cutting system, circulating water treatment system and generator set, and then connect the circuit and water pipes;

[0064] S2. Blade positioning: At the construction site, a crane lifts and places the blade onto three blade support groups and fixes it firmly. The blade with the suction surface SS facing upwards is placed horizontally on the blade support. The V-shaped traveling support is adjusted to move the blade to the initial cutting position. Two robots are positioned on the side of the leading edge and trailing edge of the blade, respectively, according to the set positions. The industrial robot located at the leading edge of the blade is called R1, and the industrial robot located at the trailing edge of the blade is called R2.

[0065] S3. Preset cutting path: The cutting path program of the cutting nozzle is preset by the control system 6. According to the shape curve size of the blade, the corresponding cutting size and process are determined. The cross-sectional curve of each blade segment is different. The cutting path of each cutting segment is compiled by the teach pendant programmer and combined with the actual working state. That is, the cutting process obtained by the first actual cutting is first stored in the PLC controller as the original program, and then the corresponding program is selected according to the segment for cutting.

[0066] S4. Cutting Process: First, the blade translation system 5 moves the blade to the first cutting position and locks it. The cutting nozzle at the end of the industrial robot arm moves from its original position to the starting point of the cutting segment, calibrates and positions itself, selects the corresponding first cutting program, and runs according to the predetermined program to cut the first segment. To cut the second segment, the blade translation system 5 moves the blade to the second cutting position and locks it. The cutting nozzle at the end of the industrial robot arm moves from its original position to the starting point of the cutting segment, calibrates and positions itself, selects the second cutting program, and cuts the second segment. This process is repeated, with each segment having a different cutting path and number of cuts.

[0067] The specific steps for installing the waterjet cutting robot are as follows:

[0068] P1. Industrial robot system positioning: Install the industrial robot system 2 in the predetermined position and adjust the horizontal positioning. Open the two side doors of the industrial robot system 2 housing and raise them together with the top cover to the working position. Install and lock them firmly to determine the positioning reference for the installation of the entire device.

[0069] P2. Blade translation system installation and positioning: Connect one end of the folding track of the blade translation system 5 to the skid in the box of the industrial robot system 2 with a V-block and quickly connect and position it with a pin. Adjust to keep the folding track vertical to the skid in the box of the industrial robot system 2. Adjust to ensure that the track surface is horizontal. Install the three supports of the blade support group in the set position.

[0070] P3. Installation of waterjet cutting system, circulating water treatment system and generator set: Install waterjet cutting system 1 at the designated position to the right of industrial robot system 2, install circulating water treatment system 3 at the designated position to the right of waterjet cutting system 1, and install generator set 4 at the designated position to the left of industrial robot system 2.

[0071] P4. Circuit and water pipe connection: Water pipe connection: Low pressure pipe, connecting the water tank of water circulation treatment system 3 and the water supply line of water cutting system 1, connecting the water pipe between the water collection tank outlet and the water inlet of water circulation treatment system 3; High pressure pipe, connecting the high pressure water outlet of water cutting system 1 and the high pressure water pipe between the cutting nozzle at the end of the industrial robot arm;

[0072] Cable and control cable connections: Cables connecting generator set 4 to circulating water treatment system 3, blade translation system 5 and industrial robot, and cables connecting control system 6.

[0073] In step S4, when cutting the blade, the cutting nozzles at the ends of the two industrial robot arms are controlled to maintain two postures: "horizontal cutting" and "vertical cutting". "Horizontal cutting" means that the water jet from the cutting nozzle is in a horizontal plane, and "vertical cutting" means that the water jet from the cutting nozzle is in a vertical plane. When cutting the blade, the direction along the blade length is longitudinal, and the direction perpendicular to the blade length is transverse.

[0074] In step S4, the first segment cutting position is on the blade at a distance of 36.5 / 37.5 from the origin with the blade root as the origin. The cutting process of the first segment is as follows: R1 cuts horizontally and vertically from the middle of the upper beam cap of the blade to the leading edge, with the middle of the upper beam cap being the starting point of R1 cutting; R2 cuts horizontally and vertically from the trailing edge of the blade to the middle of the beam cap on the SS surface. After cutting out a piece, it is numbered 01-01, and the blade cross-section exposes the shear web.

[0075] The second segment is cut on the blade at a distance of 33.5 / 37.5 from the origin, with the leaf root as the origin. The cutting process for the second segment is as follows:

[0076] a. R1 cuts longitudinally from the left edge of the upper beam cap along the cross-section, i.e., the line where the upper beam cap intersects with the left upper shell, to the leaf root to the second cutting surface, then transversely to the front edge and cuts vertically, then cuts horizontally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory, cutting out a piece of the left upper shell, which is numbered 02-01.

[0077] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap and the upper right shell intersect, to the leaf root, to the second section cutting surface, then laterally to the rear edge, and then longitudinally along the rear edge to the cross-section perpendicularly. R2 cuts a "U" shaped trajectory, cutting out a piece of the upper right shell, which is numbered 02-02.

[0078] b. R1 cuts longitudinally from the cross-section along the left edge of the lower beam cap, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root to the second cutting surface, and then laterally to the front edge. R1 cuts an "L" shaped trajectory, cutting out a piece of the lower left shell, which is numbered 02-03.

[0079] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the lower beam cap, that is, the intersection line of the lower beam cap and the lower right shell, to the leaf root to the second cutting surface, and then transversely to the rear edge. R2 cuts an "L" shaped trajectory, cutting out a piece of the lower right shell, which is numbered 02-04.

[0080] c. R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically segments the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 02-05.

[0081] d. R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 02-06.

[0082] The third, fourth, fifth, and sixth segments are cut at positions 30.5 / 37.5, 27.5 / 37.5, 23.5 / 37.5, and 19.5 / 37.5 from the origin with the leaf root as the origin, respectively. The cutting process for the third, fourth, fifth, and sixth segments is the same as that for the second segment.

[0083] The seventh segment is cut at positions 15.5 / 37.5 from the origin with the blade root as the origin. The cutting process for the seventh segment is as follows: A. R1 cuts longitudinally from the cross-section along the left edge of the upper beam cap, i.e., the line where the upper beam cap intersects with the upper left shell, to the blade root to the second segment cutting surface, then cuts horizontally to the front edge and vertically, then cuts horizontally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory to cut out a piece of the upper left shell, numbered 07-01.

[0084] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap and the upper right shell intersect, to the leaf root, then laterally to the middle of the upper right shell, and then longitudinally to the cross-section to cut vertically. R2 cuts a "U" shaped trajectory, cutting out the first piece of the upper right shell, numbered 07-02.

[0085] R2 cuts the remaining upper right shell longitudinally from the rear edge of the cross-section to the cutting surface, and then cuts it horizontally and vertically along the cutting surface. R2 cuts an "L" shaped trajectory to cut out the second piece of the upper right shell, numbered 07-03.

[0086] B.R1 cuts longitudinally from the left edge of the lower beam cap along the cross-section, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root, then laterally to the front edge, making an L-shaped cut to cut out a piece of the lower left shell, numbered 07-04.

[0087] At the same time, R2 cuts longitudinally from the middle of the lower right shell section to the blade root to the cutting surface, and then laterally to the trailing edge. R2 cuts an "L" shaped trajectory, cutting out the first piece of the lower right shell, numbered 07-05.

[0088] R2 cuts the remaining lower right shell longitudinally from the cross-section along the intersection line of the lower beam cap and the lower right shell to the leaf root, and then cuts the lower right shell horizontally and vertically. R2 cuts an "L" shaped trajectory to cut out the second piece of the lower right shell, numbered 07-06.

[0089] C.R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically cuts the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 07-07.

[0090] D.R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 07-08.

[0091] The eighth, ninth, and tenth segments are cut at positions on the blade with the leaf root as the origin, at distances of 12.0 / 37.5, 8.5 / 37.5, and 6.0 / 37.5 from the origin, respectively. The cutting process for the eighth, ninth, and tenth segments is the same as that for the seventh segment.

[0092] The eleventh segment is cut on the blade at a distance of 3.5 / 37.5 m from the blade root and 34.0 m from the blade tip. The eleventh segment cutting process is as follows: R1 and R2 cut longitudinally from the outer circle of the cross-section to the blade root, and then cut horizontally and vertically from the outer circle to cut 6 equal pieces. The cutting trajectory is "L" shaped and numbered as 11-01 / 02 / 03 / 04 / 05 / 06 respectively.

[0093] The twelfth segment is cut at a position on the blade, 1.0 / 37.5 meters away from the origin and 36.5 meters away from the blade tip. The cutting procedure for the twelfth segment is the same as that for the eleventh segment.

[0094] The thirteenth section is cut at the leaf root. The cutting process is as follows: 1) Cut the inner circular reinforcing plate of the leaf root: R1 and R2 are cut horizontally, and the “1 / 4 circular fan-shaped” trajectory is cut. Two 1 / 4 fan-shaped pieces are cut respectively, numbered 13-01 / 02 / 03 / 04.

[0095] 2) Cutting the leaf root body: R1 and R2 cut the leaf root tail longitudinally along the outer circle from the cross-section, cut 3 times each, and cut 6 equal pieces, numbered 13-05 / 06 / 07 / 08 / 09 / 10.

[0096] Example 1

[0097] Wind turbine blades come in various length specifications, with the longest reaching 126m. A commonly used specification is selected, with blade parameters as follows: approximately 37.5m in length, 3.1m at its widest point, and weighing approximately 6t. The material is fiberglass sandwich, with an average wall thickness of 4cm and a maximum thickness of 9cm. Environmentally friendly waterjet cutting is used to cut the blades into long blocks with a length L≤4.0m and a width W≤1.2m for recycling, facilitating centralized loading and long-distance transportation.

[0098] The specific cutting process for the blades is as follows:

[0099] The first section is cut on the blade at a distance of 36.5 / 37.5 from the origin, i.e., 1.0m from the blade tip. The cutting process for the first section is as follows: R1 is cut horizontally and vertically from the middle of the upper beam cap of the blade to the leading edge, with the middle of the upper beam cap being the starting point of R1. R2 is cut horizontally and vertically from the trailing edge of the blade to the middle of the beam cap on the SS surface. After cutting out one section, the length × width of this section of the blade is 1.0m × 1.1m, and it is numbered 01-01. The shear web of the blade is exposed on the cross-section.

[0100] The second section is cut on the leaf at a distance of 33.5 / 37.5 from the leaf root, which is 4.0m from the leaf tip. The dimensions of this section are 3m x 1.1m x 0.2m. The cutting process for the second section is as follows:

[0101] a. R1 cuts longitudinally from the left edge of the upper beam cap along the cross-section, i.e., the line where the upper beam cap intersects with the left upper shell, to the leaf root to the second cutting surface, then transversely to the front edge and cuts vertically, then cuts horizontally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory, cutting out a piece of the left upper shell, which is numbered 02-01.

[0102] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap and the upper right shell intersect, to the leaf root, to the second section cutting surface, then laterally to the rear edge, and then longitudinally along the rear edge to the cross-section perpendicularly. R2 cuts a "U" shaped trajectory, cutting out a piece of the upper right shell, which is numbered 02-02.

[0103] b. R1 cuts longitudinally from the cross-section along the left edge of the lower beam cap, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root to the second cutting surface, and then laterally to the front edge. R1 cuts an "L" shaped trajectory, cutting out a piece of the lower left shell, which is numbered 02-03.

[0104] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the lower beam cap, that is, the intersection line of the lower beam cap and the lower right shell, to the leaf root to the second cutting surface, and then transversely to the rear edge. R2 cuts an "L" shaped trajectory, cutting out a piece of the lower right shell, which is numbered 02-04.

[0105] c. R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically segments the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 02-05.

[0106] d. R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 02-06.

[0107] The third, fourth, fifth, and sixth segments are cut on the leaf at distances of 30.5 / 37.5, 27.5 / 37.5, 23.5 / 37.5, and 19.5 / 37.5 from the leaf root, respectively, which corresponds to distances of 7.0m, 10.0m, 14.0m, and 18.0m from the leaf tip. The dimensions of the leaf cut in the third segment are 3.0m × 1.2m × 0.25m (length × width × height), the fourth segment is 3.0m × 1.4m × 0.3m (length × width × height), the fifth segment is 4.0m × 1.7m × 0.4m (length × width × height), and the sixth segment is 4.0m × 1.9m × 0.55m (length × width × height). The cutting procedures for the third, fourth, fifth, and sixth segments are the same as those for the second segment.

[0108] The seventh segment is cut at a distance of 15.5 / 37.5 from the origin with the leaf root as the origin, which is 22.0m from the leaf tip. The length × width × height of this segment of the blade is 4.0m × 2.3m × 0.7m. The cutting procedure for the seventh segment is as follows: A. R1 cuts longitudinally from the cross-section along the left edge of the upper beam cap, i.e., the line where the upper beam cap and the upper left shell intersect, to the leaf root to the second segment cutting surface, then transversely to the front edge and cuts vertically, then longitudinally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory to cut out a piece of the upper left shell, numbered 07-01.

[0109] At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap and the upper right shell intersect, to the leaf root, then laterally to the middle of the upper right shell, and then longitudinally to the cross-section to cut vertically. R2 cuts a "U" shaped trajectory, cutting out the first piece of the upper right shell, numbered 07-02.

[0110] R2 cuts the remaining upper right shell longitudinally from the rear edge of the cross-section to the cutting surface, and then cuts it horizontally and vertically along the cutting surface. R2 cuts an "L" shaped trajectory to cut out the second piece of the upper right shell, numbered 07-03.

[0111] B.R1 cuts longitudinally from the left edge of the lower beam cap along the cross-section, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root, then laterally to the front edge, making an L-shaped cut to cut out a piece of the lower left shell, numbered 07-04.

[0112] At the same time, R2 cuts longitudinally from the middle of the lower right shell section to the blade root to the cutting surface, and then laterally to the trailing edge. R2 cuts an "L" shaped trajectory, cutting out the first piece of the lower right shell, numbered 07-05.

[0113] R2 cuts the remaining lower right shell longitudinally from the cross-section along the intersection line of the lower beam cap and the lower right shell to the leaf root, and then cuts the lower right shell horizontally and vertically. R2 cuts an "L" shaped trajectory to cut out the second piece of the lower right shell, numbered 07-06.

[0114] C.R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically cuts the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 07-07.

[0115] D.R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 07-08.

[0116] The eighth, ninth, and tenth segments are cut at positions on the blade with the leaf root as the origin, at distances of 12.0 / 37.5, 8.5 / 37.5, and 6.0 / 37.5 from the origin, respectively, which are 25.5m, 29.0m, and 31.5m from the leaf tip. The length × width × height of the eighth segment is 3.5m × 3.0m × 1.05m, the length × width × height of the ninth segment is 3.5m × 3.1m × 1.35m, and the length × width × height of the tenth segment is 3.5m × 3.1m × 1.35m. The cutting process for the eighth, ninth, and tenth segments is the same as that for the seventh segment.

[0117] The eleventh segment is cut at a distance of 3.5 / 37.5 from the origin point with the leaf root as the origin, which is 34.0m from the leaf tip. The length × diameter of this segment of the leaf is 2.5m × φ1.9m. The cutting process of the eleventh segment is as follows: R1 and R2 cut longitudinally from the outer circle of the cross-section to the leaf root to the cutting surface, and then cut horizontally and vertically from the outer circle to cut 6 equal pieces. The cutting trajectory is "L" shaped and numbered as 11-01 / 02 / 03 / 04 / 05 / 06 respectively.

[0118] The twelfth segment is cut on the blade at a distance of 1.0 / 37.5 from the origin, i.e., 36.5m from the tip of the blade. The length × diameter of this segment is 2.5m × φ1.9m. The cutting process for the twelfth segment is the same as that for the eleventh segment.

[0119] The thirteenth section is cut at the leaf root, i.e., the last 1.0m. The length × diameter of this section of the leaf is 1.0m × φ1.9m. The cutting process is as follows: 1) Cut the inner circular reinforcing plate of the leaf root: R1 and R2 are cut horizontally, and the “1 / 4 circular fan-shaped” trajectory is cut. Two 1 / 4 fan-shaped pieces are cut respectively, numbered 13-01 / 02 / 03 / 04.

[0120] 2) Cutting the leaf root body: R1 and R2 cut the leaf root tail longitudinally along the outer circle from the cross-section, cut 3 times each, and cut 6 equal pieces, numbered 13-05 / 06 / 07 / 08 / 09 / 10.

[0121] In the description of the invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0122] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of the invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0123] In this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0124] The invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution, or direct application to other situations without modification, are all within the scope of protection of the invention.

Claims

1. A waterjet cutting robot device for waste wind turbine blades, characterized in that, The system includes a water cutting system (1), an industrial robot system (2), a circulating water treatment system (3), a generator set (4), a blade translation system (5), and a control system (6). The industrial robot system (2) is a container-type structure, including two industrial robots, a container, and a monitoring device. The two industrial robots are installed facing each other on the bottom skid of the container along the longitudinal direction of the container. One end of the folding track of the blade translation system (5) is connected to the skid of the industrial robot system. The water cutting system (1) is installed on the right side of the industrial robot system (2). The cutting nozzle of the water cutting system (1) is fixed on the end of the industrial robot arm. The circulating water treatment system (3) is installed on the right side of the water cutting system (1) for storing water and collecting, filtering, and settling the wastewater after cutting. The water collection tank in the circulating water treatment system (3) is arranged on the skid platform directly below the cutting position of the industrial robot. The generator set (4) is installed on the left side of the industrial robot system to provide power to all equipment. The control system (6) controls the blade translation system (5), the water cutting system (1), and the circulating water treatment system (3) to work together through a PLC controller.

2. The waterjet cutting robot device for waste wind turbine blades according to claim 1, characterized in that, The industrial robot system (2) is an IP67 standard waterproof six-axis cleaning robot with a waterproof coat. Visual cameras are installed on the arm end and both sides of the industrial robot. The front and rear sides of the box of the industrial robot system (2) are connected to the top surface, and the sides are opened and closed by rotation. The two sides and the top cover are supported by telescopic support columns.

3. The waterjet cutting robot device for waste wind turbine blades according to claim 1, characterized in that, The waterjet cutting system (1) is a container-type structure, including an ultra-high pressure plunger pump assembly, an abrasive system, a cutting nozzle, a safety monitoring device, and a waterjet cutting control system installed inside the container. The ultra-high pressure plunger pump assembly provides ultra-high pressure water to the waterjet cutting system (1), the abrasive system provides stable abrasive to the waterjet cutting system (1), the cutting nozzle mixes the ultra-high pressure water and abrasive to form a high-pressure abrasive jet, the safety monitoring device includes a laser sensor installed at the front end of the cutting nozzle, and the waterjet cutting control system is electrically connected to the ultra-high pressure plunger pump assembly, the abrasive system, the cutting nozzle, and the safety monitoring device.

4. The waterjet cutting robot device for waste wind turbine blades according to claim 1, characterized in that, The circulating water treatment system (3) is a container structure, including a water tank, a filter device, a water circulation pipeline installed inside the container, and a water collection tank installed on a skid directly below the cutting position of the industrial robot. The water tank is connected to the water supply pipeline of the water cutting system through a low-pressure water circulation pipeline, and the outlet of the water collection tank is connected to the filter device.

5. The waterjet cutting robot device for waste wind turbine blades according to claim 1, characterized in that, The blade translation system (5) includes a foldable track and a blade support assembly. The foldable track is formed by connecting several track units through a connecting shaft. The blade support assembly consists of a V-shaped walking support, a middle V-shaped moving support, and a V-shaped fixed support. The V-shaped walking support is supported at the blade root at the end away from the robot. The bottom of the V-shaped walking support is provided with an electric roller that moves along the foldable track. The bottom of the middle V-shaped moving support is provided with a roller that moves along the foldable track. A set of rollers is provided on the upper part of the middle V-shaped moving support, and a set of rollers is provided on the upper part of the V-shaped fixed support.

6. A waterjet cutting process for waste wind turbine blades, utilizing a waterjet cutting robot device for waste wind turbine blades as described in claims 1, 2, 3, 4, or 5, characterized in that, The steps are as follows: S1. Waterjet cutting robot installation: Install and position the industrial robot system and blade translation system, install the waterjet cutting system, circulating water treatment system and generator set, and then connect the circuit and water pipes; S2. Blade positioning: At the construction site, a crane lifts and places the blade onto three blade support groups and fixes it firmly. The blade with the suction surface SS facing upwards is placed horizontally on the blade support. The V-shaped traveling support is adjusted to move the blade to the initial cutting position. Two robots are positioned on the side of the leading edge and trailing edge of the blade, respectively, according to the set positions. The industrial robot located at the leading edge of the blade is called R1, and the industrial robot located at the trailing edge of the blade is called R2. S3. Preset cutting path: The cutting path program of the cutting nozzle is preset by the control system (6). According to the shape curve size of the blade, the corresponding cutting size and process are determined. The cross-sectional curve of each section of the blade is different. The cutting path of each cutting section is compiled by the teaching programmer and combined with the actual working state. That is, the cutting process obtained by the first actual cutting is stored in the PLC controller as the original program, and then the corresponding program is selected according to the segment for cutting. S4. Cutting process: First, the blade translation system (5) moves the blade to the first cutting position and locks it. The cutting nozzle at the end of the industrial robot arm moves from the original position to the starting position of the cutting section, calibrates and positions it, selects the corresponding first cutting program, and runs according to the predetermined program to cut the first section. Cut the second segment, control the blade translation system (5) to move the blade to the second segment cutting position and lock it, the industrial robot arm end cutting nozzle moves from the original position to the starting position of the cutting segment, calibrates the positioning, selects the second segment cutting program to cut the second segment, and so on, each segment cutting path and number of times are different.

7. The waterjet cutting process for waste wind turbine blades according to claim 6, characterized in that, The specific steps for installing the waterjet cutting robot are as follows: P1. Industrial robot system positioning: Install the industrial robot system (2) in the predetermined position and adjust the horizontal positioning. Open the two side doors of the box of the industrial robot system (2) and raise them together with the top cover to the working position. Install and lock them firmly to determine the positioning reference for the installation of the whole set of equipment. P2. Blade translation system installation and positioning: Connect one end of the folding track of the blade translation system (5) to the skid in the box of the industrial robot system (2) with a V-block and quickly connect and position it with a pin. Adjust to keep the folding track vertical to the skid in the box of the industrial robot system (2) and adjust to ensure that the track surface is horizontal. Install the three supports of the blade support group in the set position. P3. Installation of water cutting system, circulating water treatment system and generator set: Install water cutting system (1) in the set position to the right of industrial robot system (2), install circulating water treatment system (3) in the set position to the right of water cutting system (1), and install generator set (4) in the set position to the left of industrial robot system (2). P4. Circuit and water pipe connection: Water pipe connection: Low pressure pipeline, connecting the water tank of the water circulation treatment system (3) and the water supply line of the water cutting system (1), connecting the water pipe between the water collection tank outlet and the water circulation treatment system (3); High pressure pipeline, connecting the high pressure water outlet of the water cutting system (1) and the high pressure water pipe between the cutting nozzle at the end of the industrial robot arm; Cable and control cable connections: Cables connecting the generator set (4) to the circulating water treatment system (3), the blade translation system (5) and the industrial robot, and cables connecting the control system (6).

8. The waterjet cutting process for waste wind turbine blades according to claim 6, characterized in that, In step S4, when cutting the blade, the cutting nozzles at the ends of the two industrial robot arms are controlled to maintain two postures: "horizontal cutting" and "vertical cutting". "Horizontal cutting" means that the water jet from the cutting nozzle is in a horizontal plane, and "vertical cutting" means that the water jet from the cutting nozzle is in a vertical plane. When cutting the blade, the direction along the blade length is longitudinal, and the direction perpendicular to the blade length is transverse.

9. The waterjet cutting process for waste wind turbine blades according to claim 6, characterized in that, In step S4, the first segment cutting position is on the blade at a distance of 73 / 75 from the origin with the blade root as the origin. The cutting process of the first segment is as follows: R1 cuts horizontally and vertically from the middle of the upper beam cap of the blade to the leading edge, with the middle of the upper beam cap being the starting point of R1 cutting; R2 cuts horizontally and vertically from the trailing edge of the blade to the middle of the beam cap on the SS surface. After cutting out a piece, it is numbered 01-01, and the blade cross-section exposes the shear web. The second segment is cut on the leaf at a position 67 / 75 of the origin, with the leaf root as the origin. The cutting process for the second segment is as follows: a. R1 cuts longitudinally from the left edge of the upper beam cap along the cross-section, i.e., the line where the upper beam cap intersects with the upper left shell, to the leaf root to the second cutting surface, then transversely to the front edge and cuts vertically, then cuts horizontally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory, cutting out a piece of the upper left shell, which is numbered 02-01. At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap and the upper right shell intersect, to the leaf root, to the second section cutting surface, then laterally to the rear edge, and then longitudinally along the rear edge to the cross-section perpendicularly. R2 cuts a "U" shaped trajectory, cutting out a piece of the upper right shell, which is numbered 02-02. b. R1 cuts longitudinally from the cross-section along the left edge of the lower beam cap, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root, to the second cutting surface, and then laterally to the front edge. R1 cuts an "L" shaped trajectory, cutting out a piece of the lower left shell, which is numbered 02-03. At the same time, R2 cuts longitudinally from the cross-section along the right edge of the lower beam cap, that is, the intersection line of the lower beam cap and the lower right shell, to the leaf root to the second cutting surface, and then transversely to the rear edge. R2 cuts an "L" shaped trajectory, cutting out a piece of the lower right shell, which is numbered 02-04. c. R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically segments the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 02-05. d. R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 02-06. The third, fourth, fifth, and sixth segments are cut at positions 61 / 75, 55 / 75, 47 / 75, and 39 / 75 of the leaf root as the origin, respectively. The cutting process for the third, fourth, fifth, and sixth segments is the same as that for the second segment. The seventh segment is cut at a point 3 1 / 75 degrees from the origin, with the leaf root as the origin. The cutting process for the seventh segment is as follows: A.R1 cuts longitudinally from the left edge of the upper beam cap along the cross-section, i.e., the line where the upper beam cap intersects with the upper left shell, to the leaf root to the second cutting surface, then transversely to the front edge and cuts vertically, then cuts horizontally along the front edge to the cross-section. R1 cuts a "U" shaped trajectory, cutting out a piece of the upper left shell, numbered 07-01. At the same time, R2 cuts longitudinally from the cross-section along the right edge of the upper beam cap, that is, the line where the upper beam cap intersects with the upper right shell, to the leaf root, then laterally to the middle of the upper right shell, and then longitudinally to the cross-section to cut vertically. R2 cuts a "U" shaped trajectory, cutting out the first piece of the upper right shell, numbered 07-02. R2 cuts the remaining upper right shell longitudinally from the rear edge of the cross-section to the cutting surface, and then cuts it horizontally and vertically along the cutting surface. R2 cuts an "L" shaped trajectory to cut out the second piece of the upper right shell, numbered 07-03. B.R1 cuts longitudinally from the left edge of the lower beam cap along the cross section, i.e., the line where the lower beam cap intersects with the lower left shell, to the leaf root, then laterally to the front edge, cutting in an "L" shaped trajectory, cutting out a piece of the lower left shell, numbered 07-04; At the same time, R2 cuts longitudinally from the middle of the lower right shell section to the blade root to the cutting surface, and then laterally to the trailing edge. R2 cuts an "L" shaped trajectory, cutting out the first piece of the lower right shell, numbered 07-05. R2 runs longitudinally from the cross-section along the right edge of the lower beam cap (the intersection line between the lower beam cap and the lower right shell) towards the leaf root to the cutting surface, and then cuts the remaining lower right shell horizontally and vertically. R2 cuts an "L" shaped trajectory to cut out the second piece of the lower right shell, numbered 07-06. C.R1 cuts longitudinally from the cross-section along the intersection line of the left shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the left shear web to the upper beam cap, and vertically cuts the upper beam cap. R1 cuts an "L" shaped trajectory. At the same time, R2 cuts longitudinally from the cross-section along the intersection line of the right shear web and the lower beam cap towards the leaf root to the cutting surface, then cuts horizontally upwards along the right shear web to the upper beam cap. R1 cuts an "L" shaped trajectory, cutting out the "∏" shaped connection between the shear web and the upper beam cap, numbered 07-07. D.R1 cuts from the left side of the lower beam cap along the cutting surface to the middle of the lower beam cap, and R2 cuts perpendicularly from the middle of the lower beam cap along the cutting surface to the right side of the lower beam cap. The straight lines of R1 and R2 are used to cut out the lower beam cap segments, numbered 07-08. The eighth, ninth, and tenth segments are cut at positions 24 / 75, 17 / 75, and 12 / 75 of the origin from the leaf root, respectively. The cutting process for the eighth, ninth, and tenth segments is the same as that for the seventh segment. The eleventh segment is cut on the blade at a distance of 7 / 75 from the origin with the blade root as the origin. The eleventh segment cutting process is as follows: R1 and R2 cut longitudinally from the cross-section along the outer circle to the blade root, and then cut horizontally and vertically along the outer circle to cut out 6 equal pieces. The cutting trajectory is "L" shaped and numbered as 11-01 / 02 / 03 / 04 / 05 / 06 respectively. The twelfth segment is cut on the blade at a position 2 / 75 of the distance from the origin, with the leaf root as the origin. The cutting process for the twelfth segment is the same as that for the eleventh segment. The thirteenth section is cut at the leaf root. The leaf root cutting process is as follows: 1) Cut the inner circular reinforcing plate of the leaf root: R1 and R2 are cut horizontally, and the "1 / 4 circular fan-shaped" trajectory is cut. Two 1 / 4 fan-shaped pieces are cut respectively, numbered 13-01 / 02 / 03 / 04. 2) Cutting the leaf root body: R1 and R2 cut the leaf root tail longitudinally along the outer circle from the cross-section, cut 3 times each, and cut 6 equal pieces, numbered 13-05 / 06 / 07 / 08 / 09 / 10.

Images