Flexible abrasive belt polishing device for wind power tower drum

Abstract

The invention discloses a wind power tower tube flexible abrasive belt polishing device which is characterized in that the wind power tower tube flexible abrasive belt polishing device comprises an abrasive belt polishing machine, the abrasive belt polishing machine is fixedly installed at the execution end of a mechanical arm, and the fixed end of the mechanical arm is connected to a horizontal moving mechanism through a lead screw; the abrasive belt grinding machine comprises a fixed seat, an abrasive belt and a plurality of abrasive belt wheels which are matched with each other are arranged on the fixed seat, and the abrasive belt wheels comprise a driving wheel, a tensioning wheel and a grinding wheel which are driven by a power device; the upper end and the lower end of a wheel shaft of the grinding wheel are connected to the fixing base through elastic connecting mechanisms correspondingly. The contact force can be dynamically adjusted according to the surface radian and the uneven state of the tower drum, the common problems of miss grinding and excessive grinding in rigid grinding are effectively avoided, it is ensured that the surface of the tower drum and a welding seam area are ground uniformly and consistently, and the grinding quality and stability are remarkably improved.

Description

Technical Field

[0001] This invention relates to a grinding device for wind turbine towers. Background Technology

[0002] Existing wind turbine tower grinding devices have several shortcomings. First, they lack proper fit. Current grinding components rely on rigid contact or simple angle adjustments, which are insufficient to adapt to uneven tower surfaces or shape deviations. This can lead to over-grinding, missed areas, or poor fit, affecting quality stability. Second, they lack flexible adjustment. Traditional devices lack flexible buffer structures, and the grinding force cannot be dynamically adjusted according to the tower surface condition. This can easily cause surface damage or excessive wear of the grinding head, reducing equipment lifespan. Third, they lack sufficient movement precision and efficiency. Some devices have complex or unstable moving mechanisms, resulting in insufficient movement precision, which affects the accuracy of grinding positions and limits efficiency improvement.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible sanding belt grinding device for wind turbine towers, which can adapt to the surface conditions of the towers and improve the grinding quality.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A flexible belt sander for wind turbine towers includes a belt sander fixedly mounted on the execution end of a robotic arm. The fixed end of the robotic arm is connected to a horizontal moving mechanism via a lead screw. The belt sander includes a fixed base with a mating belt and multiple sanding wheels on it. Each sanding wheel includes a drive wheel, a tension wheel, and a grinding wheel driven by a power unit. The upper and lower ends of the grinding wheel's axle are connected to the fixed base via elastic connecting mechanisms.

[0006] Furthermore, the elastic connection mechanism includes an optical shaft, a hollow shaft, a spring, and a fisheye joint bearing. One end of the fisheye joint bearing is connected to the wheel axle, and the other end is connected to the hollow shaft via a thread. Inside the hollow shaft, a spring connects to one end of the optical shaft, and the other end of the optical shaft is connected to a fixed seat.

[0007] Furthermore, the upper and lower ends of the tensioning wheel's axle are respectively connected to the fixed base via elastic connection mechanisms.

[0008] Furthermore, the robotic arm comprises two sections. One end of the first section is connected to the rotor of the first joint motor by bolts, and the other end is connected to the stator of the second joint motor by bolts. One end of the second section is connected to the rotor of the second joint motor by bolts, and the other end is connected to the stator of the third joint motor by bolts. The rotor of the third joint motor is connected to the fixed base.

[0009] Furthermore, the horizontal moving mechanism consists of two upper and lower slide rails and sheet metal connecting parts for the slide rails on both sides as the main structure; the lead screw is set in the middle of the two slide rails through a lead screw fixing seat and is connected to the lead screw stepper motor through a coupling; the lead screw is equipped with a nut seat, which is connected to the robot arm base, and the robot arm base is connected to the stator of the first joint motor.

[0010] By adopting the above technical solution, the present invention has the following beneficial technical effects: 1. The elastic connection structure of the belt grinding component of the present invention can dynamically adjust the contact force according to the curvature and unevenness of the tower surface, effectively avoiding the common problems of missed grinding and over-grinding in rigid grinding, ensuring uniform grinding of the tower surface and weld area, and significantly improving the stability of grinding quality.

[0011] 2. The horizontal rotation function of the robotic arm, combined with the precise displacement of the horizontal moving mechanism, can flexibly adapt to the grinding needs of different circumferential seams and curved surfaces, greatly improving the equipment's adaptability to complex working conditions.

[0012] 3. The mechanical adjustment allows for quick adaptation to towers of different diameters and specifications, reducing the intensity of manual operation; the stable transmission and guiding design of the mechanical structure reduces operational swaying or deviation, lowers the risk of equipment collision, and improves operational safety.

[0013] 4. The flexible connection mechanism buffers the grinding impact, reduces hard contact wear between the sanding belt and the tower, and extends the service life of the components; the precision transmission of the lead screw shortens the positioning and grinding switching time, optimizing the overall operation efficiency while ensuring accuracy. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the belt sander of the present invention; Figure 3 This is a schematic diagram of the grinding wheel structure of the present invention; Figure 4 This is a schematic diagram of the robotic arm structure of the present invention; Figure 5 This is a schematic diagram of the lead screw horizontal movement mechanism of the present invention; In the diagram: 100 Belt sander, 101 Motor mounting plate, 102 Grinding wheel mounting base, 103 Grinding motor, 104 Drive wheel, 105 Tensioner mounting base, 106 Tensioner end cover, 107 Tensioner linear bearing, 108 Tensioner shaft, 109 Hollow shaft, 110 Tensioner connector, 112 Tensioner shaft, 113 Tensioner, 114 Grinding wheel cover, 115 Grinding wheel shaft, 116 Hollow shaft, 117 Linear bearing, 118 Grinding wheel spring, 119 Fisheye joint bearing, 12 0 Grinding wheel shaft, 121 Grinding wheel, 122 Sanding belt, 200 Robotic arm, 201 First joint motor, 202 First section robotic arm, 203 Second joint motor, 204 Second section robotic arm, 205 Third joint motor, 300 Horizontal movement mechanism, 301 Slide rail, 302 Slide rail sheet metal connector one, 303 Slide rail sheet metal connector two, 304 Lead screw, 305 Lead screw fixing seat, 306 Coupling, 307 Lead screw stepper motor, 308 Stepper motor seat, 309 Slider, 310 Nut seat, 311 Robotic arm base. Detailed Implementation

[0015] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0016] Example 1: The present invention provides a flexible sanding belt grinding device for wind turbine towers, comprising a sanding belt grinder, wherein the sanding belt grinder is fixedly mounted on the execution end of a robotic arm, and the fixed end of the robotic arm is connected to a horizontal moving mechanism via a lead screw.

[0017] The belt sander includes a fixed base, on which a sanding belt and multiple sanding wheels are arranged to cooperate with each other. Generally, there are three sanding wheels, one of which is a drive wheel driven by a power unit, and the other is a tension wheel and a grinding wheel.

[0018] The upper and lower ends of the axles of the grinding wheel and the tensioning wheel are respectively connected to the fixed base through elastic connection mechanisms.

[0019] The elastic connection mechanism includes an optical shaft, a hollow shaft, a spring, and a fisheye joint bearing. One end of the fisheye joint bearing is connected to the wheel axle, and the other end is connected to the hollow shaft via a thread. Inside the hollow shaft, a spring connects to one end of the optical shaft, and the other end of the optical shaft is connected to a fixed base.

[0020] The present invention will now be described in further detail with reference to the accompanying drawings.

[0021] like Figure 1 As shown, the present invention proposes a flexible sanding belt grinding device for wind turbine towers, including a sanding belt grinder 100, a robotic arm 200, and a lead screw horizontal moving mechanism 300. like Figure 2 and Figure 3As shown, the fixing base includes a motor fixing plate 101, a tension wheel fixing base 105, and a grinding wheel fixing base 102, which are combined to form the main frame structure.

[0022] The motor mounting plate 101 is connected to the grinding wheel mounting base 102 by four bolts. The motor mounting plate 101 is connected to the grinding motor 103 by bolts, and the grinding motor 103 is connected to the drive wheel 104 by a key.

[0023] The motor mounting plate 101 is connected to the tension wheel mounting base 105 by bolts. The tension wheel is connected to the tension wheel mounting base 105 by two elastic connecting mechanisms.

[0024] Specifically, the elastic connection mechanism includes a tension wheel end cap 106, which has a threaded hole in the middle and four through holes around it, and is fixed to one side of the tension wheel fixing seat 105 by bolts; a tension wheel linear bearing 107 is fixed on the tension wheel seat 105 and located on the opposite side of the tension wheel end cap 106; one end of the tension wheel optical shaft 108 is threaded and connected to the tension wheel end cap 106 through the threaded hole in the middle of the tension wheel end cap 106, and the other end of the tension wheel optical shaft 108 is inserted into the tension wheel hollow shaft 109; the tension wheel hollow shaft 109 is inserted into the tension wheel linear bearing 107 and connected to the tension wheel connector 110 by threads; one end of the tension wheel connector 110 is connected to the tension wheel optical shaft 108 through the tension wheel spring, and the other end is fitted onto the tension wheel shaft 112 through a through hole.

[0025] Tensioner shaft 112 is connected to tensioner 113 via bearing.

[0026] The grinding wheel 121 is connected to an elastic connection mechanism at its upper and lower ends via the grinding wheel shaft 120. The elastic connection mechanism includes a grinding wheel shaft 115, a grinding wheel hollow shaft 116, a grinding wheel spring 118, and a fisheye joint bearing 119. One end of the fisheye joint bearing 119 is connected to the grinding wheel shaft 120, and the other end is connected to the grinding wheel hollow shaft 116 via a thread. Inside the grinding wheel hollow shaft 116, the grinding wheel spring 118 is connected to one end of the grinding wheel shaft 115. The other end of the grinding wheel shaft 115 is connected to the grinding wheel fixing seat 102.

[0027] Specifically, the grinding wheel end cap 114 has a threaded hole in the center and four through holes around it, which are bolted to one side of the grinding wheel mounting base 102. The grinding wheel linear bearing 117 is fixed to the grinding wheel base 102; one end of the grinding wheel shaft 115 is threaded and connected to the grinding wheel cover 114 through the thread in the center of the grinding wheel cover 114, and the other end of the grinding wheel shaft 115 is inserted into the hollow shaft 116 of the grinding wheel, which is connected to the fisheye joint bearing 119 inside the hollow shaft 116 through the grinding wheel spring 118. One end of the hollow shaft 116 is inserted into the grinding wheel linear bearing 117, and the other end is connected to the fisheye joint bearing 119 through threads. The grinding wheel shaft 120 is connected to the grinding wheel 121 through bearings, and the grinding wheel shaft 120 can rotate relative to the fisheye joint bearing 119. When the upper and lower fisheye joint bearings 119 are subjected to different forces, the two grinding wheel springs 118 will produce different deformations. At this time, the grinding wheel will tilt to fit the conical tower.

[0028] The sanding belt 122 passes around the drive wheel 104, the grinding wheel 121 and the tension wheel 113.

[0029] like Figure 4 As shown, the robotic arm comprises two sections. One end of the first section, 202, is connected to the rotor of the first joint motor 201 via bolts, and the other end is connected to the stator of the second joint motor 203 via bolts. One end of the second section, 204, is connected to the rotor of the second joint motor 203 via bolts, and the other end is connected to the stator of the third joint motor 205 via bolts. The rotor of the third joint motor 205 is connected to a fixed base. By controlling the angles of the three joint motors, they rotate along the curved surface of the wind turbine tower, enabling the belt sander to sand along the curved surface of the wind turbine tower.

[0030] like Figure 5 As shown, the horizontal moving mechanism consists of two identical slide rails 301, one above the other. The two slide rails 301 are connected on both sides by slide rail sheet metal connector 1 302 and slide rail sheet metal connector 2 303. A lead screw 304 is provided between the two slide rails. The two ends of the lead screw 304 are connected to the slide rail sheet metal connector 1 302 and slide rail sheet metal connector 2 303 through lead screw fixing seat 305. The two ends of the coupling 306 are connected to the lead screw 304 and the lead screw stepper motor 307 respectively through keys. The stepper motor seat 308 and the slide rail sheet metal connector 2 303 are connected by bolts. Each of the upper and lower slide rails 301 is equipped with two sliders 309. The lead screw 304 is equipped with a nut seat 310. The sliders 309 and the nut seat 310 are connected to the robot arm base 311 by bolts. The robot arm base 311 is connected to the stator of the first joint motor 201. The rotation of the lead screw stepper motor 307 drives the lead screw 304 to rotate, and the rotation of the lead screw 304 drives the nut seat 310 to move. The robotic arm base 311 connected to the nut seat 310 moves together with the nut seat 310, thereby driving the robotic arm on it to move.

[0031] The wind turbine tower sanding device in this embodiment uses sanding belt. The wind turbine tower is conical with a large diameter at the bottom and a small diameter at the top. The robotic arm rotates along the surface trajectory of the wind turbine tower, so that the sanding wheel contacts the surface of the tower. During operation, the spring of the upper elastic connecting mechanism has a large deformation amount, while the spring of the lower elastic connecting mechanism has a small deformation amount. The sanding wheel is tilted, so that the sanding wheel can fit against the surface of the conical tower.

[0032] In this embodiment, the robotic arm is initially positioned at one end of the lead screw horizontal movement mechanism. The robotic arm rotates along the trajectory of the tower surface, while the sanding belt grinding mechanism grinds the tower surface. When the robotic arm reaches its maximum rotation range, the lead screw horizontal movement mechanism is activated to move the robotic arm to other positions, and then the robotic arm is activated again to continue grinding other areas.

[0033] In this embodiment, the robotic arm and lead screw horizontal movement mechanism can only move on the same horizontal plane. After the sanding belt grinding mechanism completes the grinding work on the same horizontal plane, it needs to cooperate with the wind turbine tower climbing mechanism to drive the wind turbine tower sanding belt grinding device to move in the vertical plane, thereby completing the grinding work on different horizontal planes of the wind turbine tower.

[0034] It should be clarified that the expressions "first," "second," "a," and "two" used in the embodiments are only for the purpose of distinguishing and describing technical features, and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0035] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A flexible sanding belt grinding device for wind turbine towers, characterized in that, The invention includes a belt sander, which is fixedly mounted on the execution end of a robotic arm. The fixed end of the robotic arm is connected to a horizontal moving mechanism via a lead screw. The belt sander includes a fixed base, on which a sanding belt and multiple sanding wheels are arranged to cooperate with each other. Each sanding wheel includes a drive wheel, a tension wheel, and a grinding wheel driven by a power device. The upper and lower ends of the axle of the grinding wheel are respectively connected to the fixed base via elastic connecting mechanisms.

2. The flexible sanding belt grinding device for wind turbine towers as described in claim 1, characterized in that, The elastic connection mechanism includes an optical shaft, a hollow shaft, a spring, and a fisheye joint bearing. One end of the fisheye joint bearing is connected to the wheel axle, and the other end is connected to the hollow shaft via a thread. Inside the hollow shaft, a spring connects to one end of the optical shaft, and the other end of the optical shaft is connected to a fixed base.

3. The flexible sanding belt grinding device for wind turbine towers as described in claim 1, characterized in that, The upper and lower ends of the tensioning wheel axle are respectively connected to the fixed base through an elastic connection mechanism.

4. The flexible sanding belt grinding device for wind turbine towers as described in claim 1, characterized in that, The robotic arm comprises two sections. One end of the first section is connected to the rotor of the first joint motor by bolts, and the other end is connected to the stator of the second joint motor by bolts. One end of the second section is connected to the rotor of the second joint motor by bolts, and the other end is connected to the stator of the third joint motor by bolts. The third joint connects the motor rotor to the fixed base.

5. The flexible sanding belt grinding device for wind turbine towers as described in claim 1 or 4, characterized in that, The horizontal moving mechanism consists of two upper and lower slide rails and sheet metal connecting parts for the slide rails on both sides as the main structure; the lead screw is set in the middle of the two slide rails through a lead screw fixing seat and is connected to the lead screw stepper motor through a coupling; the lead screw is equipped with a nut seat, which is connected to the robot arm base, and the robot arm base is connected to the stator of the first joint motor.

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