Wind turbine blade flash cutting method

Abstract

This invention belongs to the field of wind turbine blade manufacturing technology, specifically relating to a method for cutting the flash of wind turbine blades. This method includes: Step S1, establishing a coordinate system with the length direction of the flash as the Z-axis, the width direction as the X-axis, and the thickness direction as the Y-axis; Step S2, obtaining the XYZ coordinates of the straight segments of the flash to be cut, the inclined segments on both sides of the straight segments, and several points on the surface of the blade body sidewall; Step S3, obtaining the cutting points of each straight segment of the flash through the inflection points of the flash body and the inflection points of the straight and inclined segments; Step S4, adjusting the cutting end using the XYZ coordinates of the current cutting point and the next cutting point; Step S5, repeating Step S4 until the distance the cutting end moves along the Z-axis is greater than the length of the flash. Even if the flash is irregular, this method can still construct a path through the cutting points of each straight segment of the flash to complete the cutting of the flash.

Description

Technical Field

[0001] This invention belongs to the field of wind turbine blade manufacturing technology, specifically relating to a method for cutting the flash of wind turbine blades. Background Technology

[0002] During the production of wind turbine blades, two half-molds are joined together, and resin is poured into the mold. The resin seeps into the gaps between the half-molds and, as it is formed together with the blade body, creates flash that is attached to the blade body. This is due to the characteristics of the manufacturing process. One method to deal with flash is to cut it off after the blade body is demolded.

[0003] The flash cutting method disclosed in CN117798737B, a blade flash cutting device and method, is based on the principle of continuously scanning the surface of the flash with a monitoring device to obtain X-axis coordinates. These X-axis coordinates are used to construct the flash's direction curve. The output end of the cutting device is adjusted in the X-axis direction according to the direction curve, and in the Y-axis direction according to the blade edge height. In this way, the output end of the cutting device can move along the flash's direction. Based on this, the angle between the two points can be calculated using the X-axis and Z-axis coordinates of the two points. By rotating the output end of the cutting device from the front point to the rear point, the angle of this angle can be adjusted so that the output end of the cutting device is approximately tangent to the blade body, that is, the output end of the cutting device is aligned with the cutting line direction of the flash.

[0004] This flash trimming method still has limitations. It can only be used when the flash is regular, meaning the windward and leeward sides of the blade body corresponding to the flash are flush, and there is a clear boundary between the flash and the blade body. If the flash is irregular, this flash trimming method cannot be used. For example, see attached... Figure 1 and attached Figure 2 The types of burr in the image, with appendix Figure 1 The blade body corresponding to the flash has one side protruding from the windward or leeward side. This is due to the difficulty in achieving perfect alignment after the semi-mold is closed. In this case, the flash cutting method only obtains the X-axis coordinates of one side above or below the flash to form the flash's direction curve. This may result in the blade body being cut along with the flash during the cutting process. (See attached image.) Figure 2 In the case where there is no clear boundary between the flash and the blade body on one side, the flash cutting method cannot construct the flash trajectory curve if there is no abrupt change in the X-axis coordinates when obtaining the X-axis coordinates from that side.

[0005] Therefore, this application proposes a method for cutting the flash of wind turbine blades that can accurately cut the flash even when the flash is irregular. Summary of the Invention

[0006] The purpose of this invention is to provide a method for cutting the flash of wind turbine blades, so as to solve the technical problem that current flash cutting methods are not suitable for irregular flash.

[0007] To solve the above-mentioned technical problems, the present invention provides a method for cutting the flash of a wind turbine blade, comprising: step S1, establishing a coordinate system with the length direction of the flash as the Z-axis, the width direction of the flash as the X-axis, and the thickness direction of the flash as the Y-axis; step S2, obtaining the XYZ coordinates of the straight segment of the flash to be cut, the oblique segments on both sides of the straight segment, and several points on the surface of the blade body sidewall; step S3, fitting the straight line of the blade body sidewall, the straight line of the straight segment, and the oblique line of the oblique segment to the XYZ coordinates of each point in step S2, obtaining the inflection point of the flash body through the straight line of the blade body sidewall and the straight line of the straight segment, obtaining the inflection point of the straight segment and the oblique line of the straight segment, and obtaining the cutting point of each straight segment located on the flash through the inflection point of the flash body and the inflection point of the straight segment and the oblique line of the straight segment; step S4, after the cutting end passes the current cutting point, adjusting the cutting end through the XYZ coordinates of the current cutting point and the next cutting point; step S5, repeating step S4 until the distance the cutting end moves along the Z-axis is greater than the length of the flash.

[0008] The beneficial effect of this invention is that, in this wind turbine blade burr cutting method, a coordinate system is established with the length direction of the burr as the Z-axis, the width direction as the X-axis, and the thickness direction as the Y-axis. After obtaining the XYZ coordinates of the straight segments of the burr to be cut, the oblique segments on both sides of the straight segments, and several points on the surface of the blade body sidewall, the straight lines of the blade body sidewall, the straight segments, and the oblique segments can be fitted. The inflection points of the burr are obtained through the straight lines of the blade body sidewall and the straight segments, and the inflection points of the straight and oblique segments are obtained through the straight and oblique segments. Then, the cutting points of each straight segment located on the burr are obtained based on the inflection points of the burr and the straight and oblique segments. In this way, even if the burr is irregular, this method can still construct a travel path through the cutting points of each straight segment located on the burr. After the cutting end passes the current cutting point, the cutting end is adjusted by using the XYZ coordinates of the current cutting point and the next cutting point, so that the cutting end can move along this travel path until the distance moved by the cutting end along the Z-axis is greater than the length of the burr, thus completing the cutting of the burr. Attached Figure Description

[0009] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram showing that one side of the blade body, corresponding to the fly edge, protrudes from the windward and leeward sides. Figure 2 This is a schematic diagram showing that there is no clear boundary between the blade edge and the blade body on one side. Figure 3 This is a flowchart of the wind turbine blade flash cutting method of the present invention; Figure 4 This is a schematic diagram of the wind turbine blade flash cutting method of the present invention for obtaining the flash inflection point and the inflection point of the straight and inclined sections. Figure 1 ; Figure 5 This is a schematic diagram of the wind turbine blade flash cutting method of the present invention for obtaining the flash inflection point and the inflection point of the straight and inclined sections. Figure 2 ; Figure 6 This is a schematic diagram of the wind turbine blade flash cutting method of the present invention, which adjusts the cutting end according to the front and rear cutting points; In the picture: 100 for the flash, 110 for the straight section, 120 for the oblique section, 200 for the blade body, 210 for the blade body sidewall, 300 for the flash inflection point, and 400 for the straight and oblique sections inflection points. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments implemented by those skilled in the art without creative effort are within the protection scope of the present invention.

[0012] Example like Figure 3 and Figure 4 As shown, this invention provides a method for cutting the flash of a wind turbine blade, including: Step S1, establishing a coordinate system with the length direction of the flash 100 as the Z-axis, the width direction of the flash 100 as the X-axis, and the thickness direction of the flash 100 as the Y-axis; Step S2, obtaining the XYZ coordinates of several points on the surface of the straight segment 110 of the flash 100 to be cut, the oblique segments 120 located on both sides of the straight segment 110, and the sidewall 210 of the blade body; Step S3, fitting the straight line of the sidewall of the blade body using the XYZ coordinates of each point in Step S2. Step S4: After the cutting end passes the current cutting point, adjust the cutting end using the XYZ coordinates of the current cutting point and the next cutting point. Step S5: Repeat step S4 until the distance the cutting end moves along the Z-axis is greater than the length of the flash. The origin of the coordinate system can be found in the appendix. Figure 4The origin of the coordinate system is the intersection of the straight section 110 on one side and the sidewall 210 of the blade body.

[0013] This wind turbine blade flash cutting method uses the length direction of the flash as the Z-axis, the width direction as the X-axis, and the thickness direction as the Y-axis. After establishing a coordinate system, by obtaining the XYZ coordinates of several points on the surface of the straight segment of the flash to be cut, the inclined segments on both sides of the straight segment, and the blade body sidewall, the straight line of the blade body sidewall, the straight line of the straight segment, and the straight line of the inclined segment can be fitted. The inflection point of the flash body is obtained through the straight line of the blade body sidewall and the straight line of the straight segment, and the inflection point of the straight and inclined segments is obtained through the straight and inclined segments. Then, the cutting point of each straight segment located on the flash body is obtained based on the inflection point of the flash body and the inflection point of the straight and inclined segments. In this way, even if the flash is irregular, this method can still construct a travel path through the cutting points of each straight segment located on the flash body. After the cutting end passes the current cutting point, the cutting end is adjusted by using the XYZ coordinates of the current cutting point and the next cutting point, so that the cutting end can move along this travel path until the distance moved by the cutting end along the Z-axis is greater than the length of the flash, thus completing the cutting of the flash.

[0014] The method for obtaining the XYZ coordinates of several points on the surface of the blade body sidewall and the straight section of the blade to be cut, the oblique sections on both sides of the straight section, and the blade body sidewall in this wind turbine blade flash cutting method is as follows.

[0015] Step S2, obtaining the XYZ coordinates of several points on the surface of the straight section of the flash to be cut, the inclined sections on both sides of the straight section, and the sidewall of the blade body, includes: Step S21, obtaining the XYZ coordinates of several points on the upper surface of the straight section 110, the inclined sections 120 on both sides of the straight section 110, and the sidewall of the blade body 210, the XYZ coordinates of several points on the upper surface of the inclined sections, and the XYZ coordinates of several points on the sidewall of the upper blade body from the upper side of the flash 100 to be cut; Step S22, obtaining the XYZ coordinates of several points on the lower surface of the straight section 110, the inclined sections 120 on both sides of the straight section 110, and the sidewall of the blade body 210, the XYZ coordinates of several points on the lower surface of the straight section 110, the inclined sections 120 on both sides of the straight section 110, and the XYZ coordinates of several points on the sidewall of the lower blade body from the lower side of the flash 100 to be cut.

[0016] The X and Y coordinates of each point can be obtained by setting SR7240 cameras on both the upper and lower sides of the flash 100. By setting the SR7240 cameras on the AGV and using the distance traveled by the AGV along the length of the flash 100 as the Z coordinate, the X, Y, and Z coordinates of each point can be obtained by combining the X and Y coordinates obtained by the SR7240 cameras with the Z coordinates obtained by the AGV.

[0017] The method for fitting the straight lines, straight segments, and oblique segments of the blade body sidewall using the blade edge cutting method is as follows.

[0018] In step S3, the straight lines of the blade body sidewall, straight sections, and inclined sections are fitted using the XYZ coordinates of each point in step S2. The blade body sidewall straight lines and straight sections are used to obtain the blade body flash edge inflection points. The straight sections and inclined sections are used to obtain the straight section and inclined section inflection points. The cutting points of each straight section located at 100° of the flash edge are obtained using the blade body flash edge inflection points and straight section and inclined section inflection points, including: Figure 4 and Figure 5 As shown, in step S31, the points in step S2 are divided into several large groups based on their Z-coordinates. The points within each large group are then divided into smaller groups based on their side. The difference in X-coordinates and the difference in Y-coordinates between adjacent points in each group are compared. Points with X-coordinate differences less than or equal to a preset value are assigned to the blade body sidewall group, and points with Y-coordinate differences less than or equal to a preset value are assigned to the straight section group. The remaining points are assigned to the inclined section group. In step S32, the XY coordinates of each point within the blade body sidewall group are fitted. Step S33: The straight line of the blade body sidewall is obtained by fitting the straight line of the straight section with the XY coordinates of each point in the straight section group, and the straight line of the oblique section is obtained by fitting the oblique line of each point in the oblique section group; Step S34: The intersection of the straight line of the blade body sidewall and the straight line of the same side is taken as the blade body edge inflection point 300, and the intersection of the straight line of the same side and the oblique line of the oblique section is taken as the straight section oblique section inflection point 400; Step S35: The cutting point corresponding to the Z coordinate of the large group is determined by the blade body edge inflection point 300 and the straight section oblique section inflection point 400 on the upper and lower sides.

[0019] The least squares fitting method can be used to fit straight lines to the blade body sidewalls by fitting the coordinates of each point in the blade body sidewall group, straight lines to the straight segments by fitting the coordinates of each point in the straight segments group, and straight lines to the oblique segments by fitting the coordinates of each point in the oblique segments group. The calculations can be performed using an industrial control computer.

[0020] The method for cutting the flash of this wind turbine blade determines the cutting point by using the inflection point of the flash on the blade body and the inflection point of the straight and oblique sections as follows.

[0021] Step S34, determining the cutting point corresponding to the Z coordinate of the large group by using the inflection points of the upper and lower body burr edges and the straight and oblique sections, includes: Step S341, obtaining the midpoint between the inflection point of the straight and oblique sections on the upper and lower sides of the burr edge 100; Step S342, when both the inflection point 300 on the upper and lower sides of the burr edge 100 exist, comparing the X coordinate of the inflection point 300 on the upper side of the burr edge 100 with the X coordinate of the midpoint, and cutting the burr edge... The X-coordinate of the inflection point 300 of the main body 100 on the lower side is compared with the X-coordinate of the midpoint. The inflection point 300 of the main body 100 that is close to the midpoint in the X-axis direction is taken as the cutting point. When only one of the inflection points 300 of the main body 100 on the upper side and the main body 100 on the lower side exists, the existing inflection point 300 is taken as the cutting point. When neither the inflection point 300 of the main body 100 on the upper side nor the inflection point 300 of the main body 100 on the lower side exists, the midpoint is taken as the cutting point.

[0022] Even if the fly edge 100 is irregular, i.e., when both the upper and lower fly edge inflection points exist, but the distances between the upper and lower fly edge inflection points and the midpoint along the X-axis are different, corresponding to the situation where one side of the windward and leeward sides of the blade body 200 protrudes, or when only one of the upper and lower fly edge inflection points exists, corresponding to the situation where there is no clear boundary between the fly edge and the blade body 200 on one side, or the extreme case where neither the upper nor lower fly edge inflection points exist, this method can still construct a travel path through the cutting points of each straight segment of the fly edge. After the cutting end passes the current cutting point, the cutting end is adjusted by using the XYZ coordinates of the current cutting point and the next cutting point, so that the cutting end can move along this travel path until the distance moved by the cutting end along the Z-axis is greater than the length of the fly edge, thus completing the cutting of the fly edge.

[0023] Meanwhile, this wind turbine blade burr cutting method can also construct a normal travel path for regular burrs, that is, when both the upper and lower burr inflection points exist, and the distances between the upper and lower burr inflection points and the midpoint along the X-axis are the same or the difference is within a preset range.

[0024] Once you have obtained the cutting point of the straight section located on the flash through the above steps, you can complete the cutting by following these steps.

[0025] Step S4, after the cutting end passes the current cutting point, adjusting the cutting end using the XYZ coordinates of the current cutting point and the next cutting point includes: Step S41, as follows: Figure 6As shown, after the cutting end passes the current cutting point, the cutting end is moved along the X-axis by a corresponding distance using the X-coordinate of the current cutting point and the X-coordinate of the next cutting point; in step S42, after the cutting end passes the current cutting point, the cutting end is moved along the Y-axis by a corresponding distance using the Y-coordinate of the current cutting point and the Y-coordinate of the next cutting point; in step S43, after the cutting end passes the current cutting point, the cutting end is rotated around the Y-axis by a corresponding angle using the X and Z coordinates of the current cutting point and the X and Z coordinates of the next cutting point; in step S44, after the cutting end passes the current cutting point, the cutting end is rotated around the Z-axis by a corresponding angle using the X and Y coordinates of the current cutting point and the X and Y coordinates of the next cutting point.

[0026] The included angle can be calculated using the coordinates of points (x1, y1, z1) and (x2, y2, z2) through trigonometric functions.

[0027] Repeat step S4 until the distance the cutting end moves along the Z-axis is greater than the length of the flash, then the cutting is complete.

[0028] In summary, this wind turbine blade flash cutting method establishes a coordinate system with the flash length direction as the Z-axis, the flash width direction as the X-axis, and the flash thickness direction as the Y-axis. By acquiring the XYZ coordinates of several points on the surface of the blade body sidewall, the straight segments of the flash to be cut, the oblique segments on both sides of the straight segments, and the blade body sidewall, straight lines, straight segments, and oblique segments can be fitted. The flash inflection points are obtained from the blade body sidewall and straight segments, and the inflection points of the straight and oblique segments are obtained from the straight and oblique segments. Furthermore, the cutting points of each straight segment on the flash are obtained based on these inflection points. Even if the flash is irregular, this method can still construct a path through the cutting points of each straight segment on the flash. After the cutting end passes the current cutting point, the XYZ coordinates of the current and next cutting points are used to adjust the cutting end, allowing it to move along this path until the distance the cutting end moves along the Z-axis is greater than the flash length, thus completing the flash cutting.

[0029] In the embodiments provided in this application, it should be understood that the disclosed systems and devices can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the mechanism is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0030] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., 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 for 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A method for cutting the flash of wind turbine blades, characterized in that, include: Step S1: Establish a coordinate system with the length direction of the burr as the Z-axis, the width direction of the burr as the X-axis, and the thickness direction of the burr as the Y-axis; Step S2: Obtain the XYZ coordinates of several points on the surface of the straight section of the flash to be cut, the inclined sections on both sides of the straight section, and the sidewall of the blade body. Step S3: Fit the XYZ coordinates of each point in step S2 to obtain the straight line of the blade body sidewall, the straight section straight line, and the oblique section straight line. Obtain the blade body flash edge inflection point through the straight line of the blade body sidewall and the straight section straight line. Obtain the straight section oblique section inflection point through the straight section straight line and the oblique section straight line. Obtain the cutting point of each straight section located on the flash edge through the blade body flash edge inflection point and the straight section oblique section inflection point. Step S4: After the cutting end passes the current cutting point, adjust the cutting end according to the XYZ coordinates of the current cutting point and the next cutting point; Step S5: Repeat step S4 until the distance the cutting end moves along the Z-axis is greater than the length of the flash.

2. The method for cutting the flash of wind turbine blades according to claim 1, characterized in that, Step S2, obtaining the XYZ coordinates of several points on the surface of the straight section of the flash to be cut, the inclined sections on both sides of the straight section, and the sidewall of the blade body, includes: Step S21: Obtain the XYZ coordinates of several points on the upper surface of the straight section, the inclined sections on both sides of the straight section, and the sidewall of the blade body from the upper side of the flash to be cut; obtain the XYZ coordinates of several points on the upper surface of the straight section, the inclined sections, and the sidewall of the upper blade body. Step S22: Obtain the XYZ coordinates of several points on the lower surface of the straight section, the inclined section on both sides of the straight section, and the sidewall of the blade body from the lower side of the flash to be cut. Also obtain the XYZ coordinates of several points on the lower surface of the straight section, the inclined section, and the sidewall of the lower blade body.

3. The method for cutting the flash of wind turbine blades according to claim 2, characterized in that, In step S3, the straight lines of the blade body sidewall, straight segments, and inclined segments are fitted using the XYZ coordinates of each point in step S2. The blade body sidewall and straight segments are used to obtain the blade body flash edge inflection points. The straight and inclined segments are used to obtain the straight and inclined segments inflection points. The cutting points of each straight segment located on the flash edge are obtained using the blade body flash edge inflection points and the straight and inclined segments inflection points. Step S31: Divide the points in step S2 into several large groups based on the same Z coordinate, divide the points in each large group into smaller groups based on their side, compare the difference in X coordinate between two adjacent points in each group, and the difference in Y coordinate between two adjacent points. Points with an X coordinate difference less than or equal to a preset value are assigned to the blade body sidewall group, points with a Y coordinate difference less than or equal to a preset value are assigned to the straight section group, and the remaining points are assigned to the inclined section group. Step S32: Fit the straight line of the blade body sidewall using the XY coordinates of each point in the blade body sidewall group, fit the straight line of the straight segment using the XY coordinates of each point in the straight segment group, and fit the straight line of the oblique segment using the XY coordinates of each point in the oblique segment group. Step S33: Take the intersection of the straight line on the sidewall of the blade body and the straight section line on the same side as the blade body edge inflection point, and take the intersection of the straight section line and the oblique section line on the same side as the straight section oblique section inflection point. Step S34: Determine the cutting point corresponding to the Z coordinate of the large group by using the inflection points of the upper and lower body edges and the inflection points of the straight and inclined sections.

4. The method for cutting the flash of wind turbine blades according to claim 3, characterized in that, Step S34, which determines the cutting point corresponding to the Z coordinate of the large group by using the inflection points of the upper and lower body edges and the inflection points of the straight and inclined sections, includes: Step S341: Obtain the midpoint between the inflection point of the straight and oblique segments on the upper side of the burr and the midpoint of the straight and oblique segments on the lower side of the burr. Step S342: When both the upper and lower sides of the main body flash edge inflection point exist, compare the X coordinate of the upper side of the main body flash edge inflection point with the X coordinate of the midpoint, compare the X coordinate of the lower side of the main body flash edge inflection point with the X coordinate of the midpoint, and take the main body flash edge inflection point that is close to the midpoint in the X-axis direction as the cutting point. When only one of the body flash inflection point on the upper side of the flash and the body flash inflection point on the lower side of the flash exists, the existing body flash inflection point is taken as the cutting point. When neither the upper nor lower inflection point of the main body flash exists, the midpoint is used as the cutting point.

5. The method for cutting the flash of wind turbine blades according to claim 4, characterized in that, Step S4, after the cutting end passes the current cutting point, adjusting the cutting end using the XYZ coordinates of the current cutting point and the next cutting point includes: Step S41: After the cutting end passes the current cutting point, move the cutting end along the X-axis by the corresponding distance using the X coordinate of the current cutting point and the X coordinate of the next cutting point. Step S42: After the cutting end passes the current cutting point, move the cutting end along the Y-axis by the corresponding distance using the Y coordinate of the current cutting point and the Y coordinate of the next cutting point. Step S43: After the cutting end passes the current cutting point, the cutting end is rotated around the Y-axis by the corresponding included angle using the X and Z coordinates of the current cutting point and the X and Z coordinates of the next cutting point. Step S44: After the cutting end passes the current cutting point, the cutting end is rotated around the Z-axis by the corresponding included angle using the X and Y coordinates of the current cutting point and the X and Y coordinates of the next cutting point.

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