A wind power mixed tower ring piece splicing glue coating robot

Abstract

The application discloses a wind power mixed tower ring piece splicing glue coating robot. The device takes the main body as the base body, is equipped with a walking motor, a walking differential gear box and a wheel set walking mechanism at the front end, realizes accurate alignment and stable walking by cooperating with the front laser lamp. The device is provided with front and rear wheel track adjusting structures, which can adapt to wind power mixed tower ring pieces of different diameters. The main body front end is loaded with a slidable glue discharging swing mechanism and a glue valve mixing mechanism, which can swing synchronously with the walking speed of the device, complete online mixing and uniform glue distribution of double-component glue, and the main body rear end is integrated with a self-adaptive glue scraping mechanism, which realizes self-adaptive leveling of the glue layer by cooperating with an arc-shaped detachable scraping plate through a plurality of adjusting motors, angle sensors and deviation correction joints. The application solves the problems of uneven quality, low efficiency and poor safety of traditional manual glue coating, has high automation degree and strong adaptability, can effectively improve the wind power mixed tower ring piece splicing glue coating quality and operation efficiency, and has high practical and popularization values.

Description

Technical Field

[0001] This invention relates to the field of wind power hybrid tower adhesive application technology, specifically to a wind power hybrid tower ring splicing adhesive application robot. Background Technology

[0002] Wind turbine hybrid towers are assembled layer by layer from multiple precast concrete ring sections. The joints between the ring sections need to be evenly coated with a two-component structural sealant to ensure the overall sealing, waterproofing, and structural stability of the tower. Currently, the sealing work for the ring section splicing of wind turbine hybrid towers in China is mostly done manually using handheld sealing equipment, which has many drawbacks.

[0003] First, the uneven walking speed and difficulty in accurately matching the amount of adhesive applied manually easily lead to problems such as uneven adhesive layer thickness, adhesive breaks, adhesive overflow, and adhesive strip misalignment, directly affecting the sealing quality of the ring splicing. Second, the large diameter and long working surface of the tower ring make manual adhesive application labor-intensive and extremely inefficient, which cannot meet the needs of large-scale mass production. At the same time, structural sealant has a certain degree of irritation, and long-term manual contact can easily harm the health of operators. Moreover, working at height and on vertical surfaces on the outside of the ring poses significant safety hazards.

[0004] Existing simple adhesive application equipment has limited functionality, only providing basic adhesive dispensing. It cannot achieve functions such as synchronous swaying adhesive application with walking speed, adaptive curvature adhesive scraping, and adaptive wheel spacing adjustment to accommodate different specifications of ring pieces. Its automation and integration levels are low, resulting in poor adhesive coating quality. To address these shortcomings, this invention proposes an integrated, adaptively adjustable, swaying adhesive application robot for wind turbine hybrid tower ring piece splicing. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a wind power hybrid tower ring splicing adhesive application robot, which realizes automated tower ring splicing, speed-synchronous swaying adhesive application, and arc-shaped adaptive adhesive scraping integrated operation, ensuring uniform and flat adhesive layer, improving adhesive application efficiency, and reducing reliance on manual labor and operational safety hazards.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a wind power hybrid tower ring splicing adhesive application robot, comprising a main body, a walking differential gearbox connected to the front end of the main body, a walking motor disposed above the walking differential gearbox, the motor shaft of the walking motor being connected to a drive gear via the walking differential gearbox, the drive gear meshing with front drive wheels with load-bearing function on both sides below, the front drive wheels being disposed inside the front reversing gearbox and being drivenly connected to the front drive gearbox, a front side wheel disposed below the front reversing gearbox, and the top rear end of the front reversing gearbox being connected to an adhesive dispensing swing mechanism. The glue dispensing swing mechanism is equipped with a glue dispensing valve mixing mechanism via a glue dispensing valve fixing seat. A glue dispensing valve swing slider is located at the rear end of the glue dispensing swing mechanism. The glue dispensing valve swing slider slides in cooperation with a slide rail, which is set on the main body. The robot's left and right arms are connected to the front two sides of the main body. A rear wheel opening hand crank is located on the outer side of the right arm. The rear wheel opening hand crank is connected to the rear wheel opening screw between the left and right arms. A front wheel opening hand crank is located on the outer side of the front wheel reversing gearbox on the right side. The front wheel opening hand crank is connected to the front wheel opening screw, which is located between the front wheel reversing gearboxes. Rear wheels are located on the inner sides of the left and right arms. A glue scraping mechanism is located at the rear end of the main body.

[0007] Preferably, a front laser light is provided on the front side of the walking differential gearbox.

[0008] Preferably, the scraping mechanism includes a scraper lifting motor, a scraper correction joint, a scraper mounting support, a scraper mounting first wheel, a scraper adjusting motor, a guide shaft connecting joint, and an angle sensor. The scraper lifting motor is located on the top left side of the main body and is connected to a scraper adjusting motor on one side below the main body. The scraper adjusting motor is fixed to the scraper mounting support. The scraper mounting support is connected to a scraper mounting support on the other side via the scraper mounting first wheel. Another scraper adjusting motor is installed on the scraper mounting support on the other side, and an angle sensor is installed on the top of the other scraper adjusting motor. A scraper is detachably mounted below the scraper mounting first wheel via a scraper mounting seat. Linear bearing mounting seats are provided at both ends of the outer side of the main body, and lifting guide rods are provided on the linear bearing mounting seats. The bottom of the lifting guide rod passes through a hole in the middle of the scraper mounting support. A scraper correction joint is provided at the bottom of the scraper mounting support where it mates with the scraper adjusting motor. The guide shaft connecting joint is located at the end of the lifting guide rod.

[0009] Preferably, the top of the main body is also equipped with a lifting hook, which can be used with lifting equipment to quickly lift and transfer equipment, facilitating the loading and unloading of equipment and the arrangement of working surfaces at different heights of the tower.

[0010] The present invention has the following beneficial effects: 1. Strong adaptability: This equipment can flexibly adjust the clamping distance of the front and rear wheel sets through the front and rear hand cranks and screw structure, which can adapt to wind power hybrid tower rings of different diameters. It has strong versatility and is applicable to a wide range of scenarios.

[0011] 2. High coating precision and good molding quality: The adhesive dispensing structure is linked to the walking speed, and the dispensing swing action is precisely matched with the walking speed. Combined with the two-component adhesive online mixing mechanism, it ensures uniform and continuous dispensing. With the multi-dimensional adjustable adaptive scraping mechanism, the angle and height of the scraper can be finely adjusted according to the arc surface of the ring plate, which greatly improves the flatness and uniformity of the adhesive layer and effectively ensures the sealing performance of the tower splicing.

[0012] 3. High degree of automation and high operating efficiency: The whole machine realizes fully automated operation of walking, positioning, glue application, glue scraping and leveling, without the need for manual hand-held equipment operation, which greatly reduces the labor intensity of manual labor, avoids the safety hazards caused by high-altitude operation and glue contact, and improves the operating efficiency by several times compared with manual labor, making it suitable for large-scale production.

[0013] 4. Stable structure and convenient maintenance: The equipment adopts a guide rod and linear bearing structure to ensure motion accuracy and stability; the scraper blade adopts a detachable installation structure, which is convenient for daily cleaning of residual glue and replacement of wear, resulting in low equipment maintenance costs; the top lifting hook design facilitates equipment transportation and hoisting, and is suitable for various operation scenarios such as factory prefabrication and on-site assembly.

[0014] 5. Precise positioning and small operation error: The front-mounted laser positioning structure can accurately align with the reference seam of the ring splicing, effectively avoiding the problem of misalignment of the glue application caused by the movement of the equipment, and further improving the accuracy of the glue application operation. Attached Figure Description

[0015] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments; Figure 1 This is the front view of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a side view of the present invention; Figure 4 This is a perspective view of the present invention. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0018] Reference Figure 1-4This specific embodiment adopts the following technical solution: a wind turbine hybrid tower ring splicing adhesive application robot. The whole machine takes the main body 28 as the supporting base and integrates a walking drive mechanism, a laser positioning mechanism, a wheel spacing adaptive opening and closing clamping mechanism, a follow-up swinging adhesive dispensing and mixing mechanism, and a rear adaptive adhesive scraping mechanism. The modules are compact in structure and work together to realize fully automated operation of automatic walking, precise alignment, speed-adaptive swinging adhesive application, online adhesive mixing, and adaptive adhesive scraping and leveling of the wind turbine hybrid tower concrete ring splicing joint. The top of the main body 28 is fixedly equipped with a lifting hook 26, which can be used with lifting equipment to complete the rapid lifting, transfer and workstation alignment of the whole machine, and is suitable for factory prefabrication and on-site tower assembly operation scenarios.

[0019] The machine's travel drive module is mounted at the front end of the main body 28. A travel differential gearbox 2 is fixedly connected to the front end of the main body 28. A travel motor 1 is vertically mounted above the travel differential gearbox 2. The motor shaft of the travel motor 1 extends into the travel differential gearbox 2 and engages with its gear set for transmission. The output end of the travel differential gearbox 2 is connected to the drive gear 11. Front drive wheels 10, which have load-bearing and driving functions, are meshed on the lower left and right sides of the drive gear 11. The front drive wheels 10 are internally installed inside the front reversing gearbox 9, and form a drive connection with the front drive gearbox 12. Power distribution and steering adaptation are achieved through the front drive gearbox 12, ensuring smooth travel power output. A front side wheel 4 is mounted below the front reversing gearbox 9, serving as the front support travel wheel of the equipment, rolling along the outer arc of the tower ring plate. A front laser light 3 is fixedly embedded on the front side of the walking differential gearbox 2. During operation, a reference laser line can be projected to accurately align with the center of the ring splice seam, realizing the visual calibration of the whole machine's walking trajectory and effectively avoiding glue application deviation and misalignment.

[0020] The device features a front-to-back adaptive opening and closing clamping mechanism to accommodate rings of different diameters, achieving a wraparound and close-fitting positioning. The robot's left and right arms extend integrally from the front left and right sides of the main body 28. Rear wheels 8 are mounted on the inner sides of the left and right arms, serving as rear-end support wheels that cooperate with the front wheels 4 to form a front-to-back wraparound walking structure. A front wheel opening hand crank 14 is mounted on the outer side of the right-side front wheel reversing gearbox 9. This hand crank 14 is connected to a front wheel opening screw 13 horizontally mounted between the two sets of front wheel reversing gearboxes 9. Manually rotating the hand crank 14 drives the front wheel opening screw 13 to rotate forward and backward, adjusting the distance between the two front wheel sets. The robot's right arm is equipped with a rear wheel opening hand crank 15. The rear wheel opening hand crank 15 is linked to the rear wheel opening screw 29 arranged between the left and right arms. Rotating the rear wheel opening hand crank 15 can drive the rear wheel opening screw 29 to rotate, adjust the opening range of the left and right arms, and then adjust the clamping distance of the rear wheel 8 at the end, so that the whole machine can stably adapt to wind power hybrid tower rings with different outer diameter specifications.

[0021] The speed-dependent oscillating dispensing and mixing mechanism is mounted on the top rear end of the front wheel reversing gearbox 9. The dispensing oscillating mechanism 17 is fixedly connected to the top rear end of the front wheel reversing gearbox 9. A dispensing valve mixing mechanism 18 is fixedly mounted on the upper end of the dispensing oscillating mechanism 17 via a dispensing valve fixing seat 5. This allows for online proportioning, thorough mixing, and quantitative dispensing of the two-component adhesive, avoiding sealing failures caused by uneven manual mixing. A dispensing valve oscillating slider 19 is fixedly installed at the rear end of the dispensing oscillating mechanism 17. The dispensing valve oscillating slider 19 slides against a slide rail fixed to the main body 28, allowing the dispensing oscillating mechanism 17 to perform a smooth reciprocating oscillating motion along the slide rail. During operation, the oscillation frequency and amplitude of the dispensing oscillating mechanism 17 are synchronized with the overall machine travel speed in real time, ensuring that the mixed structural adhesive is evenly and continuously applied to the surface of the ring splice joint, completely solving the defects of adhesive piling, adhesive breaks, and inconsistent adhesive strip widths present in fixed dispensing methods.

[0022] The main body 28 is integrated with an adaptive scraping mechanism at its rear end, used to level and shape the applied structural adhesive, ensuring a uniform and smooth adhesive layer. The scraping mechanism includes a scraper lifting motor 20, a scraper correction joint 21, a scraper mounting support 22, a scraper mounting wheel 23, a scraper adjustment motor 24, a guide shaft connecting joint 25, and an angle sensor 27. The scraper lifting motor 20 is fixedly mounted on the top left side of the main body 28, and is connected to the scraper adjustment motor 24 on the lower side of the main body 28, serving as the main power source to drive the entire scraping mechanism to rise and fall, adapting to different adhesive layer thicknesses and working height requirements.

[0023] Two sets of symmetrically arranged scraper adjustment motors 24 are rigidly fixedly connected to the corresponding scraper mounting supports 22. The scraper mounting supports 22 on both sides are coaxially connected and fixed in series via scraper mounting wheels 23 to ensure overall assembly coaxiality and structural stability. An angle sensor 27 is installed at the top of one set of scraper adjustment motors 24, which can collect scraper tilt angle data in real time to achieve precise closed-loop angle control. The scraper 30 can be detachably installed below the scraper mounting wheels 23 via scraper mounting base 7. The detachable structure facilitates subsequent cleaning of residual glue, wear and replacement, and convenient maintenance.

[0024] To ensure the motion accuracy of the scraping mechanism's lifting and fine-tuning, linear bearing mounting seats 16 are fixedly installed at both ends of the outer side of the main body 28. A lifting guide rod 6 is vertically mounted inside the linear bearing mounting seat 16. The bottom of the lifting guide rod 6 is inserted through a through hole in the middle of the scraper plate mounting support 22. A guide shaft connecting joint 25 is located at the end of the lifting guide rod 6, providing precise guidance and limiting for the scraping mechanism's up-and-down movement and angle fine-tuning, preventing offset and wobbling. A scraper plate correction joint 21 is set at the matching position between the bottom of the scraper plate mounting support 22 and the scraper plate adjusting motor 24, enabling micro-angle correction compensation for the scraper plate 30. This accommodates the roundness error of the tower ring plate processing and minor deviations in equipment movement, further improving the flatness and fit of the scraping. The scraper plate 30 of this invention adopts an arc-shaped plate structure with a high center and low sides, perfectly fitting the curved surface of the outer wall of the circular mixing tower ring plate, completing the glue layer leveling operation in one go.

[0025] The complete operation process of the entire machine of this invention is as follows: Before operation, the entire machine is hoisted and positioned on the outside of the wind turbine hybrid tower ring using the hoisting hook 26 on the top of the main body 28. According to the actual outer diameter of the ring, the front wheel opening hand crank 14 and the rear wheel opening hand crank 15 are manually adjusted in sequence. The clamping distance of the front and rear wheel sets is adjusted by the front wheel opening screw 13 and the rear wheel opening screw 29, respectively, so that the front front side wheel 4 and the rear rear side wheel 8 tightly hug and fit against the outer wall of the ring, completing the positioning and clamping of the equipment. The front laser light 3 is turned on and aligned with the reference line of the ring splice seam to complete the calibration of the walking trajectory.

[0026] After the operation starts, the walking motor 1 drives the drive gear 11 through the walking differential gearbox 2. The drive gear 11 meshes with the front drive wheels 10 on both sides to rotate, and together with the front drive gearbox 12 and the front reversing gearbox 9, it drives the whole machine to move at a constant speed along the circumference of the ring plate. During the movement, the glue dispensing swing mechanism 17 drives the glue dispensing valve mixing mechanism 18 to swing back and forth with the speed. The two-component glue is fully mixed by the glue dispensing valve mixing mechanism 18 and then evenly applied to the surface of the splice seam. Simultaneously, the rear scraping mechanism follows the movement. The overall height is controlled by the scraper lifting motor 20, and the scraper adjustment motors 24 on both sides independently fine-tune the height of the scraper 30 at both ends. With the real-time angle monitoring by the angle sensor 27 and the slight correction by the scraper correction joint 21, the arc-shaped scraper 30 is tightly attached to the glue surface to complete the one-time scraping and shaping, and finally obtains a high-quality sealing glue layer with uniform thickness, dense and flat surface, no bubbles and no glue overflow. The equipment automatically resets after the operation is completed. The detachable scraper blade 30 can be cleaned or replaced. The equipment is easy to maintain and has strong operational stability.

[0027] In summary, this invention solves the industry pain points of poor quality, low efficiency, and high risk of traditional manual glue application, as well as poor versatility and poor molding quality of existing equipment, through the integrated combination of an adaptive opening and closing front and rear wheel clamping structure, a walking speed-linked swing glue dispensing structure, and a multi-dimensional angle-adjustable adaptive arc-shaped glue scraping structure. The equipment has a high degree of automation, a wide range of adaptability, and stable glue application and molding quality, and has good industrialization and promotion value.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A robot for applying adhesive during the splicing of wind turbine hybrid tower rings, characterized in that, The system includes a main body (28), the front end of which is connected to a travel differential gearbox (2). A travel motor (1) is installed above the travel differential gearbox (2). The motor shaft of the travel motor (1) is connected to a drive gear (11) via the travel differential gearbox (2). The drive gear (11) is meshed with a front drive wheel (10) with a load-bearing effect on both sides below. The front drive wheel (10) is located inside the front reversing gearbox (9) and is connected to the front drive gearbox (12). A front side wheel (4) is installed below the front reversing gearbox (9). The top rear end of the front reversing gearbox (9) is connected to a glue dispensing swing mechanism (17). A glue dispensing valve is installed on the glue dispensing swing mechanism (17) via a glue dispensing valve fixing seat (5). The valve mixing mechanism (18) and the glue dispensing swing mechanism (17) are equipped with a glue dispensing valve swing slider (19) at the rear end. The glue dispensing valve swing slider (19) is slidably engaged with the slide rail. The slide rail is set on the main body (28). The front end of the main body (28) is connected to the robot's left arm and right arm on both sides. The outer side of the right arm is equipped with a rear wheel box opening hand crank (15). The rear wheel box opening hand crank (15) is connected to the rear wheel box opening screw (29) between the left arm and the right arm. The outer side of the right front wheel reversing gearbox (9) is equipped with a front wheel box opening hand crank (14). The front wheel box opening hand crank (14) is connected to the front wheel box opening screw (13) through transmission. The front wheel box opening screw (13) is set between the front wheel reversing gearbox (9). The inner side of the left arm and the right arm is equipped with a rear side wheel (9). The rear end of the main body (28) is equipped with a glue scraping mechanism.

2. The wind power hybrid tower ring splicing adhesive application robot according to claim 1, characterized in that, A front laser light (3) is provided on the front side of the aforementioned walking differential gearbox (2).

3. The wind power hybrid tower ring splicing adhesive application robot according to claim 1, characterized in that, The scraping mechanism includes a scraper lifting motor (20), a scraper correction joint (21), a scraper mounting support (22), a scraper mounting first wheel (23), a scraper adjusting motor (24), a guide shaft connecting joint (25), and an angle sensor (27). The scraper lifting motor (20) is located on the top left side of the main body (28). The scraper lifting motor (20) is connected to the scraper adjusting motor (24) on one side below the main body (28). The scraper adjusting motor (24) is fixed to the scraper mounting support (22). The scraper mounting support (22) is connected to the scraper mounting support (22) on the other side through the scraper mounting first wheel (23). The scraper mounting support (22) on the other side... Another scraper adjustment motor (24) is provided, and an angle sensor (27) is provided on the top of the other scraper adjustment motor (24). A scraper (30) is detachably installed below the scraper mounting wheel (23) via a scraper mounting seat (7). Linear bearing mounting seats (16) are provided at both ends of the outer side of the main body (28). A lifting guide rod (6) is provided on the linear bearing mounting seat (16). The bottom of the lifting guide rod (6) passes through the hole in the middle of the scraper mounting support (22). A scraper correction joint (21) is provided at the bottom of the scraper mounting support (22) where it cooperates with the scraper adjustment motor (24). A guide shaft connecting joint (25) is provided at the end of the lifting guide rod (6).

4. The wind power hybrid tower ring splicing adhesive application robot according to claim 1, characterized in that, The top of the main body (28) is also provided with a lifting hook (26).

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