A blade inserting method, device, equipment and medium for assembling a fan impeller

Abstract

The present application relates to a kind of wind turbine impeller assembly blade insertion method, device, equipment and medium, it is related to wind power equipment intelligent manufacturing technical field, its method includes the following steps: obtaining the hub slot image of wind turbine impeller and the root three-dimensional point cloud of blade to be inserted;Calculate blade insertion axis;Control multi-degree-of-freedom robot arm to grab blade to be inserted, based on the slot center axis, pose parameter and the blade insertion axis, adjust the space pose of the blade to be inserted, so that the blade insertion axis and the slot center axis are coaxial and coincident;Until the blade to be inserted is completely inserted into the hub slot. According to the real-time fine adjustment of the motion trajectory of mechanical arm under stress condition, active flexible assembly is realized, so as to eliminate the risk of jamming and collision caused by rigid insertion, ensure the safety and smoothness of insertion process.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology for wind power generation equipment, and in particular to a method, apparatus, equipment and medium for inserting blades for wind turbine impeller assembly. Background Technology

[0002] As an important component of clean energy, the assembly quality of wind turbine generator sets directly affects their operational stability and safe lifespan. A wind turbine rotor typically consists of a hub and multiple blades mounted on the outer circumference of the hub. During the factory assembly or on-site assembly of the wind turbine rotor, the roots of these large and heavy blades must be precisely inserted into corresponding slots on the hub.

[0003] Traditional wind turbine blade installation relies primarily on overhead cranes combined with manual alignment. Operators visually adjust the blade angle using tools such as hand-operated hoists, attempting to insert the blade root into the hub slot. Due to the enormous size and weight of the blades and hub, this manual alignment method is not only time-consuming and labor-intensive, but also makes it difficult to guarantee assembly accuracy.

[0004] Because the fit tolerance between the blade root and the hub slot is extremely small, during manual or traditional mechanical rigid positioning and insertion, even minor alignment deviations can easily cause severe collisions or jamming between the blade root and the slot wall. This not only damages the hub slot and the blade root fastening bolts, but in severe cases, it can even lead to cracking of the composite material structure at the blade root, posing a serious operational safety hazard to the wind turbine. Therefore, how to achieve efficient, high-precision, and non-destructive automated insertion of wind turbine blades is a pressing technical problem that needs to be solved in the wind power assembly field. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a method, apparatus, equipment, and medium for inserting blades into a wind turbine impeller.

[0006] In a first aspect, this application provides a method for inserting blades for assembling a wind turbine impeller, employing the following technical solution: A method for inserting blades for assembling a wind turbine impeller includes the following steps: Acquire images of the hub slot of the wind turbine impeller and the 3D point cloud of the root of the blade to be inserted; The center axis and pose parameters of the wheel hub slot are identified based on the image of the wheel hub slot. Based on the three-dimensional point cloud of the root, a fitting model of the blade root is constructed, and the blade insertion axis is calculated; The multi-degree-of-freedom robotic arm is controlled to grasp the blade to be inserted. Based on the central axis of the slot, the pose parameters and the blade insertion axis, the spatial pose of the blade to be inserted is adjusted so that the blade insertion axis is coaxial and coincident with the central axis of the slot. The multi-degree-of-freedom robotic arm is controlled to drive the blade to be inserted into the hub slot along the central axis of the slot, and the multi-dimensional contact force at the end of the multi-degree-of-freedom robotic arm is acquired in real time during the advancement process. Based on the multidimensional contact force, the insertion trajectory of the blade to be inserted is dynamically corrected using an admittance controller until the blade to be inserted is fully inserted into the hub slot.

[0007] By adopting the above technical solution, the system first accurately identifies the geometric axis of the slot and the leaf root through vision and point cloud scanning and aligns them in space. Then, when the robotic arm pushes the insertion, the contact force is sensed in real time by the end six-dimensional force sensor, and the admittance control algorithm is used to simulate the flexible physical characteristics of the spring-damping system. The movement trajectory of the robotic arm is finely adjusted in real time according to the force, so as to realize active flexible assembly, thereby eliminating the jamming and collision risks caused by rigid insertion and ensuring the safety and smoothness of the insertion process.

[0008] Preferably, acquiring the hub slot image of the wind turbine impeller and the three-dimensional point cloud of the root of the blade to be inserted includes: An image of the hub end face of the wind turbine impeller is acquired using an industrial camera to obtain the hub slot image; A line laser scanner is used to perform a three-dimensional scan of the root of the blade to be inserted, and the three-dimensional point cloud of the root is obtained.

[0009] By adopting the above technical solution and using the combination of a two-dimensional industrial camera and a three-dimensional line laser scanner, it is possible to quickly and accurately acquire the geometric image features and high-density three-dimensional spatial point cloud of the assembled workpiece, providing a reliable data foundation for subsequent axis recognition and high-precision alignment.

[0010] Preferably, the step of identifying the center axis and pose parameters of the wheel hub slot based on the image of the wheel hub slot includes: Edge extraction is performed on the wheel hub slot image to obtain the slot edge contour; The geometric center of the slot is determined by ellipse fitting based on the edge contour of the slot. Based on the preset 3D CAD model of the wheel hub, the direction vector and pose parameters of the center axis of the slot in the reference coordinate system are calculated.

[0011] By adopting the above technical solution and using an image processing method that combines edge extraction and ellipse fitting, the geometric center of the slot can be quickly located, and a high-precision three-dimensional spatial axis vector can be calculated by combining the pre-stored CAD model, which effectively solves the problem of recognition error caused by surface reflection or oil stains on large workpieces.

[0012] Preferably, the step of constructing a blade root fitting model based on the root three-dimensional point cloud and calculating the blade insertion axis includes: The root 3D point cloud is subjected to denoising and filtering preprocessing; The least squares method was used to fit the preprocessed point cloud to a cylindrical surface to construct a blade root fitting model. The centerline of the fitted model at the root of the blade is extracted and used as the blade insertion axis.

[0013] By adopting the above technical solutions, the influence of ambient stray light can be eliminated by denoising and filtering the point cloud data. The cylindrical surface fitting using the least squares method can accurately restore the geometric shape of the blade root flange, thereby accurately extracting the true insertion axis of the blade and ensuring the axis alignment accuracy.

[0014] Preferably, the step of dynamically correcting the insertion trajectory of the blade to be inserted using an admittance controller based on the multidimensional contact force includes: The force signal output by the six-dimensional force sensor at the end of the multi-degree-of-freedom robotic arm is acquired in real time and converted into the multi-dimensional contact force. The trajectory correction is calculated using the admittance control equation, which is: ; Where M is the set virtual mass parameter, D is the virtual damping parameter, and K is the virtual stiffness parameter. For the desired displacement, For the desired speed, For the desired acceleration, This is the corrected displacement. The corrected speed, For the corrected acceleration, The multidimensional contact force; The target angles of the servo motors of each joint of the multi-degree-of-freedom robotic arm are adjusted in real time based on the calculated trajectory correction amount.

[0015] By adopting the above technical solution, the force state at the end of the robotic arm is transformed into real-time position and velocity correction through the admittance control equation, so that the robotic arm exhibits compliance (i.e., a "softened" state) in the degrees of freedom other than the axial direction. When the blade and the slot experience slight lateral compression, the robotic arm can make fine adjustments to avoid the force direction, achieving a hand-feel-like flexible insertion similar to that of a skilled worker.

[0016] Preferably, in the process of dynamically correcting the insertion trajectory of the blade to be inserted using an admittance controller based on the multidimensional contact force, the method further includes: Determine whether the axial contact force in the multidimensional contact force is greater than a preset force safety threshold; If the value is greater than the specified value, the multi-degree-of-freedom robotic arm is controlled to pause its advance and then retract a preset distance along the central axis of the slot. After re-performing the trajectory correction calculation, it advances again.

[0017] By adopting the above technical solution, a safety threshold for axial contact force is set as an overload protection mechanism. Once a hard collision or jamming occurs due to severe alignment deviation, the system can stop and retract immediately, preventing the robotic arm from forcibly pushing and damaging the blades or hub, thus improving the safety margin of the system.

[0018] Preferably, after the blade to be inserted is fully inserted into the hub slot, the method further includes: The axial distance between the positioning step of the blade to be inserted and the end face of the hub slot is measured using a laser displacement sensor. Determine whether the axial spacing is within a preset assembly error threshold; If so, the gripper of the multi-degree-of-freedom robotic arm is controlled to release the blade to be inserted, thus completing the insertion.

[0019] By adopting the above technical solution, the final insertion depth and fitting gap are detected in a closed loop using a laser displacement sensor. This ensures that the blade is fully in place and the assembly accuracy meets the design requirements before releasing the gripper, thus avoiding assembly defects caused by incomplete insertion.

[0020] Secondly, this application provides a blade insertion device for assembling a wind turbine impeller, comprising: The data acquisition module is used to acquire images of the hub slot of the wind turbine impeller and the three-dimensional point cloud of the root of the blade to be inserted. The slot analysis module is used to identify the central axis and pose parameters of the slot based on the wheel hub slot image; The blade analysis module is used to construct a blade root fitting model based on the three-dimensional point cloud of the root and calculate the blade insertion axis. The pose adjustment module is used to control the multi-degree-of-freedom robotic arm to grasp the blade to be inserted. Based on the central axis of the slot, the pose parameters and the blade insertion axis, the spatial pose of the blade to be inserted is adjusted so that the blade insertion axis is coaxial and coincident with the central axis of the slot. The flexible insertion module is used to control the multi-degree-of-freedom robotic arm to drive the blade to be inserted into the hub slot along the central axis of the slot. During the insertion process, the multi-dimensional contact force at the end of the multi-degree-of-freedom robotic arm is acquired in real time. Based on the multi-dimensional contact force, the insertion trajectory of the blade to be inserted is dynamically corrected by the admittance controller until the blade to be inserted is completely inserted into the hub slot.

[0021] By adopting the above technical solutions, the modules work together to achieve closed-loop control of data acquisition, feature extraction, spatial alignment and flexible insertion, providing complete device support for the automated assembly of large wind turbine blades.

[0022] Thirdly, this application provides a blade insertion device for wind turbine impeller assembly, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the blade insertion method for wind turbine impeller assembly as described in any of the preceding claims.

[0023] By adopting the above technical solution, and by running the control program in the memory through the processor, the sensors, cameras and multi-axis robotic arms can be automatically coordinated to achieve high-precision intelligent insertion operations.

[0024] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the blade insertion method for wind turbine impeller assembly as described in any of the preceding claims.

[0025] By adopting the above technical solution and using a readable storage medium to store the control algorithm program, the deployment, upgrading, and cross-platform portability of the control program are facilitated.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. By combining visual image recognition with 3D point cloud fitting, precise spatial alignment of the hub slot axis and the blade root axis was achieved, solving the problems of low efficiency and poor accuracy of traditional manual alignment.

[0027] 2. An admittance control algorithm based on feedback from a six-dimensional force sensor is adopted. During the insertion process, the insertion trajectory is dynamically corrected according to the multi-dimensional contact force, realizing active flexible compliance control. This effectively avoids squeezing damage and jamming collisions, ensuring non-destructive and high-precision assembly of the blade and hub. Attached Figure Description

[0028] Figure 1 This is a flowchart of a method for inserting blades into a wind turbine impeller.

[0029] Figure 2 This is a schematic diagram of a working scenario for a blade insertion method in wind turbine impeller assembly.

[0030] Figure 3 It is a schematic diagram of the point cloud at the root of the blade and a schematic diagram of the fitted cylindrical insertion axis.

[0031] Figure 4 This is a schematic diagram of the modular composition of a blade insertion device for assembling a wind turbine impeller.

[0032] Figure reference numerals: 100, blade; 200, hub; 300, slot; 1, robotic arm; 2, industrial camera; 3, line laser scanner; 4, six-dimensional force sensor; 5, data acquisition module; 6, slot analysis module; 7, blade analysis module; 8, pose adjustment module; 9, flexible insertion module. Detailed Implementation

[0033] The present application will be further described in detail below with reference to all the accompanying drawings.

[0034] This application discloses a method for inserting blades for assembling a wind turbine impeller.

[0035] Reference Figures 1 to 3 A method for inserting blades for assembling a wind turbine impeller includes the following steps:

[0036] Step S1: Acquire images of the hub 200 and slot 300 of the wind turbine impeller and the 3D point cloud of the root of the blade 100 to be inserted. In this step, firstly, an industrial camera 2 set above the assembly station is used to acquire an end face image of the hub 200 to obtain the 2D image features of the slot 300. Simultaneously, a line laser scanner 3 mounted on the end of the robotic arm 1 or on a fixed gantry is used to perform a 3D scan of the root flange surface and circumferential surface of the blade 100 to be inserted, acquiring 3D point cloud data of the root containing high-precision spatial coordinate information. To adapt to the complex lighting environment of the factory, the industrial camera 2 can be a CMOS camera with high dynamic range, such as an industrial camera 2 with a resolution of 4096×30 pixels; the line laser scanner 3 can be a blue line laser scanner 3, with a measurement accuracy of 0.05mm, which can effectively filter the reflection of metal or composite materials on site, ensuring the accuracy of the basic data.

[0037] Step S2: Identify the central axis and pose parameters of slot 300 based on the image of hub 200 and slot 300. In this step, the system filters and grayscales the image of hub 200 and slot 300 obtained in step S1, and uses the Canny operator to extract the inner hole edge contour of slot 300. Due to the possible slight tilt angle of the camera shooting angle, the inner hole projection appears as an ellipse in the image. The system uses the least squares ellipse fitting method to calculate the geometric center coordinates of this ellipse. Then, the geometric center coordinates are matched with the spatial coordinates of the pre-stored 3D CAD model of hub 200, and combined with the positioning fixture coordinates of hub 200 on the worktable, the three-dimensional spatial direction vector and six-degree-of-freedom pose parameters of the central axis of slot 300 in the reference coordinate system of robot arm 1 are calculated.

[0038] Step S3: Construct a fitting model of the blade 100 root based on the 3D point cloud of the root, and calculate the insertion axis of the blade 100. In this step, the acquired 3D point cloud of the root is first subjected to impulse noise removal and pass-through filter processing to remove stray environmental reflected light points. Subsequently, the point cloud features of the cylindrical segment at the root of the blade 100 are extracted, and a 3D cylindrical surface fitting is performed using the least squares method to obtain the cylindrical surface fitting model of the blade 100 root. By extracting the geometric center line of this fitted cylindrical surface, the insertion axis direction vector of the blade 100 is calculated.

[0039] Step S4: Control the multi-degree-of-freedom robotic arm 1 to grasp the blade 100 to be inserted. Based on the central axis of the slot 300, the pose parameters, and the insertion axis of the blade 100, adjust the spatial pose of the blade 100 to be inserted so that the insertion axis of the blade 100 is coaxially aligned with the central axis of the slot 300. Specifically, the multi-degree-of-freedom robotic arm 1 (e.g., a six-degree-of-freedom heavy-duty industrial robot with a rated load of over 2 tons) firmly grasps the blade 100 to be inserted using a dedicated hydraulic gripper at its end. Based on the axis data calculated in steps S2 and S3, control the rotation of the servo motors of each joint of the robotic arm 1 to adjust the posture of the blade 100 so that the insertion axis of the blade 100 is on the same straight line as the central axis of the slot 300 of the hub 200, thus completing the coarse spatial alignment.

[0040] Step S5: Control the multi-degree-of-freedom robotic arm 1 to drive the blade 100 to be inserted into the slot 300 along the central axis of the slot 300, and acquire the multi-dimensional contact force at the end of the multi-degree-of-freedom robotic arm 1 in real time during the advancement process. After the blade 100 axis is aligned, control the robotic arm 1 to drive the root of the blade 100 slowly into the slot 300 along the central axis of the slot 300 at a set initial speed (e.g., 5 mm / s, or adjusted within the range of 1 mm / s to 10 mm / s). During the advancement process, a six-dimensional force / torque sensor installed between the end of the robotic arm 1 and the gripper acquires the lateral contact force and torque caused by small deviations in real time at a high frequency sampling rate (e.g., 10 Hz), and converts these force signals into multi-dimensional contact force data and transmits them to the main controller.

[0041] Step S6: Based on the multi-dimensional contact force, the insertion trajectory of the blade 100 to be inserted is dynamically corrected using the admittance controller until the blade 100 is fully inserted into the slot 300 of the hub 200. In this step, the main controller runs the admittance control algorithm, inputting the collected multi-dimensional contact force into the preset admittance control equation. The admittance control equation is: ; In the formula: M represents the set virtual mass matrix parameter (unit: kg), which is used to adjust the dynamic response sensitivity of the system to force changes; D represents the virtual damping matrix parameter (unit: N·s / m), which is used to consume energy and suppress physical oscillations during the insertion process; K represents the virtual stiffness matrix parameter (unit: N / m), which is used to define the proportional relationship between force and deformation; , and These represent the system's preset desired displacement vector, desired velocity vector, and desired acceleration vector, respectively. , and These represent the target displacement vector, target velocity vector, and target acceleration vector after admittance control correction, respectively. This is the real-time multidimensional contact force / torque vector fed back by the six-dimensional force sensor 4.

[0042] By solving the differential equation, the position correction of the robotic arm 1 in each non-propulsion degree of freedom under the current force state is calculated. The corrected target displacement is then input into the joint space inverse kinematics solver of the robotic arm 1, and the pulse commands of each joint motor are changed in real time. This enables the robotic arm 1 to produce compliant lateral displacement when subjected to lateral compressive force, correcting the insertion trajectory. During the insertion process, the system continuously monitors whether the axial contact force is greater than the preset safety threshold (e.g., 2N, or adjusted within the range of 1N to 5N). If the axial force suddenly becomes too large, it indicates a serious limit jamming. At this time, the robotic arm 1 is controlled to immediately stop propulsion and retract 10mm, and then propulsion is resumed after the axis is finely adjusted. When the root of the blade 100 is completely slid into the slot 300, and the distance between the positioning step of the blade 100 and the end face of the hub 200 is less than the assembly tolerance threshold (e.g., 0.2mm) as measured by the laser displacement sensor, the insertion is determined to be complete. The gripper is then controlled to release the blade 100, and the robotic arm 1 returns to the initial position.

[0043] The working principle of the blade insertion method for wind turbine impeller assembly in this embodiment is as follows: An industrial camera 2 and a line laser scanner 3 acquire images of the hub 200 and slot 300, and the point cloud of the blade root 100, respectively. Through image processing and a least-squares fitting algorithm for the point cloud, the central axis of the slot 300 and the insertion axis of the blade 100 are accurately extracted, achieving high-precision spatial coarse alignment. During the assembly stage, the system introduces an admittance control algorithm based on impedance control principles. A six-dimensional force sensor 4 senses the minute contact forces during the assembly process in real time, and the admittance control equation converts these forces into position correction quantities in real time. This allows the rigid robotic arm 1 to automatically fine-tune the posture of the blade 100 according to the physical constraints of the inner wall of the slot 300, achieving active flexible assembly and preventing jamming, tearing, or structural damage to the large blade 100 due to minute errors during assembly, thus improving the first-time assembly success rate.

[0044] This application also discloses a blade insertion device for assembling a wind turbine impeller.

[0045] Reference Figure 4 A blade insertion device for assembling a wind turbine impeller, comprising: Data acquisition module 5 is used to acquire images of the hub 200 and slot 300 of the wind turbine impeller and the three-dimensional point cloud of the root of the blade 100 to be inserted. Slot analysis module 6 is used to identify the central axis and pose parameters of slot 300 based on the image of hub 200 slot 300; The blade analysis module 7 is used to construct a root fitting model of blade 100 based on the three-dimensional point cloud of the root and to calculate the insertion axis of blade 100. The pose adjustment module 8 is used to control the multi-degree-of-freedom robotic arm 1 to grasp the blade 100 to be inserted. Based on the central axis of the slot 300, the pose parameters and the insertion axis of the blade 100, the spatial pose of the blade 100 to be inserted is adjusted so that the insertion axis of the blade 100 is coaxial and coincident with the central axis of the slot 300. The flexible insertion module 9 is used to control the multi-degree-of-freedom robotic arm 1 to drive the blade 100 to be inserted into the slot 300 of the hub 200 along the central axis of the slot 300. During the insertion process, the multi-dimensional contact force at the end of the multi-degree-of-freedom robotic arm 1 is acquired in real time. Based on the multi-dimensional contact force, the insertion trajectory of the blade 100 to be inserted is dynamically corrected by the admittance controller until the blade 100 to be inserted is completely inserted into the slot 300 of the hub 200.

[0046] In this embodiment, the data acquisition module 5 is connected to the external industrial camera 2 and line laser scanner 3 via an Ethernet interface to receive and preprocess two-dimensional image data and three-dimensional point cloud data. The slot analysis module 6 and blade analysis module 7 are image and geometric data processing units based on high-performance GPUs or FPGAs, respectively running edge detection algorithms and least squares fitting algorithms. The pose adjustment module 8 and flexible insertion module 9 are implemented in the form of motion control cards or PLC controllers, communicating at high speed and in real time with the servo drivers of each axis of the robotic arm 1 via an EtherCAT bus to send position and speed control commands. At the same time, they read the analog signals from the six-dimensional force sensor 4 in real time and perform A / D conversion to achieve force-position hybrid control.

[0047] This application also discloses a blade insertion device for wind turbine impeller assembly, including: a memory and a processor.

[0048] Memory is used to store computer programs. Memory can be high-speed random access memory (RAM, such as DDR4, LPDDR5) or non-volatile memory (ROM, such as solid-state drives (SSDs), flash memory, etc.). In order to withstand the severe vibration and high temperature environment of industrial sites, the electronic components inside the memory are selected from industrial-grade memory chips with a wide temperature range, which can operate from -40℃ to 85℃.

[0049] The processor executes computer programs stored in memory. The processor can be a multi-core central processing unit (CPU, such as an Intel Core i7 or Xeon series industrial-grade processor), a digital signal processor (DSP, such as TI's TMS320 series), or an application-specific integrated circuit (ASIC). In actual operation, the processor establishes a data path with memory through a bus system, reads and executes the computer program to implement the steps of the blade insertion method for wind turbine impeller assembly, as described in Example 1. Specifically, when the processor executes the program, it can schedule external industrial cameras 2 and line laser scanners 3 to acquire data, quickly complete image feature extraction and 3D point cloud cylindrical surface fitting through an internal parallel computing unit, and send precise insertion motion commands and trajectory correction commands to the servo controller controlling the multi-degree-of-freedom robotic arm 1.

[0050] This application also discloses a computer-readable storage medium on which a computer program is stored.

[0051] Computer-readable storage media can be tangible, non-transitory physical media, such as optical discs (CD-ROM, DVD), magnetic storage devices (e.g., hard disk drives, magnetic tapes), and semiconductor memories (e.g., USB flash drives, SD cards, CF cards, programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM). When a computer program is executed by a processor of a computer or industrial controller, it enables the processor to complete all the operational steps of the blade insertion method for wind turbine impeller assembly, as described in Example 1. For example, the program code includes image denoising instructions, edge computing instructions, point cloud filtering instructions, least-squares coordinate fitting instructions, inverse kinematics calculation instructions, six-dimensional force data filtering and admittance calculation instructions, etc. These instruction blocks are stored in different physical sectors of the medium in logical order and are available for external devices to access through a standard physical read interface.

[0052] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for inserting blades for assembling a wind turbine impeller, characterized in that, Includes the following steps: Acquire images of the hub (200) slot (300) of the wind turbine impeller and the three-dimensional point cloud of the root of the blade (100) to be inserted; Based on the image recognition of the hub (200) slot (300) and the center axis and pose parameters of the slot (300); Based on the three-dimensional point cloud of the root, a root fitting model of the blade (100) is constructed, and the insertion axis of the blade (100) is calculated. The multi-degree-of-freedom robotic arm (1) is controlled to grasp the blade (100) to be inserted. Based on the central axis of the slot (300), the pose parameters and the insertion axis of the blade (100), the spatial pose of the blade (100) to be inserted is adjusted so that the insertion axis of the blade (100) is coaxial and coincides with the central axis of the slot (300). The multi-degree-of-freedom robotic arm (1) is controlled to drive the blade to be inserted (100) to advance into the hub (200) slot (300) along the central axis of the slot (300), and the multi-dimensional contact force at the end of the multi-degree-of-freedom robotic arm (1) is acquired in real time during the advancement process; Based on the multidimensional contact force, the insertion trajectory of the blade to be inserted (100) is dynamically corrected by the admittance controller until the blade to be inserted (100) is fully inserted into the hub (200) slot (300).

2. The method for inserting blades for assembling a wind turbine impeller according to claim 1, characterized in that: The acquisition of the image of the hub (200) slot (300) of the wind turbine impeller and the three-dimensional point cloud of the root of the blade (100) to be inserted includes: An image of the hub (200) end face of the wind turbine impeller is obtained by using an industrial camera (2); A line laser scanner (3) is used to perform a three-dimensional scan of the root of the blade to be inserted (100) to obtain a three-dimensional point cloud of the root.

3. The method for inserting blades for assembling a wind turbine impeller according to claim 1, characterized in that: The step of recognizing the center axis and pose parameters of the slot (300) based on the image of the wheel hub (200) slot (300) includes: Edge extraction is performed on the image of the hub (200) slot (300) to obtain the edge contour of the slot (300); Ellipse fitting is performed based on the edge contour of the slot (300) to determine the geometric center of the slot (300); Based on the preset three-dimensional CAD model of the hub (200), the direction vector and pose parameters of the central axis of the slot (300) in the reference coordinate system are calculated.

4. The method for inserting blades for assembling a wind turbine impeller according to claim 1, characterized in that: The step of constructing a root fitting model of the blade (100) based on the three-dimensional point cloud of the root and calculating the insertion axis of the blade (100) includes: The root 3D point cloud is subjected to denoising and filtering preprocessing; The preprocessed point cloud was fitted with a cylindrical surface using the least squares method to construct a blade (100) root fitting model. The center line of the fitted model at the root of the blade (100) is extracted and used as the insertion axis of the blade (100).

5. The method for inserting blades for assembling a wind turbine impeller according to claim 1, characterized in that: The step of dynamically correcting the insertion trajectory of the blade (100) to be inserted using an admittance controller based on the multidimensional contact force includes: The force signal output by the six-dimensional force sensor (4) at the end of the multi-degree-of-freedom robotic arm (1) is collected in real time and converted into the multi-dimensional contact force; The trajectory correction is calculated using the admittance control equation, which is: ； Where M is the set virtual mass parameter, D is the virtual damping parameter, and K is the virtual stiffness parameter. For the desired displacement, For the desired speed, For the desired acceleration, This is the corrected displacement. The corrected speed, For the corrected acceleration, The multidimensional contact force; The target angles of the servo motors of each joint of the multi-degree-of-freedom robotic arm (1) are adjusted in real time based on the calculated trajectory correction amount.

6. The method for inserting blades for assembling a wind turbine impeller according to claim 5, characterized in that: The process of dynamically correcting the insertion trajectory of the blade (100) to be inserted using an admittance controller based on the multidimensional contact force further includes: Determine whether the axial contact force in the multidimensional contact force is greater than a preset force safety threshold; If the value is greater than the specified value, the multi-degree-of-freedom robotic arm (1) is controlled to pause its advance, and the multi-degree-of-freedom robotic arm (1) is controlled to retreat a preset distance along the central axis of the slot (300), and the trajectory correction calculation is re-executed before advancing again.

7. The method for inserting blades for assembling a wind turbine impeller according to claim 1, characterized in that: After the blade (100) to be inserted is fully inserted into the hub (200) slot (300), the following steps are also included: The axial distance between the positioning step of the blade to be inserted (100) and the end face of the slot (300) of the hub (200) is measured using a laser displacement sensor; Determine whether the axial spacing is within a preset assembly error threshold; If so, the multi-degree-of-freedom robotic arm (1) is controlled to release the blade to be inserted (100) and complete the insertion.

8. A blade insertion device for assembling a wind turbine impeller, characterized in that, include: The data acquisition module (5) is used to acquire images of the hub (200) slot (300) of the wind turbine impeller and the three-dimensional point cloud of the root of the blade (100) to be inserted. The slot analysis module (6) is used to identify the central axis and pose parameters of the slot (300) based on the image of the hub (200) slot (300); The blade analysis module (7) is used to construct a root fitting model of the blade (100) based on the three-dimensional point cloud of the root and to calculate the insertion axis of the blade (100). The pose adjustment module (8) is used to control the multi-degree-of-freedom robotic arm (1) to grasp the blade (100) to be inserted. Based on the central axis of the slot (300), the pose parameters and the insertion axis of the blade (100), the spatial pose of the blade (100) to be inserted is adjusted so that the insertion axis of the blade (100) is coaxial and coincides with the central axis of the slot (300). The flexible insertion module (9) is used to control the multi-degree-of-freedom robotic arm (1) to drive the blade to be inserted (100) to advance into the hub (200) slot (300) along the central axis of the slot (300). During the advancement process, the multi-dimensional contact force at the end of the multi-degree-of-freedom robotic arm (1) is acquired in real time. Based on the multi-dimensional contact force, the insertion trajectory of the blade to be inserted (100) is dynamically corrected by the admittance controller until the blade to be inserted (100) is completely inserted into the hub (200) slot (300).

9. A blade insertion device for assembling a wind turbine impeller, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the blade insertion method for wind turbine impeller assembly as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the blade insertion method for wind turbine impeller assembly as described in any one of claims 1 to 7.

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