A wind power blade double-sided synchronous laser cutting device and method

Abstract

This invention discloses a device and method for synchronous laser cutting of wind turbine blades on both sides, relating to the field of laser processing technology for large irregularly shaped components. The device includes: a rigid support frame; a tracked walking mechanism mounted on the rigid support frame and actively moving along the surface of the wind turbine blade; two multi-degree-of-freedom robotic arms extending to both sides of the wind turbine blade, each with a vacuum suction cup at its end capable of adsorbing onto the blade surface; a drive mechanism for asynchronously translating the two robotic arms in a predetermined direction; two mounting frames extending to both sides of the wind turbine blade and fixed to the rigid support frame; two laser-cut parts mounted on the sides of the two mounting frames facing the wind turbine blade; and a lifting mechanism for driving the two laser-cut parts to move vertically up and down. This invention achieves synchronous laser cutting of both sides of a flat-lying wind turbine blade, completely eliminating the blade flipping process.

Description

Technical Field

[0001] This invention relates to the field of laser processing technology for large irregularly shaped components, and in particular to a device and method for simultaneous laser cutting of wind turbine blades on both sides. Background Technology

[0002] As one of the core components of wind turbine generators, wind turbine blades are large in size and complex in structure. After long-term service, they will suffer damage due to fatigue, corrosion, and other problems, requiring disassembly for repair or disposal. Disassembled wind turbine blades are usually placed on the ground vertically, and the damaged parts need to be cut and repaired or the scrapped blades need to be disassembled and cut.

[0003] Currently, high-pressure water jet cutting is also used for wind turbine blade cutting. However, wind turbine blades are huge, and the standard size of conventional water jet cutting worktables cannot be used. To adapt to whole-machine cutting, a custom-made extra-large special worktable is required, resulting in extremely high equipment purchase and site occupation costs. At the same time, existing water jet equipment can only complete single-sided blade cutting. Due to the weight of the blade, it cannot be cut through in one go. During operation, a crane is needed to lift and flip the blade before cutting the other side. In addition, the consumption of consumables such as abrasives and sealing accessories for large blade water jet cutting is huge, resulting in high maintenance and consumable costs, further increasing construction costs and significantly reducing operation efficiency.

[0004] Existing laser cutting equipment is mostly suitable for flat or regular curved surface workpieces, and its adaptability to large, irregular curved surface components such as wind turbine blades is poor. On the one hand, the blade surface is a complex streamlined curved surface, and existing equipment has difficulty in achieving stable fit and flexible movement. On the other hand, the laser focus needs to be adjusted in real time according to the changes in the blade surface during the cutting process, and the focus adjustment range and accuracy of existing cutting systems cannot meet the requirements. In addition, wind turbine blades are heavy and have a fixed posture after installation, so the equipment needs to have strong terrain adaptability and stable support capabilities to avoid displacement or overturning during the cutting process.

[0005] Therefore, there is an urgent need to design a dedicated laser cutting device that can adapt to the structural characteristics of vertically laid wind turbine blades and achieve stable movement and precise focused cutting, so as to solve the problems of poor adaptability, low cutting accuracy and insufficient operational stability of existing equipment in wind turbine blade cutting operations. Summary of the Invention

[0006] Based on this, the purpose of this invention is to provide a dual-sided synchronous laser cutting device and method for wind turbine blades, which aims to solve the technical problem that existing laser cutting equipment cannot adapt to the complex curved surface and placement posture of vertically laid wind turbine blades, resulting in unstable movement and low cutting accuracy. The invention achieves precise fitting of the equipment to the curved surface of the blade, flexible movement, and real-time precise adjustment of the laser focus, thereby ensuring the stability and accuracy of the cutting operation.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a device for simultaneous double-sided laser cutting of wind turbine blades, comprising: A rigid support frame is installed above the top of the horizontally placed wind turbine blade; The tracked walking mechanism is mounted on a rigid support frame and actively travels along the surface of the wind turbine blade. Two multi-degree-of-freedom robotic arms are respectively extended and set on both sides of the wind turbine blade, and the ends of the multi-degree-of-freedom robotic arms are equipped with vacuum suction cups that can be adsorbed onto the surface of the wind turbine blade. A drive mechanism, mounted on a rigid support frame, is used to drive two multi-degree-of-freedom robotic arms to translate asynchronously in a predetermined direction. Two mounting brackets extend and are respectively installed on both sides of the wind turbine blade, and the two mounting brackets are fixed on a rigid support frame; Two laser-cut parts are installed on the side of each mounting bracket facing the wind turbine blade. The lifting mechanism is used to drive the two laser-cut parts to move up and down in the vertical direction.

[0008] As a further improvement to the above-mentioned solution of the present invention, the tracked walking mechanism is provided with two parts; the rigid support frame includes a front support frame and a rear support frame arranged at intervals, and an electric telescopic rod is provided between the front support frame and the rear support frame, with its two ends connected to the front support frame and the rear support frame respectively; the two rods are respectively installed at the bottom of the front support frame and the rear support frame. The rigid support frame is configured as a front support frame and a rear support frame connected by the electric telescopic rod, and the distance between the two can be adjusted according to the length and curvature of the wind turbine blade. When encountering abrupt changes in the curvature of the blade surface or local protrusions, adjusting the distance between the front and rear support frames can optimize the span and center of gravity distribution of the entire device, improving the device's passability and walking stability on the blade surface. At the same time, this structural design also enables the device to adapt to wind turbine blades of different specifications and models, exhibiting good versatility.

[0009] As a further improvement to the above-mentioned solution of the present invention, adjusting frames are rotatably connected to the bottom of both the front and rear support frames, and two tracked walking mechanisms are respectively mounted on the two adjusting frames. Two hydraulic push rods are installed on both the front and rear support frames, and the telescopic ends of the two hydraulic push rods are respectively connected to the two adjusting frames. The telescopic movement of the hydraulic push rods drives the adjusting frames to rotate, thereby adjusting the angle of the tracked walking mechanism to ensure it fits snugly against the surface of the wind turbine blade. The bottom of the front and rear support frames drives the adjusting frames to rotate via hydraulic push rods, allowing the angle of the tracked walking mechanism to adaptively adjust, ensuring full contact between the track and the blade surface. The synergistic effect of the multi-stage adaptive mechanism enables the device to stably attach to wind turbine blades of various curvatures and orientations, effectively avoiding safety accidents and cutting deviations caused by equipment offset or overturning during the cutting process.

[0010] As a further improvement of the above-mentioned solution of the present invention, the driving mechanism includes two dual-axis telescopic adjustment components; the dual-axis telescopic adjustment components include a lead screw transmission mechanism and a slider; a guide rail is provided on the rigid support frame, and the two sliders are slidably mounted on the guide rail, and the tops of the two multi-degree-of-freedom robotic arms are respectively mounted on the two sliders; the two lead screw transmission mechanisms are both mounted on the rigid support frame, and the lead screw nuts of the two lead screw transmission mechanisms are respectively connected to the two sliders.

[0011] As a further improvement of the above-mentioned solution of the present invention, the mounting bracket is provided with a mounting groove on the side facing the wind turbine blade; the lifting mechanism includes two lead screw transmission mechanisms, which are respectively installed in the two mounting grooves, and the lead screw nut of the lead screw transmission mechanism is connected to a slide table, which is slidably installed in the mounting groove; the laser-cut part is installed on the slide table.

[0012] As a further improvement to the above-mentioned solution of the present invention, it also includes two electric telescopic rods, which are respectively installed on two slides; two laser cutting parts are respectively installed on the telescopic ends of the two electric telescopic rods.

[0013] As a further improvement to the above-mentioned solution of the present invention, the vacuum suction cup adopts a corrugated rubber suction cup.

[0014] This invention also provides a method for simultaneous laser cutting of wind turbine blades on both sides, which employs the aforementioned simultaneous laser cutting device for wind turbine blades, comprising: S1. A rigid support frame is placed on top of a flat wind turbine blade. The tracked walking mechanism is attached to the top surface of the wind turbine blade. Two multi-degree-of-freedom robotic arms extend to both sides of the wind turbine blade. Vacuum suction cups at the ends of the multi-degree-of-freedom robotic arms are attached to the two sides of the wind turbine blade. S2. Control the two vacuum suction cups to alternately release and adsorb onto the surface of the wind turbine blade, and drive the two multi-degree-of-freedom robotic arms to alternately translate in a predetermined direction through the drive mechanism, while actively moving through the track walking mechanism; S3. After moving to the predetermined cutting station, the drive mechanism stops and both vacuum suction cups are re-adsorbed onto the surface of the wind turbine blade; S4. Drive the two laser cutting components to move vertically up and down to the predetermined cutting height on both sides of the wind turbine blade via the lifting mechanism; start the two laser cutting components to perform synchronous laser cutting on both sides of the wind turbine blade. S5. After the current workstation is cut, repeat steps S2 to S4 until all the cutting operations of the wind turbine blades are completed.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention achieves simultaneous laser cutting of both sides of a horizontally laid wind turbine blade by installing mounting frames on both sides of a rigid support frame and mounting laser cutting components on each frame. A lifting mechanism drives the two laser cutting components to move vertically up and down, enabling simultaneous laser cutting of both sides of the blade. Compared to existing waterjet cutting equipment that requires a crane to flip the blade before cutting the other side, this invention completely eliminates the blade flipping process. Double-sided cutting can be completed in a single positioning operation, shortening the cutting time, significantly improving construction efficiency, and reducing the cost of hoisting equipment and operational risks.

[0016] This invention features a tracked walking mechanism mounted on a rigid support frame, while simultaneously utilizing vacuum suction cups at the ends of two multi-degree-of-freedom robotic arms to adhere to the surface of wind turbine blades. By controlling the alternating release and adsorption of the two vacuum suction cups, in conjunction with a drive mechanism to drive the two multi-degree-of-freedom robotic arms to translate asynchronously, and combined with the active movement of the tracked walking mechanism, the device achieves step-like movement on the surface of the wind turbine blade. This composite movement method allows the device to stably conform to the complex streamlined curved surface of the wind turbine blade, ensuring stable movement and precise positioning even with drastic changes in the blade surface curvature. This fundamentally solves the problem of poor adaptability of existing laser cutting equipment to large, irregular curved surface components.

[0017] This invention employs a screw-driven mechanism on the mounting frame to raise and lower the slide table, and an electric telescopic rod on the slide table to drive the horizontal movement of the laser-cut part, achieving precise position adjustment of the laser-cut part in both vertical and horizontal directions. Combined with a laser focus adaptive control module and a distance sensor, the distance between the laser-cut part and the blade surface can be detected in real time, and the focus position can be dynamically adjusted according to changes in the curvature of the blade surface, ensuring that the laser focus is always precisely maintained on the cutting surface. This technical solution effectively overcomes the shortcomings of large surface curvature variations in wind turbine blades and insufficient focus adjustment range and precision in existing laser cutting systems, guaranteeing the consistency and reliability of cutting quality. Attached Figure Description

[0018] Figure 1This is a schematic diagram of the structure of a wind turbine blade double-sided synchronous laser cutting device provided in an embodiment of the present invention; Figure 2 This invention provides a schematic diagram illustrating the working principle of a wind turbine blade double-sided synchronous laser cutting device. Figure 3 This is another perspective view of a wind turbine blade double-sided synchronous laser cutting device provided in an embodiment of the present invention; Figure 4 The image shows a bottom view of a wind turbine blade double-sided synchronous laser cutting device according to an embodiment of the present invention.

[0019] Reference numerals: 1. Rigid support frame; 11. Front support frame; 12. Rear support frame; 13. Electric telescopic rod one; 14. Adjustment frame; 15. Guide rail; 2. Wind turbine blade; 3. Tracked walking mechanism; 4. Multi-degree-of-freedom robotic arm; 5. Vacuum suction cup; 6. Drive mechanism; 61. Screw transmission mechanism one; 62. Slider; 7. Mounting frame; 71. Mounting groove; 8. Lifting mechanism; 9. Slide table; 10. Electric telescopic rod two. Detailed Implementation

[0020] To facilitate understanding of the present invention, a more comprehensive description will be given below with reference to specific embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0022] Example 1 Reference Figures 1-4 The present invention provides a wind turbine blade double-sided synchronous laser cutting device, which includes a rigid support frame 1, a tracked walking mechanism 3, two multi-degree-of-freedom robotic arms 4, a drive mechanism 6, two mounting frames 7, two laser cutting parts (not shown) and a lifting mechanism 8.

[0023] A rigid support frame 1 is positioned above the horizontally placed wind turbine blade 2. The rigid support frame 1 is constructed entirely of high-strength structural steel, such as Q345B low-alloy high-strength structural steel, to ensure sufficient structural strength and rigidity to support the weight of the entire device and various loads during the cutting process. The surface of the rigid support frame 1 is treated with rust prevention and then coated with a wear-resistant and corrosion-resistant coating to adapt to the harsh environment of the wind turbine blade 2 cutting site.

[0024] The tracked traveling mechanism 3 is mounted on the rigid support frame 1 and actively travels along the surface of the wind turbine blade 2. The tracked traveling mechanism 3 uses rubber tracks with anti-slip patterns to increase friction with the wind turbine blade 2 surface and prevent slippage during travel. Internally, the tracked traveling mechanism 3 houses a drive motor and a reducer. The drive motor is a brushless DC motor, and the reducer is a planetary gear reducer to achieve low-speed, high-torque output, meeting the requirements for smooth movement of the device on the wind turbine blade 2 surface. The tracked traveling mechanism 3 also includes a tensioning device to adjust the track tension and ensure good meshing between the track and the drive wheel.

[0025] Two multi-degree-of-freedom robotic arms 4 extend and are respectively positioned on both sides of the wind turbine blade 2, and each of the multi-degree-of-freedom robotic arms 4 is equipped with a vacuum suction cup 5 at its end, which can be attached to the surface of the wind turbine blade 2. The multi-degree-of-freedom robotic arms 4 are six-degree-of-freedom articulated robotic arms, composed of multiple joint modules connected in sequence. Each joint module includes a drive motor and a reducer to achieve flexible multi-degree-of-freedom movement. Each joint of the multi-degree-of-freedom robotic arm 4 is equipped with a joint angle sensor to detect the angle position of each joint in real time, so that the control system can accurately control the end-effector posture of the robotic arm.

[0026] The end of the multi-degree-of-freedom robotic arm 4 is equipped with a vacuum suction cup 5 mounting base. The vacuum suction cup 5 is detachably mounted on the vacuum suction cup 5 mounting base via a quick-change connector, allowing for rapid replacement of different specifications of vacuum suction cup 5 according to different operational needs. The vacuum suction cup 5 is a corrugated rubber suction cup. The corrugated rubber suction cup has a corrugated tubular shape, providing excellent extensibility and deformation capability. When the vacuum suction cup 5 adheres to the surface of the wind turbine blade 2, the corrugated rubber suction cup can adaptively deform according to the curvature of the wind turbine blade 2 surface, ensuring a tight fit between the lip of the suction cup and the blade surface, forming a good sealing effect. Even if the surface of the wind turbine blade 2 has a complex streamlined curved surface, the corrugated rubber suction cup can achieve reliable adhesion.

[0027] The vacuum suction cup 5 is connected to the vacuum generator via a vacuum pipeline. A solenoid valve is installed on the vacuum pipeline to control the adsorption and release of the vacuum suction cup 5. When adsorption is needed, the solenoid valve opens, the vacuum generator operates, creating negative pressure inside the vacuum suction cup 5, causing it to adhere to the surface of the wind turbine blade 2. When release is needed, the solenoid valve switches, allowing atmospheric air to pass through the vacuum suction cup 5, causing it to detach from the surface of the wind turbine blade 2.

[0028] The suction force of the vacuum suction cup 5 is designed and calculated based on the weight of the wind turbine blade 2 and the stress conditions during the cutting operation. Typically, the suction force of a single vacuum suction cup 5 is not less than 500N to ensure sufficient suction stability of the device on the surface of the wind turbine blade 2. The number and layout of the vacuum suction cups 5 are determined according to actual needs, and generally 2 to 4 vacuum suction cups 5 are set at the end of each multi-degree-of-freedom robotic arm 4.

[0029] The drive mechanism 6 is mounted on the rigid support frame 1 and is used to drive the two multi-degree-of-freedom robotic arms 4 to asynchronously translate along a predetermined direction. The drive mechanism 6 includes two dual-axis telescopic adjustment components; each dual-axis telescopic adjustment component includes a lead screw drive mechanism 61 and a slider 62. A guide rail 15 is provided on the rigid support frame 1, and both sliders 62 are slidably mounted on the guide rail 15. The guide rail 15 is set along the length direction of the rigid support frame 1 (i.e., the length direction of the wind turbine blade 2). The guide rail 15 is a high-precision linear guide rail 15 to ensure the straightness and accuracy of the sliders 62 when sliding on the guide rail 15. The sliders 62 are slidably mounted on the guide rail 15, and the upper surface of the sliders 62 is provided with a mounting seat for the multi-degree-of-freedom robotic arms 4. The top of the multi-degree-of-freedom robotic arms 4 is fixedly mounted on the sliders 62 by bolts. Both lead screw drive mechanisms 61 are mounted on the rigid support frame 1, and the lead screw nuts of the two lead screw drive mechanisms 61 are respectively connected to the two sliders 62.

[0030] Two lead screw drive mechanisms 61 correspond to two multi-degree-of-freedom robotic arms 4, respectively. These two sets of lead screw drive mechanisms 61 are independent of each other, enabling asynchronous translation of the two multi-degree-of-freedom robotic arms 4. By controlling the speed and direction of the drive motors of the two lead screw drive mechanisms 61, the translational speed and displacement of the two multi-degree-of-freedom robotic arms 4 can be precisely controlled, achieving precise asynchronous motion. In this embodiment, the lead screw drive mechanism 61 adopts a lead screw drive mechanism from the prior art, mainly including a drive motor, a coupling, a lead screw, and a lead screw nut. The drive motor is a stepper motor or a servo motor, and the output shaft of the drive motor is connected to one end of the lead screw through a coupling. Both ends of the lead screw are rotatably mounted on a rigid support frame 1 via bearing seats. The lead screw nut is threadedly engaged with the lead screw and is fixedly connected to the slider 62. When the drive motor rotates, it drives the lead screw to rotate, and the lead screw nut converts the rotational motion of the lead screw into linear motion, thereby driving the slider 62 to slide along the guide rail 15, realizing the translation of the multi-degree-of-freedom robotic arm 4.

[0031] Two mounting brackets 7 extend and are respectively installed on both sides of the wind turbine blade 2, and are fixed to the rigid support frame 1. The mounting brackets 7 are made of aluminum alloy profiles or steel structural profiles, and are lightweight and high-strength. One end of the mounting bracket 7 is fixed to the rigid support frame 1 by bolts or welding, and the other end extends to both sides of the wind turbine blade 2 to provide a mounting base for the laser-cut parts.

[0032] Mounting bracket 7 has a mounting groove 71 on the side facing the wind turbine blade 2. The mounting groove 71 is set along the length direction (i.e., vertical direction) of mounting bracket 7, and the cross-section of the mounting groove 71 is U-shaped or C-shaped, providing guidance and limiting for the sliding table 9. The lifting mechanism 8 includes two lead screw drive mechanisms, which are respectively installed in the two mounting grooves 71. The lead screw drive mechanism adopts the lead screw drive mechanism in the prior art, mainly including a drive motor, a lead screw, and a lead screw nut. The drive motor is installed at one end of the mounting groove 71, and the lead screw is set along the length direction of the mounting groove 71. Both ends of the lead screw are rotatably installed in the mounting groove 71 through bearing seats. The sliding table 9 is slidably installed in the mounting groove 71, and the lead screw nut is fixedly connected to one side of the sliding table 9. The lead screw nut is threadedly engaged with the lead screw.

[0033] Two laser-cut parts are respectively mounted on the side of two mounting brackets 7 facing the wind turbine blade 2 and on two sliding tables 9. The laser-cut parts use fiber laser cutting heads, which are connected to the laser generator via optical fibers. The laser generator is a high-power continuous fiber laser, and its output power can be adjusted within a certain range according to the cutting requirements. The laser cutting head contains a focusing lens and a protective lens. The focusing lens focuses the laser beam onto the surface of the wind turbine blade 2, and the protective lens prevents spatter generated during the cutting process from contaminating the focusing lens. When the drive motor rotates, it drives the lead screw to rotate. The lead screw nut converts the rotational motion of the lead screw into linear motion, thereby driving the sliding table 9 to slide along the mounting groove 71, realizing the vertical lifting and lowering movement of the laser-cut parts.

[0034] The lifting mechanism 8 is used to drive the two laser-cut parts to move up and down in the vertical direction. The lifting mechanism 8 can be an electric push rod, a hydraulic cylinder, or a lead screw lifting mechanism 8, etc., to achieve precise position adjustment of the laser-cut parts in the vertical direction.

[0035] By setting a tracked walking mechanism 3 on the rigid support frame 1, the entire device can actively move along the surface of the wind turbine blade 2, realizing flexible movement of the cutting station. By setting multi-degree-of-freedom robotic arms 4 and vacuum suction cups 5 at their ends on both sides of the wind turbine blade 2, the suction effect of the vacuum suction cups 5 on the surface of the wind turbine blade 2 provides stable support and positioning for the entire device. By driving the two multi-degree-of-freedom robotic arms 4 asynchronously, and cooperating with the alternating suction and release of the vacuum suction cups 5, the device can move stepwise on the surface of the wind turbine blade 2. Even if the surface of the wind turbine blade 2 is a complex streamlined curved surface, stable and reliable walking and positioning can be achieved. By setting mounting frames 7 and laser cutting parts on both sides of the wind turbine blade 2, and using a lifting mechanism 8 to drive the two laser cutting parts to rise and fall in the vertical direction, synchronous laser cutting of both sides of the surface of the wind turbine blade 2 is realized. Unlike existing technologies, there is no need to flip the blade for secondary cutting, which greatly improves the cutting efficiency.

[0036] Example 2 The difference between this embodiment and embodiment 1 is that there are two tracked walking mechanisms 3; the rigid support frame 1 includes a front support frame 11 and a rear support frame 12 arranged at intervals, and an electric telescopic rod 13 is provided between the front support frame 11 and the rear support frame 12, with both ends of the electric telescopic rod 13 connected to the front support frame 11 and the rear support frame 12 respectively; the two tracked walking mechanisms 3 are respectively installed at the bottom of the front support frame 11 and the rear support frame 12.

[0037] Both the front support frame 11 and the rear support frame 12 adopt a rectangular frame structure, welded from structural steel. The front support frame 11 and the rear support frame 12 are spaced apart along the length of the wind turbine blade 2, and are connected by an electric telescopic rod 13. The electric telescopic rod 13 is a high-thrust electric actuator, with its two ends hinged to the front support frame 11 and the rear support frame 12 respectively via hinged seats. By extending and retracting the electric telescopic rod 13, the distance between the front support frame 11 and the rear support frame 12 can be adjusted, thus accommodating wind turbine blades 2 of different lengths and the needs of different cutting positions. Simultaneously, the extension and retraction of the electric telescopic rod 13 can also adjust the overall posture of the rigid support frame 1 to a certain extent, allowing it to better adapt to the curvature changes on the surface of the wind turbine blade 2.

[0038] Two tracked traveling mechanisms 3 are respectively installed at the bottom of the front support frame 11 and the rear support frame 12. Each tracked traveling mechanism 3 includes an independent drive motor and reducer, enabling independent drive. The independent drive of the two tracked traveling mechanisms 3 allows the device to achieve differential steering during movement, improving the device's maneuverability and flexibility on the surface of the wind turbine blade 2.

[0039] Example 3 The difference between this embodiment and embodiment 2 is that the bottom of the front support frame 11 and the rear support frame 12 are rotatably connected to the adjustment frame 14, and the two track walking mechanisms 3 are respectively installed on the two adjustment frames 14; two hydraulic push rods are installed on the front support frame 11 and the rear support frame 12, and the telescopic ends of the two hydraulic push rods are respectively connected to the two adjustment frames 14. The extension and retraction of the hydraulic push rods drives the adjustment frame 14 to rotate, so as to adjust the angle of the track walking mechanism 3 to fit against the surface of the wind turbine blade 2.

[0040] The adjusting frame 14 is rotatably connected to the bottom of the front support frame 11 or the rear support frame 12 via a rotating shaft, and the adjusting frame 14 can swing around the rotating shaft within a certain angle range. The track walking mechanism 3 is fixedly installed on the adjusting frame 14 and swings together with the adjusting frame 14. One end of the hydraulic push rod is installed on the front support frame 11 or the rear support frame 12 via a hinge seat, and the other end (telescopic end) is connected to the adjusting frame 14 via a hinge seat.

[0041] During operation, the control system controls the extension and retraction of the hydraulic push rod based on the curvature changes of the wind turbine blade 2 surface, driving the adjustment frame 14 to rotate around the pivot, thereby changing the angle of the tracked walking mechanism 3 relative to the rigid support frame 1, allowing the tracked walking mechanism 3 to adaptively conform to the surface of the wind turbine blade 2. Even if the surface of the wind turbine blade 2 is a complex streamlined curved surface, the active adjustment of the hydraulic push rod ensures that the tracked walking mechanism 3 maintains good contact with the blade surface, ensuring the stability and reliability of the movement. The hydraulic push rod uses a double-acting hydraulic cylinder with a built-in displacement sensor, which can precisely control the extension and retraction of the hydraulic push rod, achieving precise control of the angle of the adjustment frame 14.

[0042] Example 4 The difference between this embodiment and embodiment 1 is that it also includes two electric telescopic rods 10, which are respectively installed on two slides 9; two laser-cut parts are respectively installed on the telescopic ends of the two electric telescopic rods 10.

[0043] The electric telescopic pole 210 uses a miniature electric push rod, whose fixed end is fixedly mounted on the slide table 9 via a mounting base, and whose telescopic end extends horizontally (i.e., perpendicular to the surface of the wind turbine blade 2). A laser-cut part is fixedly mounted on the telescopic end of the electric telescopic pole 210.

[0044] The distance between the laser-cut part and the surface of the wind turbine blade 2 can be adjusted by extending and retracting the electric telescopic rod 2 (10), thereby precisely controlling the focal point of the laser cutting. During the cutting process, as the curvature of the wind turbine blade 2 surface changes, the control system can control the extension and retraction of the electric telescopic rod 2 (10) according to the preset cutting trajectory and the real-time detected blade surface position, ensuring that the focal point of the laser-cut part is always precisely maintained on the cutting surface of the wind turbine blade 2. Furthermore, the extension and retraction of the electric telescopic rod 2 (10) can also be used to move the laser-cut part from a non-working position to a working position before cutting, and to reset the laser-cut part after cutting, facilitating the movement and transport of the equipment.

[0045] Example 5 The difference between this embodiment and Embodiment 1 is that it also includes a control system, which is electrically connected to the tracked walking mechanism 3, the multi-degree-of-freedom robotic arm 4, the drive mechanism 6, the laser cutting part, and the lifting mechanism 8.

[0046] The control system comprises a controller, sensor modules, and drive modules. The controller, employing a programmable logic controller (PLC) or industrial computer, receives detection signals from the sensor modules and sends control commands to the drive modules based on preset control logic and algorithms. The sensor modules include position sensors, angle sensors, force sensors, etc., mounted on various moving parts, used to detect the motion state and force conditions of each component in real time. The drive modules include servo drivers, stepper drivers, etc., used to drive various actuators (such as drive motors, hydraulic actuators, electric actuators, etc.) to operate according to the controller's commands.

[0047] The control system also features a human-machine interface (HMI), which uses a touchscreen or industrial display screen to show the device's operating status and parameters, and allows operators to input control commands and parameters. The HMI also includes an emergency stop button; in case of an emergency, the operator can press the emergency stop button to immediately halt all operations and ensure safety.

[0048] The control system also includes a laser focus adaptive control module, which is electrically connected to the laser cutting part and the lifting mechanism 8 (and the electric telescopic rod 10).

[0049] The laser focus adaptive control module includes a distance sensor and a focus control unit. The distance sensor is installed near the laser-cut part to detect the distance between the laser-cut part and the surface of the wind turbine blade 2 in real time. The distance sensor employs either a laser displacement sensor or an ultrasonic sensor, featuring high precision and high response speed.

[0050] Based on the distance signal detected by the distance sensor and combined with preset cutting process parameters (such as laser power and cutting speed), the focus control unit calculates the displacement that the laser cutting focus needs to be adjusted in real time, and sends control commands to the lifting mechanism 8 (and / or the electric telescopic rod 10) to drive the laser-cut part to make fine adjustments in the vertical (and / or horizontal) direction, so that the laser cutting focus is always accurately maintained on the cutting surface of the wind turbine blade 2. Through adaptive laser focus control, even if there are curvature changes or unevenness on the surface of the wind turbine blade 2, the quality and accuracy of laser cutting can be guaranteed.

[0051] The rigid support frame 1 is also equipped with a wireless communication module, which is electrically connected to the control system. The wireless communication module uses WiFi, Bluetooth, or ZigBee modules to enable wireless communication between the control system and the remote control terminal. Operators can remotely monitor and operate the device using a remote control terminal (such as a remote control, tablet, or computer), improving operational safety and convenience.

[0052] The wind turbine blade 2 double-sided synchronous laser cutting device also includes a power supply system, which comprises a battery pack and a power management module. The battery pack, using either lithium or lead-acid batteries, provides power to all electrical components of the device. The power management module manages the charging and discharging of the battery pack, including overcharge protection, over-discharge protection, and short-circuit protection. The battery pack is detachably mounted on the rigid support frame 1 for easy replacement and charging.

[0053] The power supply system also includes an external power interface. When there is an external power source on site, the device can be powered directly through the external power interface, extending the device's operating time.

[0054] Example 6 The present invention also provides a method for double-sided synchronous laser cutting of wind turbine blade 2, which uses the double-sided synchronous laser cutting device for wind turbine blade 2 as described above, and includes the following steps: S1. Device Installation and Initial Positioning A rigid support frame 1 is positioned above the top of the horizontally placed wind turbine blade 2, ensuring that the tracked walking mechanism 3 is in contact with the top surface of the wind turbine blade 2. Specifically, the front support frame 11 and the rear support frame 12 are placed at different positions on the top surface of the wind turbine blade 2. By controlling the extension and retraction of the electric telescopic rod 13, the distance between the front support frame 11 and the rear support frame 12 is adjusted to adapt to the length and curvature of the wind turbine blade 2. Simultaneously, the extension and retraction of the hydraulic push rod is controlled to drive the adjusting frame 14 to rotate, adjusting the angle of the tracked walking mechanism 3 so that the track of the tracked walking mechanism 3 is fully in contact with the surface of the wind turbine blade 2.

[0055] Two multi-degree-of-freedom robotic arms 4 are extended to both sides of the wind turbine blade 2. The movement of the robotic arms 4 is controlled, causing the vacuum suction cups 5 at their ends to move near the surface of both sides of the wind turbine blade 2. The vacuum generator is activated, creating negative pressure within the vacuum suction cups 5, which then adhere to the surface of both sides of the wind turbine blade 2. Through the adhesion of the vacuum suction cups 5, the entire device is firmly positioned on the wind turbine blade 2, providing stable support for subsequent cutting operations.

[0056] S2. Walking motion The system controls two vacuum suction cups 5 to alternately release their adsorption onto the surface of the wind turbine blade 2, and drives two multi-degree-of-freedom robotic arms 4 to alternately translate along a predetermined direction via a drive mechanism 6, while simultaneously moving actively via a tracked walking mechanism 3.

[0057] The specific walking process is as follows: First, the vacuum suction cup 5 at the end of one of the multi-degree-of-freedom robotic arms 4 is released from its adsorption on the surface of the wind turbine blade 2 (the vacuum suction cup 5 at the end of the other multi-degree-of-freedom robotic arm 4 remains in an adsorption state). Then, the multi-degree-of-freedom robotic arm 4 is driven to move forward a certain distance along the guide rail 15 through the lead screw transmission mechanism 61 corresponding to it. After reaching a new position, the vacuum suction cup 5 at the end of the multi-degree-of-freedom robotic arm 4 is re-adsorbed onto the surface of the wind turbine blade 2. Next, the vacuum suction cup 5 at the end of the other multi-degree-of-freedom robotic arm 4 is released from its adsorption, and the multi-degree-of-freedom robotic arm 4 is driven to move forward the same distance along the guide rail 15 through the lead screw transmission mechanism 61 corresponding to it. After reaching a new position, the vacuum suction cup 5 at the end of the other multi-degree-of-freedom robotic arm 4 is re-adsorbed onto the surface of the wind turbine blade 2.

[0058] While the two multi-degree-of-freedom robotic arms 4 alternately translate, the tracked walking mechanism 3 also actively moves forward along the surface of the wind turbine blade 2 under the action of the drive motor. By coordinating the active movement of the tracked walking mechanism 3 with the alternating translation of the multi-degree-of-freedom robotic arms 4, the device achieves stepping movement on the surface of the wind turbine blade 2.

[0059] During the movement, the control system monitors the position and status of each component in real time to ensure the coordination and stability of the movement. When the curvature of the wind turbine blade 2 changes, the control system controls the extension and retraction of the hydraulic push rod to adjust the angle of the track walking mechanism 3, ensuring that it always remains in contact with the surface of the wind turbine blade 2.

[0060] S3. Arrive at the designated cutting station and position it. Once the device moves to the designated cutting position, the drive mechanism 6 stops operating, and the tracked walking mechanism 3 stops moving. The vacuum suction cups 5 at the ends of the two multi-degree-of-freedom robotic arms 4 re-attach to the surface of the wind turbine blade 2, firmly positioning the device at the current cutting position. At this time, the two laser-cut parts are located near the designated cutting positions on both sides of the wind turbine blade 2.

[0061] S4. Double-sided synchronous laser cutting The lifting mechanism 8 (screw drive mechanism 2) drives the two laser-cut parts to move vertically up and down to the predetermined cutting height on both sides of the wind turbine blade 2. Specifically, the drive motor of the screw drive mechanism 2 is controlled to rotate, driving the slide table 9 to slide along the mounting groove 71, thereby raising and lowering the laser-cut parts to the predetermined height.

[0062] Two laser cutting components are activated to simultaneously laser-cut both sides of the wind turbine blade 2. During the cutting process, the control system controls the laser cutting components to move along the cutting trajectory according to the preset cutting path and cutting process parameters (such as laser power, cutting speed, focal position, etc.), while simultaneously cutting both sides of the wind turbine blade 2. The laser cutting process parameters are set according to the material, thickness, and cutting requirements of the wind turbine blade 2.

[0063] During the cutting process, the laser focus adaptive control module detects the distance between the laser-cut part and the surface of the wind turbine blade 2 in real time, and adjusts the action of the lifting mechanism 8 (and / or the electric telescopic rod 10) in real time according to the detection results, so that the laser focus is always accurately maintained on the cutting surface.

[0064] S5. Repeat cutting until complete. After the current workstation is cut, repeat steps S2 to S4, that is, the control device moves to the next cutting workstation in a stepping manner, and continues to perform double-sided synchronous laser cutting after positioning, until all cutting operations of the wind turbine blade 2 are completed.

[0065] During the cutting process, the wind turbine blade 2 can be divided into multiple cutting segments along its length according to its size and cutting requirements, and then cut segment by segment. After each cutting segment is completed, the device automatically moves to the next cutting segment until the entire wind turbine blade 2 is cut.

[0066] In S2, the alternating translation of the two multi-degree-of-freedom robotic arms 4 is asynchronous, meaning that the two multi-degree-of-freedom robotic arms 4 do not translate simultaneously, but sequentially. This asynchronous translation method ensures that at least one multi-degree-of-freedom robotic arm 4's end vacuum suction cup 5 maintains adhesion to the surface of the wind turbine blade 2 throughout the entire movement process, thereby ensuring the stability and safety of the device during movement.

[0067] In S2, the active movement of the tracked walking mechanism 3 and the alternating translation of the multi-degree-of-freedom robotic arm 4 are coordinated. Specifically, when the multi-degree-of-freedom robotic arm 4 translates, the tracked walking mechanism 3 moves at a lower speed or stops; when the vacuum suction cup 5 of the multi-degree-of-freedom robotic arm 4 is engaged and positioned, the tracked walking mechanism 3 moves at a higher speed. Through this coordinated control method, efficient and stable movement of the device can be achieved.

[0068] In S4, cutting dust and spatter generated during the cutting process are collected and treated by a dust collection device located near the laser-cut workpiece. The dust collection device may include a dust hood, dust collection ducts, and a dust collector. The dust hood is positioned around the cutting head of the laser-cut workpiece, and one end of the dust collection duct connects to the dust hood, while the other end connects to the dust collector. The dust collector is an industrial dust collector that uses negative pressure to draw in the dust and spatter generated during the cutting process for filtration and treatment, reducing environmental pollution and harm to operators.

[0069] After all the cutting operations are completed, control all vacuum suction cups 5 to release their adsorption on the surface of the wind turbine blade 2, and use hoisting equipment to lift the device off the wind turbine blade 2, thus completing the entire cutting operation.

[0070] In step S1, before installation, the wind turbine blade 2 undergoes pretreatment. Pretreatment includes cleaning dust, oil, and loose material from the surface of the wind turbine blade 2 to ensure the vacuum suction cup 5 can form a good seal and adhere to the surface of the wind turbine blade 2. Pretreatment also includes marking and measuring the cutting position of the wind turbine blade 2 to determine the cutting trajectory and cutting parameters.

[0071] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0073] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A device for simultaneous laser cutting of wind turbine blades on both sides, characterized in that, It includes: A rigid support frame is installed above the top of the horizontally placed wind turbine blade; The tracked walking mechanism is mounted on a rigid support frame and actively travels along the surface of the wind turbine blade. Two multi-degree-of-freedom robotic arms are respectively extended and set on both sides of the wind turbine blade, and the ends of the multi-degree-of-freedom robotic arms are equipped with vacuum suction cups that can be adsorbed onto the surface of the wind turbine blade. A drive mechanism, which is mounted on a rigid support frame and is used to drive two multi-degree-of-freedom robotic arms to translate asynchronously in a predetermined direction; Two mounting brackets extend and are respectively installed on both sides of the wind turbine blade, and the two mounting brackets are fixed on a rigid support frame; Two laser-cut parts are installed on the side of each mounting bracket facing the wind turbine blade. The lifting mechanism is used to drive the two laser-cut parts to move up and down in the vertical direction.

2. The wind turbine blade double-sided synchronous laser cutting device according to claim 1, characterized in that, The tracked walking mechanism has two parts; the rigid support frame includes a front support frame and a rear support frame that are spaced apart, and an electric telescopic rod is installed between the front support frame and the rear support frame. The two ends of the electric telescopic rod are connected to the front support frame and the rear support frame respectively; the two rods are installed at the bottom of the front support frame and the rear support frame respectively.

3. The wind turbine blade double-sided synchronous laser cutting device according to claim 2, characterized in that, Both the front and rear support frames are rotatably connected to the bottom of the support frame, and the two track walking mechanisms are respectively installed on the two adjustment frames. Both the front and rear support frames are equipped with two hydraulic push rods, and the telescopic ends of the two hydraulic push rods are respectively connected to the two adjustment frames. The extension and retraction of the hydraulic push rods drive the adjustment frames to rotate, thereby adjusting the angle of the track walking mechanism so that it fits against the surface of the wind turbine blade.

4. The wind turbine blade double-sided synchronous laser cutting device according to claim 1, characterized in that, The drive mechanism includes two dual-axis telescopic adjustment components; each dual-axis telescopic adjustment component includes a lead screw transmission mechanism and a slider; a guide rail is provided on the rigid support frame, and both sliders are slidably mounted on the guide rail, with the tops of the two multi-degree-of-freedom robotic arms respectively mounted on the two sliders; both lead screw transmission mechanisms are mounted on the rigid support frame, and the lead screw nuts of the two lead screw transmission mechanisms are respectively connected to the two sliders.

5. The wind turbine blade double-sided synchronous laser cutting device according to claim 1, characterized in that, The mounting bracket has a mounting slot on the side facing the wind turbine blade; the lifting mechanism includes two lead screw drive mechanisms, which are respectively installed in the two mounting slots. The lead screw nut of the lead screw drive mechanism is connected to a slide table, which is slidably installed in the mounting slot; the laser-cut part is installed on the slide table.

6. The wind turbine blade double-sided synchronous laser cutting device according to claim 5, characterized in that, It also includes two electric telescopic rods, which are respectively installed on two slides; two laser-cut parts are respectively installed on the telescopic ends of the two electric telescopic rods.

7. The wind turbine blade double-sided synchronous laser cutting device according to claim 1, characterized in that, The vacuum suction cup uses a corrugated rubber suction cup.

8. A method for simultaneous laser cutting of two sides of a wind turbine blade, characterized in that, It employs a wind turbine blade double-sided synchronous laser cutting device as described in any one of claims 1-7, comprising: S1. A rigid support frame is placed on top of the flat wind turbine blade. The tracked walking mechanism is attached to the top surface of the wind turbine blade. Two multi-degree-of-freedom robotic arms extend to both sides of the wind turbine blade. The vacuum suction cups at the ends of the multi-degree-of-freedom robotic arms are attached to the two sides of the wind turbine blade. S2. Control the two vacuum suction cups to alternately release and adsorb onto the surface of the wind turbine blade, and drive the two multi-degree-of-freedom robotic arms to alternately translate along a predetermined direction through the drive mechanism, while actively moving through the track walking mechanism; S3. After moving to the predetermined cutting station, the drive mechanism stops and both vacuum suction cups are re-adsorbed onto the surface of the wind turbine blade; S4. Drive the two laser cutting components to move vertically up and down to the predetermined cutting height on both sides of the wind turbine blade via the lifting mechanism; start the two laser cutting components to perform synchronous laser cutting on both sides of the wind turbine blade. S5. After the current workstation is cut, repeat steps S2 to S4 until all the cutting operations of the wind turbine blades are completed.

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