Crawling polishing device for wind turbine blade molds

Abstract

The application relates to a crawling polishing device for a wind power blade mold, which comprises a support, a walking mechanism, a polishing mechanism and a dust collection mechanism. The walking mechanism is arranged on the support and comprises a driving wheel and a negative pressure adsorption assembly. The negative pressure adsorption assembly is used for adsorbing a mold profile, and the driving wheel crawls along the mold profile. The polishing mechanism comprises a truss and a polishing head. The truss is connected to the polishing head and the support, and the polishing head is rotatably arranged on the truss. The dust collection mechanism is arranged on the walking mechanism and has a dust collection port. The dust collection port is arranged close to the polishing head. The crawling polishing device can efficiently remove residual glue layers, improve polishing efficiency and precision, and the polishing head is passively and adaptively attached to the mold profile during the following process, which is beneficial to realizing the uniformity of glue layer removal.

Description

Technical Field

[0001] This application relates to the field of wind turbine blade technology, and in particular to a crawling grinding device for wind turbine blade molds. Background Technology

[0002] Wind energy, as a clean and renewable energy source, is receiving increasing attention. With its vast reserves and wide distribution, the wind power industry is developing rapidly. Wind turbine blades are a key component in the advancement of wind energy technology; their excellent design, reliable quality, and superior performance are crucial for ensuring the normal and stable operation of the unit. During the production of wind turbine blades, after the blades are cured and demolded from the mold, a layer of cured two-component epoxy resin remains on the mold surface, typically about 1 mm thick. This layer must be removed before mold closing or the next process. Summary of the Invention

[0003] This application provides a crawling grinding device for wind turbine blade molds to improve the problem of low efficiency in removing residual adhesive layers.

[0004] This application provides a crawling grinding device for wind turbine blade molds. The crawling grinding device includes a support, a walking mechanism, a grinding mechanism, and a dust collection mechanism. The walking mechanism is mounted on the support and includes a drive wheel and a negative pressure adsorption component. The negative pressure adsorption component is used to adsorb the mold surface, and the drive wheel crawls along the mold surface. The grinding mechanism includes a truss and a grinding head. The truss is connected to the grinding head and the support, and the grinding head is rotatably mounted on the truss. The dust collection mechanism is mounted on the walking mechanism and has a dust suction port, which is located close to the grinding head.

[0005] According to one embodiment of this application, the negative pressure adsorption assembly includes a suction cup and a first driving member. The suction cup is movably disposed on the bracket and is used to adsorb the mold surface. The first driving member is used to drive the suction cup to move along a first direction. The crawling grinding device has a grinding state and a traveling state. In the grinding state, the suction cup is adsorbed onto the mold surface and the grinding head rotates. In the traveling state, the driving wheel travels along the mold surface, and the suction cup is configured to be spaced apart from the mold surface.

[0006] According to one embodiment of this application, the truss suction cup is provided with an open cavity, and one end of the suction cup forming the opening is used to contact the mold surface; the bracket is provided with an airflow passage, which is used to connect the cavity and the negative pressure mechanism.

[0007] According to one embodiment of this application, the negative pressure mechanism is disposed on the bracket.

[0008] According to one embodiment of this application, the suction cup further includes a flexible member disposed on one side of the suction cup and surrounding the opening. Optionally, the flexible member is made of one or more of polyurethane, nitrile rubber, silicone rubber, neoprene rubber, and natural rubber.

[0009] According to one embodiment of this application, the suction cup includes a flexible portion that surrounds and forms an opening. Optionally, the flexible portion is made of one or more of polyurethane, nitrile rubber, silicone rubber, neoprene rubber, and natural rubber.

[0010] According to one embodiment of this application, the crawling polishing device further includes a movable mechanism connected to the polishing mechanism and the support, which drives the polishing mechanism to move relative to the support along a first direction and a second direction, wherein the first direction is perpendicular to the second direction.

[0011] According to one embodiment of this application, the movable mechanism includes a slide rail, a second driving member, and a lead screw. The slide rail extends along a second direction, the lead screw is slidably disposed on the slide rail, the lead screw is connected to the grinding mechanism, and the second driving member is drivenly connected to the lead screw to drive the grinding mechanism to move along a first direction via the lead screw.

[0012] According to one embodiment of this application, the grinding mechanism further includes an adjustment component, and the grinding head is connected to the truss through the adjustment component; the adjustment component includes a connecting frame, a compensating member and a third driving member, the connecting frame is connected to the truss, the compensating member is connected to the grinding head and the connecting frame, the compensating member drives the grinding head to move relative to the connecting frame in a first direction, and the third driving member is disposed on the connecting frame and is used to drive the grinding head to rotate.

[0013] According to one embodiment of this application, the compensation element is an elastic element, which is disposed between the grinding head and the connecting frame. One end of the elastic element is fixed to the connecting frame, and the other end of the elastic element is connected to the grinding head.

[0014] According to one embodiment of this application, the adjustment assembly further includes an adapter, the grinding head is connected to the compensation member through the adapter, the grinding head is movably disposed on the adapter, and the angle between the axial direction of the grinding head and the axial direction of the adapter is less than or equal to 5°.

[0015] According to one embodiment of this application, the adjustment assembly further includes a displacement sensor disposed on the connecting frame.

[0016] According to one embodiment of this application, the adjustment assembly further includes a force sensor disposed on the connecting frame or the grinding head.

[0017] According to one embodiment of this application, the adjustment component further includes a control and algorithm module, which is electrically connected to a displacement sensor, a force sensor, and a third drive element.

[0018] According to one embodiment of this application, the crawling polishing device further includes an image acquisition device disposed on a support.

[0019] According to one embodiment of this application, the crawling polishing device further includes a controller, which is electrically connected to at least one of the walking mechanism, the polishing head, and the dust collection mechanism; the crawling polishing device further includes a water spraying mechanism, which is disposed on the support and includes a water tank, a water pipe, and a water spray head. The water tank is disposed on the support, the water pipe connects the water tank and the water spray head, and the water spray head is disposed close to the polishing head.

[0020] According to one embodiment of this application, the crawling grinding device further includes at least one of a reduction gear set, a shock absorption mechanism, and a four-bar linkage mechanism, and the drive wheel is mounted on the bracket via at least one of the reduction gear set, the shock absorption mechanism, and the four-bar linkage mechanism.

[0021] According to one embodiment of this application, the crawling grinding device includes two grinding mechanisms, which are disposed on both sides of the support along a third direction; the grinding mechanism includes a truss and a plurality of grinding heads, which are spaced apart along a third direction.

[0022] The crawling grinding device for wind turbine blade molds provided in this application has a drive wheel capable of following the complex shape of the mold and driving the grinding head to achieve automated grinding operations. This device not only efficiently removes residual adhesive layers, improving grinding efficiency and precision, but also allows the grinding head to passively and adaptively conform to the mold surface during the crawling process, facilitating uniform adhesive removal. Furthermore, the walking mechanism and grinding mechanism adopt an independent modular design, effectively isolating the interference of walking vibration on grinding precision and reducing the risk of secondary damage to the mold substrate. In addition, this crawling grinding device automates the grinding operation, reducing manual intervention and labor costs, and enabling human-machine separation, thus reducing operator exposure to dusty environments and improving operational safety.

[0023] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0024] The features, advantages, and technical effects of exemplary embodiments of this application will now be described with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the structure of a crawling polishing device according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a crawling polishing device according to another embodiment of this application; Figure 3 This is a partial structural schematic diagram of a crawling polishing device according to an embodiment of this application; Figure 4This is a top view of a crawling polishing apparatus according to an embodiment of this application; Figure 5 This is a front view of a crawling polishing apparatus according to an embodiment of this application; Figure 6 This is a right view of a crawling polishing apparatus according to an embodiment of this application; Figure 7 This is a partial structural schematic diagram of a crawling polishing device according to another embodiment of this application; Figure 8 This is a partial structural schematic diagram of a crawling polishing device according to another embodiment of this application; Figure 9 This is a partial structural schematic diagram of a crawling polishing device according to another embodiment of this application.

[0026] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale.

[0027] Explanation of reference numerals in the attached figures: 100. Crawling grinding device; 101. Bracket; 10. Walking mechanism; 11. Negative pressure adsorption assembly; 12. Suction cup; 121. Opening; 122. Flexible component; 123. Flexible part; 13. Drive wheel; 14. First drive component; 20. Grinding mechanism; 21. Truss; 22. Grinding head; 23. Adjustment assembly; 231. Connecting frame; 232. Compensating component; 2321. Elastic component; 234. Third drive component; 235. Adapter component; 30. Vacuuming mechanism; 31. Vacuum suction port; 40. Movable mechanism; 41. Slide rail; 42. Second drive component; 43. Lead screw; 50. Spraying mechanism; 51. Water tank; 52. Water pipe; 53. Spray head; 60. Reduction gear set; 70. Shock absorption mechanism; 80. Four-bar linkage; X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0028] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0029] In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not vertical in the strict sense, but within the allowable tolerance range. "Parallel" is not parallel in the strict sense, but within the allowable tolerance range.

[0030] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0031] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances.

[0032] The existing method of cleaning adhesive layers mainly relies on manual hand-held angle grinders, which has the following problems: (1) High dust hazard: Fine dust containing epoxy resin is generated during manual hand-held grinding, and long-term exposure can cause serious damage to the health of operators; (2) High labor intensity: Manual hand-held angle grinder operation for 100-meter molds is time-consuming and laborious, and workers need to be in a high-intensity working state for a long time; (3) Low efficiency: The efficiency of manual grinding is affected by the worker's skill level and fatigue level. Not only is the grinding efficiency low, but the work efficiency of different personnel also fluctuates significantly; (4) Poor quality consistency: It is difficult to maintain a constant force when manually grinding, which can easily lead to local over-grinding damage to the mold substrate or incomplete grinding resulting in adhesive layer residue, affecting the mold bonding accuracy and wind turbine blade surface quality in subsequent processes. There is an urgent need to develop a grinding device that can replace manual grinding for cleaning adhesive layers of wind turbine blade molds. The above statements are only used to provide background technical information related to this application and do not necessarily constitute prior art.

[0033] The crawling grinding device for wind turbine blade molds provided in this application has a drive wheel capable of following the complex shape of the mold and driving the grinding head to achieve automated grinding operations. This device not only efficiently removes residual adhesive layers, improving grinding efficiency and precision, but also allows the grinding head to passively and adaptively conform to the mold surface during the crawling process, facilitating uniform adhesive removal. Furthermore, the walking mechanism and grinding mechanism adopt an independent modular design, effectively isolating the interference of walking vibration on grinding precision and reducing the risk of secondary damage to the mold substrate. In addition, this crawling grinding device automates the grinding operation, reducing manual intervention and labor costs, and enabling human-machine separation, thus reducing operator exposure to dusty environments and improving operational safety.

[0034] To better understand the crawling grinding device for wind turbine blade molds in this application, the following description is provided in conjunction with the accompanying drawings.

[0035] like Figures 1 to 3 As shown, this application provides a crawling grinding device 100 for wind turbine blade molds. The crawling grinding device 100 includes a support frame 101, a walking mechanism 10, a grinding mechanism 20, and a dust collection mechanism 30. The walking mechanism 10 includes a negative pressure adsorption component 11 and a drive wheel 13. The negative pressure adsorption component 11 is used to adsorb the mold surface, and the drive wheel 13 is used to crawl along the mold surface. The grinding mechanism 20 includes a truss 21 and a grinding head 22. The truss 21 is connected to the grinding head 22 and the support frame 101, and the grinding head 22 is rotatably mounted on the truss 21. The dust collection mechanism 30 is disposed on the walking mechanism 10 and has a dust collection port 31, which is located close to the grinding head 22.

[0036] The crawling grinding device 100 can attach to the mold surface and move freely on the surface via the walking mechanism 10. Specifically, after the wind turbine blade demolding process is completed, the two halves of the mold are in an open state and laid flat. The walking mechanism 10 crawls from the wide end of the blade root to the narrow end of the blade tip.

[0037] In this embodiment, the mold is formed of fiber-reinforced composite material, such as fiberglass, which is a non-magnetic material. Therefore, the negative pressure adsorption component 11 is used to adsorb its surface in a negative pressure manner.

[0038] In some examples, the grinding head 22 has a disc-shaped or near-disc-shaped structure. The grinding head 22 is driven by a drive motor to rotate and grind the wind turbine blades.

[0039] In some examples, when the traveling mechanism 10 is on the mold surface, the grinding head 22 remains in contact with the mold surface. Residual adhesive layers are removed as the grinding head 22 rotates.

[0040] In other examples, when the traveling mechanism 10 is on the mold surface, the grinding head 22 intermittently contacts the mold surface. Residual adhesive layers are removed as the grinding head 22 rotates.

[0041] In some examples, the vacuuming mechanism 30 includes a vacuum hood with a vacuum port 31.

[0042] For example, the dust collection mechanism 30 includes a dust collection container, a guide pipe, and a dust collection hood. The dust collection container is disposed on the walking mechanism 10, and the guide pipe connects the dust collection container and the dust collection hood. Dust sucked in through the dust suction port 31 flows into the dust collection container through the guide pipe. The dust suction port 31 is designed close to the grinding head 22 to quickly capture dust at the source of dust generation and enter the dust collection container through the guide pipe.

[0043] Optionally, the dust collection mechanism 30 also includes a high-efficiency particulate air (HEPA) filter, which is disposed between the airflow guide pipe and the dust collection container to connect the airflow guide pipe and the dust collection container. The HEPA filter has a filtration accuracy of 0.3 μm and can effectively trap fine dust particles in the airflow from entering the dust collection container and clogging it.

[0044] In some examples, the vacuuming mechanism 30 is linked to the grinding head 22, and the two start or stop synchronously.

[0045] In some examples, the traveling mechanism 10 is placed at the wide end of the mold blade root, and the positioning is confirmed to be accurate. The negative pressure adsorption assembly 11 is adsorbed onto its surface. The traveling mechanism 10 is controlled to crawl along the mold surface, while the grinding head 22 is controlled to rotate to remove the adhesive layer formed by the cured two-component epoxy resin.

[0046] In other examples, the traveling mechanism 10 is placed at the wide end of the mold blade root, and the positioning is confirmed to be accurate. The negative pressure adsorption component 11 is adsorbed onto its surface, while the grinding head 22 rotates to remove the cured two-component epoxy resin adhesive layer in the predetermined area. The adsorption of the negative pressure adsorption component 11 onto the surface is released, and the traveling mechanism 10 is controlled to crawl along the mold surface.

[0047] The crawling grinding device 100 for wind turbine blade molds provided in this application has a drive wheel 13 capable of following the complex shape of the mold and driving the grinding head 22 to achieve automated grinding operations. This device not only efficiently removes residual adhesive layers, improving grinding efficiency and precision, but also allows the grinding head 22 to passively and adaptively conform to the mold surface during the crawling process, which is beneficial for achieving uniform adhesive layer removal. Furthermore, the walking mechanism 10 and the grinding mechanism 20 adopt an independent modular design, effectively isolating the interference of walking vibration on grinding precision and reducing the risk of secondary damage to the mold substrate. In addition, the crawling grinding device 100 automates the grinding operation, reducing manual intervention and labor costs, and achieving human-machine separation, reducing operator exposure to dusty environments and improving operational safety.

[0048] According to one embodiment of this application, such as Figure 1 and Figure 2 As shown, the negative pressure adsorption assembly 11 includes a suction cup 12 and a first driving member 14. The suction cup 12 is movably mounted on the bracket 101 and is used to adsorb the mold surface. The first driving member 14 is used to drive the suction cup 12 to move along the first direction X. The crawling grinding device 100 has a grinding state and a traveling state. In the grinding state, the suction cup 12 is adsorbed onto the mold surface, and the grinding head 22 rotates. In the traveling state, the driving wheel 13 travels along the mold surface, and the suction cup 12 is configured to be spaced apart from the mold surface.

[0049] Wind turbine blades are typically 100 meters in length, and the effective grinding length of a single half-mold is greater than or equal to 60 meters.

[0050] In some examples, the travel speed of the drive wheel 13 is adjustable, ranging from 1 m / min to 10 m / min. This adjustable travel speed of the drive wheel 13 can meet different polishing requirements.

[0051] Optionally, the driving speed of the drive wheel 13 is 2 m / min to 5 m / min.

[0052] In these optional embodiments, the crawling grinding device 100 has a grinding state and a traveling state. By separating the walking action and the grinding action in time, it reduces the interference of walking vibration on the grinding process and effectively improves the grinding accuracy and uniformity. It also eliminates the adverse effects of dynamic travel on adsorption and bonding, which is conducive to achieving stable adsorption and controllable grinding amount. This improves the problem of over-grinding of the mold substrate or residual adhesive layer that is prone to occur due to continuous operation. It is suitable for the grinding and adhesive removal process of wind turbine blades with high surface quality requirements.

[0053] According to one embodiment of this application, such as Figure 1 , Figure 4 and Figure 5As shown, the suction cup 12 is movably mounted on the support 101 along the first direction X. The suction cup 12 has a cavity with an opening 121 (not shown in the figure). One end of the suction cup 12 forming the opening 121 is used to contact the mold surface. An airflow passage (not shown in the figure) is provided inside the support 101. The airflow passage 141 is used to connect the cavity and the negative pressure mechanism (not shown in the figure).

[0054] In this embodiment, the first direction X is parallel to the thickness direction of the mold.

[0055] In some examples, there are two negative pressure adsorption components 11, with the suction cup 12 located between the two negative pressure adsorption components 11. This arrangement ensures tight adsorption to the mold surface while minimizing the space occupied by the suction cup 12, thus reducing its impact on the polishing operation.

[0056] The suction cup 12 is movably mounted on the bracket 101 along the first direction X, which can be understood as the suction cup 12 moving on the bracket 101 along the first direction X.

[0057] When in motion, the suction cup 12 moves away from the wind turbine blades along the bracket 101, that is, the suction cup 12 is spaced apart from the mold surface, and the drive wheel 13 moves along the mold surface.

[0058] During the polishing process, the suction cup 12 moves along the bracket 101 towards the direction of the wind turbine blades. One end of the suction cup 12 forming the opening 121 contacts the mold surface. By evacuating the cavity, the suction cup 12 adheres to the mold surface. The polishing head 22 rotates to polish the residual adhesive layer. During the polishing process, the drive wheel 13 can remain stationary, i.e., its travel speed is 0, or the drive wheel 13 can turn in place.

[0059] In this embodiment, there may be one or more airflow passages. In the case of multiple airflow passages, the airflow passages may connect to multiple suction cups 12, or the airflow passages may all connect to one suction cup 12.

[0060] Optionally, a negative pressure mechanism (not shown in the figure) is provided on the bracket 101.

[0061] In these alternative embodiments, the suction cup 12 can switch between adsorption and movement states, enabling a tight seal against the mold surface. Furthermore, the bracket 101 is positioned within the airflow passage, which connects the cavity to the negative pressure mechanism. The negative pressure mechanism evacuates the cavity of the suction cup 12 through the airflow passage, creating a negative pressure vacuum in the cavity connected to the airflow passage. The suction force generated by the pressure difference between the inside and outside of the cavity tightly adheres the suction cup 12 to the mold surface.

[0062] According to one embodiment of this application, the suction cup 12 further includes a flexible member 122, which is disposed on one side of the suction cup 12 and surrounds the opening 121.

[0063] Optionally, the flexible component 122 may be made of one or more of the following materials: polyurethane, nitrile rubber, silicone rubber, neoprene rubber, and natural rubber.

[0064] In these alternative embodiments, by providing the flexible element 122, the flexible element 122 can conform to the arc-shaped gradient surface of the mold to form a reliable seal, thereby achieving a stable and high adsorption force and reducing the occurrence of air leakage or slippage during the polishing process.

[0065] According to one embodiment of this application, such as Figure 1 and Figure 5 As shown, the suction cup 12 includes a flexible part 123, which surrounds and forms an opening 121.

[0066] Optionally, the flexible part 123 may be made of one or more of the following materials: polyurethane, nitrile rubber, silicone rubber, neoprene rubber, and natural rubber.

[0067] In some examples, the suction cup 12 includes a main body and a flexible portion 123, the flexible portion 123 being disposed around the main body. The flexible portion 123 serves as a flexible sealing lip, capable of conforming to the contoured, gradually curved surface of the mold to form a reliable seal.

[0068] According to one embodiment of this application, such as Figure 6 and Figure 8 As shown, the crawling polishing device 100 also includes a movable mechanism 40, which is connected to the polishing mechanism 20 and the support 101, and drives the polishing mechanism 20 to move relative to the support 101 along the first direction X and the second direction Y, where the first direction X is perpendicular to the second direction Y.

[0069] For example, the active mechanism 40 is a hydraulic cylinder or a pneumatic cylinder, which pushes the piston rod to extend and retract by pressure to drive the grinding mechanism 20 to reciprocate in the first direction X or move in the second direction Y.

[0070] In these alternative embodiments, by setting an active mechanism 40 to connect the grinding mechanism 20 and the support 101, and driving the grinding mechanism 20 to move along the first direction X and the second direction Y respectively, on the one hand, the grinding head 22 is fed bidirectionally on the mold surface, and can perform contour tracking grinding according to the shape of the mold surface, thereby improving the adaptability to the mold surface; on the other hand, through the coordinated movement of the X and Y directions, the texture generated by unidirectional feeding can be effectively reduced, the surface roughness of the roller can be reduced, and the precise feeding in the first direction X also improves the problem of grinding damage and improves grinding consistency.

[0071] According to one embodiment of this application, such as Figure 6 and Figure 8As shown, the movable mechanism 40 includes a slide rail 41, a second drive member 42, and a lead screw 43. The slide rail 41 extends along the second direction Y, and the lead screw 43 is slidably disposed on the slide rail 41. The lead screw 43 is connected to the grinding mechanism 20, and the second drive member 42 is connected to the lead screw 43 for driving the grinding mechanism 20 to move along the first direction X through the lead screw 43.

[0072] For example, the movable mechanism 40 also includes a slider, and a lead screw 43 is disposed on the slider. The slider drives the lead screw 43 to move along the second direction Y on the slide rail 41.

[0073] Optionally, the moving mechanism 40 includes two lead screws 43, and the truss 21 is connected to the two lead screws 43 respectively to drive the truss 21 to move along the first direction X.

[0074] In these alternative embodiments, the specific structure of the above-mentioned active mechanism 40 is conducive to simplifying the overall structure of the active mechanism 40, making it easier to process and form, and reducing manufacturing difficulty and production cost.

[0075] According to one embodiment of this application, such as Figure 1 , Figure 5 and Figure 8 As shown, the grinding mechanism 20 also includes an adjustment assembly 23, through which the grinding head 22 is connected to the truss 21. The adjustment assembly 23 includes a connecting frame 231, a compensating member 232, and a third driving member 234. The connecting frame 231 is connected to the truss 21, the compensating member 232 is connected to the grinding head 22 and the connecting frame 231, and the compensating member 232 drives the grinding head 22 to move relative to the connecting frame 231 in the first direction X. The third driving member 234 is disposed on the connecting frame 231 and is used to drive the grinding head 22 to rotate.

[0076] In some examples, the compensator 232 is disposed between the connecting frame 231 and the grinding head 22, and the compensator 232 is connected to the grinding head 22 and moves along the first direction X.

[0077] During the grinding process, the compensating member 232 drives the grinding head 22 to move. The compensating member 232 provides driving force to the grinding head 22. Specifically, the compensating member 232 is connected to the grinding head 22 in a transmission manner, and is used to drive the grinding head 22 to press against the mold surface with a preset pressure. The compensating member 232 is configured to dynamically adjust the output force according to the thickness of the adhesive layer. When the adhesive layer is thicker, the driving force is increased to improve grinding efficiency; when the adhesive layer is thinner, the driving force is reduced accordingly to prevent over-grinding from damaging the mold substrate.

[0078] In some examples, the third drive element 234 includes a drive motor for driving the grinding head 22 to rotate in order to grind the mold surface.

[0079] In these optional embodiments, by setting an adjustable output force compensation component 232, the grinding force is matched to the change in adhesive layer thickness: when the adhesive layer is thicker, increasing the grinding force can effectively improve the efficiency of removing residual adhesive layer and shorten the operation time; when the adhesive layer is thinner, decreasing the grinding force can reduce the damage to the mold substrate caused by the grinding head 22 penetrating the adhesive layer, which is beneficial to maintaining the mold structure. This driving method ensures that the grinding head 22 always acts on the mold surface with matched pressure throughout the operation, which improves grinding efficiency, grinding quality and safety, and is especially suitable for grinding wind turbine blades with uneven adhesive layer thickness and large surface curvature changes. The accuracy of the compensation component 232 can be controlled within a difference of 1N to 2N, and the response time is ≤100ms.

[0080] According to one embodiment of this application, such as Figure 5 , Figure 8 and Figure 9 As shown, the compensation component 232 is an elastic component 2321. The elastic component 2321 is disposed between the grinding head 22 and the connecting frame 231. One end of the elastic component 2321 is fixed to the connecting frame 231, and the other end of the elastic component 2321 is connected to the grinding head 33.

[0081] In some examples, the elastic element 2321 is selected from at least one of linear springs, torsion springs, sheet springs, solid elastic rubber, porous elastic rubber, solid elastic plastic, porous elastic plastic, shape memory metal, and magnetic components.

[0082] In some examples, the elastic element 2321 is a bellows.

[0083] The elastic element 2321 is in a compressed state, with one end connected to the grinding head 22 and the other end connected to the connecting frame 231. When the connecting frame 231 maintains a fixed distance from the mold, the spring compression increases when the adhesive layer is thicker, resulting in a larger driving force; conversely, when the adhesive layer is thinner, the spring compression is smaller, and the output driving force decreases accordingly. The elastic element 2321 achieves dynamic matching of the grinding force with the thickness of the adhesive layer.

[0084] In some examples, the connecting frame 231 has a receiving space, and the third drive 234 is disposed in the receiving space and connected to the grinding head 22.

[0085] In these alternative embodiments, the elastic element 2321 provides a continuous driving force to the grinding head 22, enabling dynamic matching of the grinding force of the grinding head 22 with the change of adhesive layer thickness. Moreover, using the elastic element 2321 as the compensation element 232 not only simplifies the structure and reduces the weight of the whole machine, but also reduces the cost and maintenance difficulty of the compensation element 232.

[0086] According to one embodiment of this application, such as Figure 5 ,and Figure 8 and Figure 9 As shown, the adjustment component 23 also includes an adapter 235. The grinding head 22 is connected to the compensation component 232 via the adapter 235. The grinding head 22 is movably mounted on the adapter 235. The angle between the axial direction of the compensation component 232 and the axial direction of the adapter 235 is greater than or equal to 0° and less than or equal to 5°. Because the grinding head 22 is movably mounted on the adapter 235, it can swing at a certain angle to achieve a close fit, thereby adapting to the gradual curvature of the mold surface, further improving conformability, and ensuring uniform and stable overall adhesion.

[0087] According to one embodiment of this application, the adjustment assembly 23 further includes a displacement sensor (not shown in the figure), which is disposed on the connecting bracket 231. The displacement sensor is used to measure the travel distance of the grinding head 22.

[0088] According to one embodiment of this application, the adjustment component 23 further includes a force sensor (not shown in the figure), which is disposed on the connecting bracket 231 or the grinding head 22.

[0089] Optionally, the adjustment component 23 also includes a control and algorithm module, which is electrically connected to at least one of the displacement sensor, force sensor, compensation component 232 and third drive component 234.

[0090] The force sensor monitors the contact force between the grinding head 22 and the mold surface in real time and feeds it back to the control and algorithm module. The control and algorithm module compares the actual force with the target force and adjusts the driving force of the compensation component 232 to increase or decrease the grinding force, thereby reducing the problem of grinding damage to the mold substrate.

[0091] According to one embodiment of this application, the crawling polishing device 100 further includes an image acquisition device (not shown in the figure), which is disposed on the walking mechanism 10.

[0092] Optionally, the image acquisition device uses a binocular camera to identify residual adhesive layers and feeds the identification information back to the controller, which then controls the crawling polishing device 100 to be in polishing or moving state.

[0093] According to one embodiment of this application, the crawling polishing device 100 further includes a controller electrically connected to at least one of the walking mechanism 10, the polishing head 22, and the dust collection mechanism 30.

[0094] According to one embodiment of this application, such as Figure 1 and Figure 7As shown, the crawling grinding device 100 also includes a water spraying mechanism 50, which is mounted on the support 101. The water spraying mechanism 50 includes a water tank 51, a water pipe 52, and a water spray head 53. The water tank 51 is mounted on the support 101, and the water pipe 52 connects the water tank 51 and the water spray head 53. The water spray head 53 is positioned close to the grinding head 22. On the one hand, the water spraying mechanism 50 can spray liquid during the grinding process, which can effectively reduce the instantaneous high temperature in the grinding area, reduce thermal damage to the mold surface and the grinding head 22, and at the same time, use the liquid flushing force to remove metal debris embedded in the grinding head 22, improve the clogging of the grinding head 22, and reduce grinding resistance with the help of liquid lubrication, thereby improving the surface finish of the mold.

[0095] According to one embodiment of this application, such as Figure 2 and Figure 6 As shown, the crawling grinding device 100 also includes at least one of a reduction gear set 60, a shock absorption mechanism 70, and a four-bar linkage 80, and the drive wheel 13 is mounted on the bracket via at least one of the reduction gear set 60, the shock absorption mechanism 70, and the four-bar linkage 80.

[0096] The reduction gear set 60 can achieve low-speed, high-torque output, and can also cope with the resistance of the negative pressure adsorption component 11 and improve the defects such as slippage of the drive wheel 13 under heavy load conditions.

[0097] Optionally, the reduction gear set 60 is a two-stage reduction gear set.

[0098] The damping mechanism 70 includes a hydraulic cylinder and a spring. The damping mechanism 70 is used to reduce the effects of motion vibrations.

[0099] According to one embodiment of this application, the crawling grinding device 100 includes two grinding mechanisms 20, which are arranged on both sides of the support 101 along the third direction Z. Each grinding mechanism 20 includes a truss 21 and multiple grinding heads 22, which are spaced apart along the third direction Z. This allows multiple grinding heads 22 to work collaboratively and perform grinding on both sides of the support 101, resulting in a large grinding coverage area and high grinding efficiency. The spaced arrangement of the multiple grinding heads 22 along the third direction Z adapts to the grinding needs of different positions on the mold surface, allowing for flexible grinding position adjustment and high grinding precision.

[0100] In some examples, the bracket 101 is provided with a hanging loop or hole for suspending the safety rope. This arrangement allows the safety rope to provide auxiliary protection, reducing the risk of the crawling grinding device 100 slipping off the mold surface and falling, thus minimizing the possibility of damage.

[0101] In some examples, the crawling polishing device 100 also includes a Kevlar umbilical wire interface.

[0102] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A crawling grinding device for wind turbine blade molds, characterized in that, include: support; The walking mechanism, set on the bracket, includes a negative pressure adsorption component and a drive wheel. The negative pressure adsorption component is used to adsorb the mold surface, and the drive wheel is used to crawl along the mold surface. A grinding mechanism includes a truss and a grinding head, the truss connecting the grinding head and the support, and the grinding head being rotatably mounted on the truss; A dust collection mechanism is provided on the walking mechanism, and the dust collection mechanism has a dust collection port, which is located close to the grinding head.

2. The crawling polishing device according to claim 1, characterized in that, The negative pressure adsorption assembly includes a suction cup and a first driving component. The suction cup is movably mounted on the bracket and is used to adsorb the mold surface. The first driving component is used to drive the suction cup to move along a first direction. The crawling polishing device has a polishing state and a traveling state. During the polishing process, the suction cup adheres to the mold surface, and the polishing head rotates. In the traveling state, the drive wheel travels along the mold surface, and the suction cup is configured to be spaced apart from the mold surface.

3. The crawling polishing device according to claim 2, characterized in that, The suction cup of the truss is provided with an open cavity, and one end of the suction cup forming the opening is used to contact the mold surface; The bracket has an airflow passage inside, which is used to connect the cavity and the negative pressure mechanism. Optionally, the negative pressure mechanism is disposed on the bracket.

4. The crawling polishing device according to claim 3, characterized in that, The suction cup further includes a flexible element disposed on one side of the suction cup and surrounding the opening. Optionally, the flexible element is made of one or more of polyurethane, nitrile rubber, silicone rubber, neoprene rubber, and natural rubber; and / or, The suction cup includes a flexible part that surrounds and forms the opening. Optionally, the flexible part is made of one or more of polyurethane, nitrile rubber, silicone rubber, neoprene rubber, and natural rubber.

5. The crawling polishing device according to claim 1, characterized in that, The crawling polishing device further includes a movable mechanism, which is connected to the polishing mechanism and the support, and drives the polishing mechanism to move relative to the support along a first direction and a second direction, wherein the first direction is perpendicular to the second direction.

6. The crawling polishing device according to claim 5, characterized in that, The movable mechanism includes a slide rail, a second driving member, and a lead screw. The slide rail extends along the second direction, and the lead screw is slidably disposed on the slide rail and connected to the grinding mechanism. The second driving member is drivenly connected to the lead screw and is used to drive the grinding mechanism to move along the first direction via the lead screw.

7. The crawling polishing device according to claim 1 or 5, characterized in that, The crawling grinding mechanism also includes an adjustment component, and the grinding head is connected to the truss through the adjustment component; The adjustment assembly includes a connecting frame, a compensating member, and a third driving member. The connecting frame is connected to the truss, the compensating member is connected to the grinding head and the connecting frame, the compensating member drives the grinding head to move relative to the connecting frame in a first direction, and the third driving member is disposed on the connecting frame and is used to drive the grinding head to rotate.

8. The crawling polishing device according to claim 7, characterized in that, The compensation component is an elastic component, which is disposed between the grinding head and the connecting frame. One end of the elastic component is fixed to the connecting frame, and the other end of the elastic component is connected to the grinding head. And / or, The adjustment assembly also includes an adapter, through which the grinding head is connected to the compensation component. The grinding head is movably disposed on the adapter, and the angle between the axial direction of the grinding head and the axial direction of the adapter is greater than or equal to 0 and less than or equal to 5°.

9. The crawling polishing device according to claim 7, characterized in that, The adjustment assembly further includes a displacement sensor disposed on the connecting frame; and / or, The adjustment assembly also includes a force sensor, which is disposed on the connecting frame or the grinding head; Optionally, the adjustment component further includes a control and algorithm module, which is electrically connected to the displacement sensor, the force sensor, and the third drive element.

10. The crawling polishing device according to claim 1, characterized in that, The crawling polishing device further includes an image acquisition device, which is mounted on the support; and / or, The crawling polishing device further includes a controller, which is electrically connected to at least one of the walking mechanism, the polishing head, and the dust collection mechanism; and / or, The crawling grinding device also includes a water spraying mechanism, which is mounted on the support. The water spraying mechanism includes a water tank, a water pipe, and a water spray head. The water tank is mounted on the support, the water pipe connects the water tank and the water spray head, and the water spray head is positioned close to the grinding head.

11. The crawling polishing device according to claim 1, characterized in that, The crawling grinding device further includes at least one of a reduction gear set, a shock absorption mechanism, and a four-bar linkage mechanism, and the drive wheel is mounted on the bracket via at least one of the reduction gear set, the shock absorption mechanism, and the four-bar linkage mechanism.

12. The crawling polishing device according to claim 1, characterized in that, The crawling polishing device includes two polishing mechanisms, which are arranged on both sides of the bracket along a third direction; The grinding mechanism includes a truss and a plurality of grinding heads, which are arranged at intervals along the third direction.

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