Data acquisition device for geometric model reconstruction of wind power blade

Abstract

The utility model provides a data acquisition device for reconstructing a geometric model of a wind power blade. The data acquisition device comprises a six-degree-of-freedom robot, a robot sliding rail, a tail end connecting plate and a plurality of laser range finders, the tail end connecting plate is fixedly arranged at the tail end of the six-degree-of-freedom robot, the laser range finders are distributed in parallel on the outer surface of the tail end connecting plate along a preset straight line, and the distance between every two adjacent laser range finders is a preset distance; the six-degree-of-freedom robot is slidably connected with the robot sliding rail; the six-degree-of-freedom robot controls a first included angle between the preset straight line and the horizontal plane The six-degree-of-freedom robot further drives the tail end connecting plate to move in the vertical direction so that the laser range finder can move in the vertical direction. The laser range finder collects point cloud data of the surface of the to-be-measured blade through laser. According to the utility model, the laser range finders arranged in a row at the tail end of the robot are used for carrying out segmented measurement on the wind power blade to obtain accurate and complete point cloud data of the whole blade, so that a geometric model is reconstructed.

Description

Technical Field

[0001] The utility model relates to the technical field of wind power generation, in particular to a data acquisition device for reconstructing a geometric model of a wind power blade. Background Art

[0002] Wind turbine blades are usually ground and polished during the maintenance phase, and robot grinding can replace manual work to achieve a more consistent grinding quality and keep workers away from dust and polluted environments. Since this type of maintenance is usually for blades that are more than ten years old, it is difficult to obtain a three-dimensional model, and due to their age, the curved surface of the blade will also be quite different from the three-dimensional model. Therefore, in order to achieve robot automated grinding and polishing and significantly improve the quality of automated grinding, it is first necessary to reconstruct the three-dimensional model of the wind turbine blade more accurately. At present, many model reconstruction tools on the market, such as three-dimensional scanners, are expensive on the one hand, and require manual hand-held model scanning on the other hand. It is almost impossible to achieve three-dimensional scanning of wind turbine blades that are tens or even hundreds of meters long. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the defect in the prior art that it is difficult to accurately reconstruct data collection for the three-dimensional model of a wind turbine blade, and to provide a data collection device for reconstructing the geometric model of a wind turbine blade.

[0004] The utility model solves the above technical problems through the following technical solutions:

[0005] The utility model provides a data acquisition device for wind turbine blade geometric model reconstruction, the data acquisition device comprising: a six-degree-of-freedom robot, a robot slide rail, an end connection plate and a plurality of laser rangefinders;

[0006] The terminal connecting plate is fixedly arranged at the terminal of the six-degree-of-freedom robot, the laser rangefinders are distributed in parallel along a preset straight line on the outer surface of the terminal connecting plate, and the distance between two adjacent laser rangefinders is a preset distance;

[0007] The six-degree-of-freedom robot is slidably connected to the robot slide rail;

[0008] The six-degree-of-freedom robot is used to control a first angle between the preset straight line and the horizontal plane;

[0009] The six-degree-of-freedom robot is also used to drive the end connecting plate to move in the vertical direction so that the laser rangefinder moves in the vertical direction;

[0010] The laser rangefinder is used to collect point cloud data of the surface of the blade to be measured by laser.

[0011] Optionally, the data acquisition device further comprises: a main controller;

[0012] The main controller is communicatively connected with the six-degree-of-freedom robot and the laser rangefinder respectively;

[0013] The main controller is used to send a first control instruction to the six-degree-of-freedom robot to control a first angle;

[0014] The main controller is also used to send a second control instruction to the six-degree-of-freedom robot to drive the end connecting plate to move in a vertical direction;

[0015] The main controller is also used to send a third control instruction to the laser rangefinder to control the laser rangefinder to collect point cloud data of the surface of the blade to be measured through laser, and receive the point cloud data sent by the laser rangefinder.

[0016] Optionally, the main controller is further used to control the laser rangefinder to move unidirectionally in the vertical direction through the second control instruction and the third control instruction while collecting point cloud data of a target area on the surface of the blade to be measured.

[0017] Optionally, the first angle is set to zero.

[0018] Optionally, the data acquisition device further comprises: a robot support;

[0019] The six-degree-of-freedom robot is fixed on the robot bracket;

[0020] The robot bracket is slidably connected to the robot slide rail via a sliding portion at the bottom.

[0021] Optionally, the data acquisition device further comprises: a driving device;

[0022] The driving device is arranged inside the robot bracket;

[0023] The main controller is also in communication connection with the driving device;

[0024] The main controller is also used to send a fourth control instruction to the driving device to control the driving device to drive;

[0025] The driving device is used to drive the robot bracket to slide along the robot slide rail.

[0026] Optionally, the main controller is further used to control the laser rangefinder to stop collecting the point cloud data when controlling the robot bracket to slide along the robot slide rail.

[0027] Optionally, the data acquisition device further comprises: a blade support and a plurality of fulcrum fixing rods;

[0028] The fulcrum fixing rod is fixed on the upper surface of the blade bracket;

[0029] The fulcrum fixing rod is used to support and fix the blade to be measured so that a second angle between the length direction of the blade to be measured and the central axis of the robot slide rail is less than a preset first angle threshold and a third angle between the width direction of the blade to be measured and the horizontal plane is greater than a preset second angle threshold.

[0030] Optionally, the number of the fulcrum fixing rods is greater than or equal to 3.

[0031] Optionally, the number of the laser rangefinders is 8.

[0032] The positive and progressive effects of the utility model are:

[0033] The end of the robot is fixedly connected to several laser rangefinders arranged in a row, and the wind turbine blades are divided into several sections according to preset lengths (fixed values). The preset length is determined by the distance between the first and last laser rangefinders, and each section of the blade is measured in turn; when measuring each section of the blade, the laser rangefinder remains stationary relative to the end of the robot, and the end of the robot moves in the vertical direction (preferably unidirectionally, such as from top to bottom) so that the laser rangefinder collects point cloud data in the target area on the surface of the blade, that is, point cloud data is collected at points on the intersection line of equidistant sections in the length direction (the number of sections is equal to the number of laser rangefinders) and the blade surface; the robot slide is a high-precision translation track. After each scan of a section of the blade is completed and a set of point cloud data is collected, the robot is moved on the robot slide to move a preset moving distance (when the robot slide is parallel to the length direction of the blade, the moving distance is equal to the preset length), and a set of point cloud data of the next section of the blade is collected again, until the entire blade is collected. The point cloud data of each blade segment is combined to obtain the point cloud data of the entire blade, which serves as the data basis for reconstructing the geometric model of the wind turbine blade. The point cloud data of the blade is accurate and complete. On this basis, an accurate three-dimensional model of the blade can be obtained through surface fitting to achieve geometric model reconstruction. Compared with a three-dimensional scanner, this greatly reduces costs and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a structural schematic diagram of a data acquisition device for reconstructing a geometric model of a wind turbine blade according to a preferred embodiment of the utility model.

[0035] Figure 2 This is an example of point cloud data collection of a blade segment of a data collection device for wind turbine blade geometric model reconstruction according to a preferred embodiment of the utility model.

[0036] Figure 3 This is a schematic structural diagram of a blade support and a fulcrum fixing rod in a data acquisition device for reconstructing a geometric model of a wind turbine blade according to a preferred embodiment of the utility model. DETAILED DESCRIPTION

[0037] A preferred embodiment is given below, and the present invention is described more clearly and completely in conjunction with the accompanying drawings.

[0038] This embodiment provides a data acquisition device for wind turbine blade geometric model reconstruction. Figure 1 The data acquisition device includes: a six-degree-of-freedom robot 1, a robot slide rail 2, an end connecting plate 3 and several laser rangefinders 4.

[0039] The end connecting plate 3 is fixedly arranged at the end of the six-degree-of-freedom robot 1 , and the laser rangefinders 4 are distributed in parallel along a preset straight line on the outer surface of the end connecting plate 3 , and the distance between two adjacent laser rangefinders 4 is a preset distance.

[0040] The six-degree-of-freedom robot 1 is slidably connected to the robot slide rail 2 .

[0041] The six-degree-of-freedom robot 1 is used to control a first angle between a preset straight line and a horizontal plane.

[0042] The six-degree-of-freedom robot 1 is also used to drive the end connecting plate 3 to move in the vertical direction so that the laser rangefinder 4 moves in the vertical direction.

[0043] The laser rangefinder 4 is used to collect point cloud data of the surface of the blade A to be measured by laser.

[0044] The action of the six-degree-of-freedom robot 1 can be controlled by an internal controller or an external main control device.

[0045] The robot slide rail is set on the ground, parallel to the horizontal plane.

[0046] The preset straight line may be the central axis of the outer surface of the terminal connecting plate 3. The spacing between two adjacent laser distance meters 4 is a preset spacing (fixed value), that is, a plurality of laser distance meters 4 arranged in a row are parallel and equidistantly distributed.

[0047] The wind turbine blades are divided into several sections according to a preset length (fixed value) in the length direction. The preset length is determined by the spacing between the first and last laser rangefinders, that is, the preset length is determined by the measurement range of all laser rangefinders and cannot exceed the measurement range. In order to ensure measurement efficiency and accuracy, the preset length can be reasonably set to just match the maximum boundary of the measurement range. When the preset straight line is parallel to the length direction of the blade, the preset length is equal to the spacing between the first and last laser rangefinders. Assuming the preset spacing is L1, the number of laser rangefinders 4 is N1, and the preset length is L2, then L2 = L1*N1.

[0048] The wind turbine blade is measured in sections. After each section of the blade is measured, the six-degree-of-freedom robot 1 is moved on the robot slide rail 2 by a moving distance L3 to sequentially measure the next section of the blade until the measurement of the entire blade is completed.

[0049] When the robot slide rail is parallel to the length direction of the blade, the moving distance L3 is equal to the preset length L2.

[0050] For ease of operation, the length direction of the wind turbine blade can be placed parallel to the horizontal plane, and the first angle is set to zero, so that the robot slide rail, the length direction of the wind turbine blade and the preset straight line where the laser rangefinder 4 is located are all kept horizontal and parallel to each other.

[0051] When measuring each section of the blade, the laser rangefinder 4 remains stationary relative to the end of the robot, and the end of the robot moves in the vertical direction so that the laser rangefinder collects point cloud data in the target area on the blade surface, that is, point cloud data is collected at points on the intersection line (i.e., equidistant line) of the equidistant cross-section in the length direction (the number of cross-sections is equal to the number of laser rangefinders) and the blade surface.

[0052] Preferably, the robot end moves vertically from top to bottom at a constant speed, and the laser rangefinder 4 collects point cloud data once every preset sampling time.

[0053] Figure 2 An example of point cloud data collection for a blade section is shown, in which the black dots form several parallel curves, and a curve represents the intersection line of an equidistant section and the blade surface.

[0054] The point cloud data of each blade segment is combined to obtain the point cloud data of the entire blade, which serves as the data basis for reconstructing the geometric model of the wind turbine blade. On this basis, an accurate three-dimensional model of the blade can be obtained through surface fitting, and the geometric model reconstruction can be realized, which in turn provides a basis for realizing the subsequent automated grinding and polishing of the blade by robots, significantly improving the quality of automated grinding.

[0055] The preset spacing, the first angle, the preset length and the number of laser rangefinders can be set according to actual needs.

[0056] In this embodiment, the end of the robot is fixedly connected to a plurality of laser rangefinders arranged in a row, and the length of the wind turbine blade is divided into a plurality of sections according to a preset length (fixed value). The preset length is determined by the spacing between the first and last laser rangefinders, and each section of the blade is measured in turn; when measuring each section of the blade, the laser rangefinder remains stationary relative to the end of the robot, and the end of the robot moves in a vertical direction (preferably unidirectionally, such as from top to bottom) so that the laser rangefinder collects point cloud data in a target area on the surface of the blade, that is, point cloud data is collected at points on the intersection line of equidistant sections (the number of sections is equal to the number of laser rangefinders) in the length direction and the surface of the blade; the robot slide is a high-precision translation track, and each time after a section of the blade is scanned and a set of point cloud data is collected, the robot is moved on the robot slide to move a preset moving distance (when the robot slide is parallel to the length direction of the blade, the moving distance is equal to the preset length), and a set of point cloud data of the next section of the blade is collected again, until the entire blade is collected. The point cloud data of each blade segment is combined to obtain the point cloud data of the entire blade, which serves as the data basis for reconstructing the geometric model of the wind turbine blade. The point cloud data of the blade is accurate and complete. On this basis, an accurate three-dimensional model of the blade can be obtained through surface fitting to achieve geometric model reconstruction. Compared with a three-dimensional scanner, this greatly reduces costs and is easy to operate.

[0057] When implementing it, refer to Figure 1 , the data acquisition device also includes: a main controller 5.

[0058] The main controller 5 is communicatively connected with the six-degree-of-freedom robot 1 and the laser rangefinder 4 respectively.

[0059] The main controller 5 is used to send a first control instruction to the six-degree-of-freedom robot 1 to control the first angle.

[0060] The main controller 5 is also used to send a second control instruction to the six-degree-of-freedom robot 1 to drive the end connecting plate 3 to move in the vertical direction.

[0061] The main controller 5 is further used to send a third control instruction to the laser rangefinder 4 to control the laser rangefinder 4 to collect point cloud data of the surface of the blade A to be measured through laser, and receive the point cloud data sent by the laser rangefinder 4.

[0062] In this embodiment, the movement of the six-degree-of-freedom robot is controlled by an external main control device (main controller), the laser rangefinder is also controlled by the main controller, and the point cloud data collected by the laser rangefinder is also sent to the main controller.

[0063] In specific implementation, the main controller 5 is also used to control the laser rangefinder 4 to move unidirectionally in the vertical direction through the second control instruction and the third control instruction while collecting point cloud data of the target area on the surface of the blade A to be measured.

[0064] Among them, the measurement range of the laser rangefinder covers the current target area, that is, the surface of a section of the blade.

[0065] In this embodiment, the laser rangefinder collects point cloud data of a blade surface section on the blade to be measured while moving vertically up and down.

[0066] During specific implementation, the first angle is set to zero.

[0067] In this embodiment, the first angle is zero, so the preset straight line remains horizontal, and the laser rangefinders are evenly distributed in a row horizontally to facilitate measurement operations.

[0068] When implementing it, refer to Figure 1 , the data acquisition device also includes: a robot bracket 6.

[0069] The six-degree-of-freedom robot 1 is fixed on the robot support 6 .

[0070] The robot bracket 6 is slidably connected to the robot slide rail 2 via a sliding portion at the bottom.

[0071] The base of the six-degree-of-freedom robot can be fixed on the upper end of the robot bracket.

[0072] The six-degree-of-freedom robot can be moved by pushing or pulling the robot support externally (such as a traction device), or by driving the robot support internally (such as a driving device installed on the robot support).

[0073] In this embodiment, a specific implementation of the sliding connection between a six-degree-of-freedom robot and a robot slide rail is provided.

[0074] When implementing it, refer to Figure 1 The data acquisition device also includes: a driving device 7 (dashed line box in the figure).

[0075] The driving device 7 is arranged inside the robot support 6 .

[0076] The main controller 5 is also connected to the driving device 7 for communication.

[0077] The main controller 5 is further used to send a fourth control instruction to the driving device 7 to control the driving device 7 to drive.

[0078] The driving device 7 is used to drive the robot bracket 6 to slide along the robot slide rail 2 .

[0079] In this embodiment, a specific implementation method is provided in which a six-degree-of-freedom robot is slidably connected to a robot slide rail and adopts an internal drive.

[0080] During specific implementation, the main controller 5 is also used to control the laser rangefinder 4 to stop collecting point cloud data when controlling the robot bracket 6 to slide along the robot slide rail 2 .

[0081] In this embodiment, after measuring one section of the blade, the six-degree-of-freedom robot needs to move to the next section of the blade, and will only start measuring the next section of the blade after it moves into place. The laser rangefinder does not need to work in the measurement gap between the two sections of the blade, so as to save energy and extend the service life of the laser rangefinder.

[0082] When implementing it, refer to Figure 1 and Figure 3 The data acquisition device also includes: a blade bracket 8 and a plurality of fulcrum fixing rods 9.

[0083] The fulcrum fixing rod 9 is fixed on the upper surface of the blade bracket 8 .

[0084] The fulcrum fixing rod 9 is used to support and fix the blade A to be tested so that the second angle between the length direction of the blade A to be tested and the central axis of the robot slide rail 2 is less than the preset first angle threshold and the third angle between the width direction of the blade A to be tested and the horizontal plane is greater than the preset second angle threshold.

[0085] The blade support 8 may include a lifting part to adjust the height.

[0086] If the second angle is too large, it means that the blade to be measured is placed too skewed, which will reduce the precision and accuracy of the geometric model reconstructed by the blade. The first angle threshold is required to limit the second angle. In order to facilitate the measurement operation, the second angle can be set to zero, that is, the length direction is parallel to the guide of the robot slide rail.

[0087] If the third angle is too small, it means that the inclination of the blade to be measured is not enough and the blade surface cannot be well displayed. Therefore, the second angle threshold is required to limit the third angle.

[0088] The first angle threshold, the second angle threshold, the second angle and the third angle may be set according to actual needs.

[0089] In this embodiment, a specific implementation method of displaying a blade to be measured to a laser rangefinder is provided, which provides a good measurement angle for the laser rangefinder.

[0090] During specific implementation, the number of the fulcrum fixing rods 9 is greater than or equal to three.

[0091] The number of the fulcrum fixing rods and the length of each fulcrum fixing rod may be set according to actual needs.

[0092] In this embodiment, the fulcrum fixing rods cannot all be distributed on the same straight line, which provides a stable support for the blade to be tested.

[0093] During specific implementation, the number of laser rangefinders 4 is eight.

[0094] In this embodiment, a specific implementation method for setting the number of laser rangefinders is provided.

[0095] Although the specific implementations of the utility model are described above, those skilled in the art should understand that this is only an example, and the protection scope of the utility model is defined by the attached claims. Those skilled in the art can make various changes or modifications to these implementations without departing from the principle and essence of the utility model, but these changes and modifications fall within the protection scope of the utility model.

Claims

1. A data acquisition device for wind turbine blade geometric model reconstruction, It is characterized in that The data acquisition device includes: a six-degree-of-freedom robot, a robot slide rail, an end connection plate and a plurality of laser rangefinders; The terminal connecting plate is fixedly arranged at the terminal of the six-degree-of-freedom robot, the laser rangefinders are distributed in parallel along a preset straight line on the outer surface of the terminal connecting plate, and the distance between two adjacent laser rangefinders is a preset distance; The six-degree-of-freedom robot is slidably connected to the robot slide rail; The six-degree-of-freedom robot is used to control a first angle between the preset straight line and the horizontal plane; The six-degree-of-freedom robot is also used to drive the end connecting plate to move in the vertical direction so that the laser rangefinder moves in the vertical direction; The laser rangefinder is used to collect point cloud data of the surface of the blade to be measured by laser.

2. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 1, It is characterized in that The data acquisition device also includes: a main controller; The main controller is communicatively connected with the six-degree-of-freedom robot and the laser rangefinder respectively; The main controller is used to send a first control instruction to the six-degree-of-freedom robot to control a first angle; The main controller is also used to send a second control instruction to the six-degree-of-freedom robot to drive the end connecting plate to move in a vertical direction; The main controller is also used to send a third control instruction to the laser rangefinder to control the laser rangefinder to collect point cloud data of the surface of the blade to be measured through laser, and receive the point cloud data sent by the laser rangefinder.

3. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 2, It is characterized in that The main controller is also used to control the laser rangefinder to move unidirectionally in the vertical direction through the second control instruction and the third control instruction, while collecting point cloud data of the target area on the surface of the blade to be measured.

4. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 2, It is characterized in that The first angle is set to zero.

5. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 2, It is characterized in that The data acquisition device also includes: a robot support; The six-degree-of-freedom robot is fixed on the robot bracket; The robot bracket is slidably connected to the robot slide rail via a sliding portion at the bottom.

6. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 5, It is characterized in that The data acquisition device further comprises: a driving device; The driving device is arranged inside the robot bracket; The main controller is also in communication connection with the driving device; The main controller is also used to send a fourth control instruction to the driving device to control the driving device to drive; The driving device is used to drive the robot bracket to slide along the robot slide rail.

7. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 6, It is characterized in that The main controller is also used to control the laser rangefinder to stop collecting the point cloud data when controlling the robot bracket to slide along the robot slide rail.

8. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 1, It is characterized in that The data acquisition device also includes: a blade bracket and a plurality of fulcrum fixing rods; The fulcrum fixing rod is fixed on the upper surface of the blade bracket; The fulcrum fixing rod is used to support and fix the blade to be measured so that a second angle between the length direction of the blade to be measured and the central axis of the robot slide rail is less than a preset first angle threshold and a third angle between the width direction of the blade to be measured and the horizontal plane is greater than a preset second angle threshold.

9. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 8, It is characterized in that The number of the fulcrum fixing rods is greater than or equal to 3.

10. The data acquisition device for wind turbine blade geometric model reconstruction according to claim 1, It is characterized in that The number of the laser rangefinders is 8.

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