Gluing robot system

Abstract

The utility model belongs to the technical field of intelligent manufacturing of wind power blades, and particularly relates to a gluing robot system which comprises a carrying trolley, a gluing device and a gluing quality detection module, the gluing device is connected with the carrying trolley, and the gluing quality detection module is installed above the gluing device. The carrying trolley comprises a driving mechanism, a guiding mechanism, a clamping mechanism and a rack, the driving mechanism, the guiding mechanism and the clamping mechanism are all installed on the rack, the driving mechanism and the clamping mechanism are located at the two ends of the rack respectively, and the guiding mechanism is located in the middle of the rack. According to the gluing robot system, manual gluing is replaced, the accuracy of the gluing width and thickness can be achieved, the using amount of an adhesive is reduced, the production cost is reduced, the gluing quality can be detected in real time, and uploading and later tracing can be conducted. The operation is convenient and simple, and reliability and durability are realized.

Description

Technical Field

[0001] The present application belongs to the technical field of intelligent manufacturing of wind turbine blades, and specifically relates to a gluing robot system. Background Art

[0002] Wind turbine blades are usually composed of three parts: blade shell, main beam cap, and web. The molding process requires bonding of the various components, so the quality of bonding is particularly important. In the blade mold closing process, the front and rear edges of the PS and SS side shells are bonded to each other, and the web and shell are bonded to each other. In the bonding process, it is necessary to avoid bonding defects and control the extrusion of excess bonding. Bonding defects directly affect the life and operational stability of the blades, while the extruded excess bonding will affect the weight of the blades and form residual glue inside the blades, affecting the safe operation of the blades. Therefore, in the bonding process, the accuracy of the adhesive coating position and the amount of adhesive used in different areas (the width and thickness of the adhesive) are key factors to ensure a good bonding effect.

[0003] At present, the bonding process is performed by manually applying the adhesive to the area that needs to be bonded with a glue mixer. Due to the randomness and uncontrollability of the workers' operation, there are problems such as inaccurate positioning of the glue-coated area and inaccurate glue coating in different areas. In order to ensure that the amount of glue is sufficient, the amount of glue coating can only be increased. This not only causes a waste of adhesive, but also increases the amount of residual glue after the blade is molded, affecting the weight and operational safety. Among them, manual glue coating at the web also has problems such as inconvenient glue coating. Therefore, the development of automatic equipment for blade mold bonding and gluing has important engineering application value.

[0004] The present invention develops a glue coating robot system for gluing at the web, achieves the accuracy of glue coating thickness and width, and solves the problem of inconvenience of manual web gluing. Summary of the invention

[0005] In order to solve the above problems existing in the prior art, a gluing robot system is specially proposed, which can achieve the accuracy of the thickness and width of the gluing and solve the problem of inconvenience of manual web gluing.

[0006] In order to achieve the above technical effects, the technical solution is as follows:

[0007] A glue coating robot system includes a carrying trolley, a glue coating device and a glue coating quality detection module, the glue coating device is connected to the carrying trolley, the glue coating quality detection module is installed above the glue coating device, the carrying trolley includes a driving mechanism, a guiding mechanism, a clamping mechanism and a frame, the driving mechanism, the guiding mechanism and the clamping mechanism are all installed on the frame, the driving mechanism and the clamping mechanism are respectively located at two ends of the frame, and the guiding mechanism is located in the middle of the frame.

[0008] Furthermore, the driving mechanism includes a stepper motor, a rubber wheel, a driving bracket and a guide wheel, the stepper motor is fixed on the driving bracket, the rubber wheel and the stepper motor are connected through a coupling, and the guide wheel is installed on the driving bracket.

[0009] Furthermore, the clamping mechanism includes a clamping wheel, a clamping wheel frame, a pressure sensor, a screw motor and a clamping bracket, the screw motor is fixed on the clamping bracket, the pressure sensor is connected to the screw motor through a flange, the other end of the pressure sensor is connected to the clamping wheel frame, and the clamping wheel is installed on the clamping wheel frame.

[0010] Furthermore, the guide mechanism includes a roller bracket and at least two rollers, the roller bracket is connected to the frame, and the roller bracket and the roller are matched through bearings.

[0011] Furthermore, the glue coating device is connected to the carrying trolley via a dedicated universal joint.

[0012] Furthermore, the glue coating device includes a glue inlet, a glue coating guide wheel, a width adjustment plate and a thickness adjustment plate. The glue inlet is connected to the base plate, the glue coating guide wheel is installed on the width adjustment frame and matches the edge of the web, the width adjustment plate is installed on the width adjustment frame, the width adjustment frame is connected to the slide, the slide is installed on the guide rail slider, one end of the spring is fixed on the slide, and the other end of the spring is fixed on the fixed block.

[0013] Furthermore, the thickness adjustment plate is fixed on an adapter plate, and the adapter plate is connected to the thickness adjustment motor.

[0014] Furthermore, the glue coating quality detection module mainly includes a camera and a camera frame, the camera is fixed on the camera frame, and the camera is fixed above the glue coating device through an adapter block.

[0015] The advantages of this application are:

[0016] The present application provides a glue coating robot system, which replaces manual glue coating in the web area, can achieve the accuracy of glue coating width and thickness, reduce the amount of adhesive, reduce production costs, and can detect the glue coating quality in real time, and can upload and trace it later. It has the advantages of convenient and simple operation, reliability and durability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the structural diagram of the glue coating trolley.

[0018] Figure 2 It is the structural diagram of the glue coating trolley.

[0019] Figure 3 It is a schematic diagram of the structure of the glue coating device.

[0020] Figure 4 It is a schematic diagram of the structure of the glue coating device.

[0021] Figure 5 Schematic diagram of the overall structure of the glue-spreading robot system.

[0022] In the attached figure: 1-stepping motor, 2-rubber wheel, 3-driving bracket, 4-guide wheel, 5-left locking screw, 6-left slider, 7-web vertical surface, 8-clamping wheel, 9-clamping wheel frame, 10-pressure sensor, 11-screw motor, 12-clamping bracket, 13-right slider, 14-right locking screw, 15-roller bracket, 16-roller, 17-frame, 18-glue inlet, 19-thickness adjustment plate, 20-glueing guide wheel, 21-width adjustment frame, 22-width adjustment plate, 23-web plane, 24-slide, 25-guide rail slider, 26-spring, 27-fixed block, 28-adapter plate, 29-thickness adjustment motor, 30-bottom plate, 31-camera frame, 32-camera, 33-adapter block. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0026] In the description of the present application, it should be noted that the terms "upper", "vertical", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0027] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] Example 1

[0029] like Figure 5 As shown, a gluing robot system includes a carrier, a gluing device and a gluing quality detection module, the gluing device is connected to the carrier, the gluing quality detection module is installed above the gluing device, the carrier includes a driving mechanism, a guiding mechanism, a clamping mechanism and a frame 17, the driving mechanism, the guiding mechanism and the clamping mechanism are all installed on the frame 17, the driving mechanism and the clamping mechanism are respectively located at the two ends of the frame 17, and the guiding mechanism is located in the middle of the frame 17. The present application provides a gluing robot system, which replaces manual gluing of the web area, can achieve the accuracy of the width and thickness of the gluing, reduce the amount of adhesive, reduce the production cost, and can detect the gluing quality in real time, and can upload and trace it later. It has the advantages of easy and convenient operation, reliability and durability.

[0030] Example 2

[0031] like Figure 5 As shown, a gluing robot system includes a carrying trolley, a gluing device and a gluing quality detection module, the gluing device is connected to the carrying trolley, the gluing quality detection module is installed above the gluing device, the carrying trolley includes a driving mechanism, a guiding mechanism, a clamping mechanism and a frame 17, the driving mechanism, the guiding mechanism and the clamping mechanism are all installed on the frame 17, the driving mechanism and the clamping mechanism are respectively located at two ends of the frame 17, and the guiding mechanism is located in the middle of the frame 17.

[0032] like Figure 1 As shown, the driving mechanism includes a stepper motor 1, a rubber wheel 2, a driving bracket 3 and a guide wheel 4. The driving bracket 3 is fixed to the left slider 6 by bolts, the stepper motor 1 is fixed to the driving bracket 3 by bolts, the rubber wheel 2 and the stepper motor 1 are connected by a coupling, and the guide wheel 4 is installed on the driving bracket 3. To prevent the glue coating robot platform from deviating during the forward process. Under the guidance of the left slider 6, the driving mechanism adjusts its position left and right, and then is fixed by the left locking screw 5.

[0033] like Figure 2As shown, the clamping mechanism includes a clamping wheel 8, a clamping wheel frame 9, a pressure sensor 10, a screw motor 11 and a clamping bracket 12, which can accurately control the clamping force; the clamping bracket 12 is fixed to the right slider 13 by bolts, the screw motor 11 is fixed to the clamping bracket 12 by bolts, the pressure sensor 10 is connected to the screw motor 11 by a flange, and the other end of the pressure sensor 10 is connected to the clamping wheel frame 9 by bolts. The clamping wheel 8 is installed on the clamping wheel frame 9, and the clamping wheel 8 directly contacts the web vertical surface 7 to play a clamping role. Under the guidance of the right slider 13, the clamping mechanism can adjust the position left and right as a whole, and then can be fixed by the right locking screw 14.

[0034] The guide mechanism includes a roller bracket 15 and at least two rollers 16. The roller bracket 15 is connected to the frame 17 by bolts, and the roller bracket 15 and the roller 16 are matched by bearings. The guide mechanism carries the entire transport trolley through the two rollers 16, and under the action of the driving mechanism, carries the entire platform forward.

[0035] The glue coating device is connected to the carrying trolley through a special universal joint.

[0036] like Figure 3 and Figure 4 As shown, the glue coating device includes a glue inlet 18, a glue coating guide wheel 20, a width adjustment plate 22 and a thickness adjustment plate 19. The glue inlet 18 is connected to the threaded hole on the bottom plate 30 through a threaded screw connection, and is connected to the glue feeding pipe of the glue mixer, so as to realize the conveying and supply of the adhesive. The glue coating guide wheel 20 is installed on the width adjustment frame 21, matches the edge of the web, and plays a guiding role. The width adjustment plate 22 is installed on the width adjustment frame 21, and the width adjustment frame 21 is connected to the slide 24 through screws. The slide 24 is installed on the guide rail slider 25. One end of the spring 26 is fixed on the slide 24, and the other end of the spring 26 is fixed on the fixed block 27. Under the action of the spring 26, the width adjustment plate 22 can move left and right, and work together with the glue coating guide wheel 20 to adapt to the change in the width of the web plane 23, so as to realize the adjustment of the glue coating width.

[0037] The thickness adjustment plate 19 is fixed on the adapter plate 28 , and the adapter plate 28 is connected to the thickness adjustment motor 29 . The thickness adjustment motor 29 can lift and lower the thickness adjustment plate 19 , thereby adjusting the coating thickness.

[0038] like Figure 5 As shown, the glue coating quality detection module mainly includes a camera 3231 and a camera frame 3132. The camera 32 is fixed to the camera frame 31 by screw connection, and the camera 32 is fixed above the glue coating device by a transfer block 33. The field of view covers the glue coating area, and the glue coating quality can be detected in real time.

[0039] The glue coating robot system consists of a transport trolley, a glue coating device, a glue coating quality detection module, and a control terminal. The driving mechanism of the transport trolley provides power for the entire system and runs along the web from the blade tip to the blade root. The clamping mechanism can accurately control the clamping force and cooperate with the driving mechanism to clamp the web to prevent the glue coating robot system from overturning. The clamping force can be automatically adjusted to adapt to the change in the thickness of the web facade 7. The guide mechanism carries the entire transport trolley, and under the action of the driving mechanism, the entire platform is carried forward. On the one hand, the glue coating device is connected to the transport trolley through a special universal joint. Driven by the transport trolley, the glue coating operation is carried out along the web coating surface. On the other hand, its glue inlet 18 is connected to the glue feeding pipe of the glue mixer to receive the adhesive delivered by the glue mixer. The glue coating guide wheel 20 of the glue coating device is tightly attached to the edge of the web coating surface under the action of the spring 26. At the same time, during the process of glue coating, the glue coating device can adapt to the change in the width of the web coating surface and automatically adjust the width of the glue coating. The thickness of the glue coating is adjusted by lifting the thickness adjustment plate 19 under the action of the thickness adjustment motor 29. The quality detection module is fixed directly above the glue coating device, and the field of view covers the glue coating area, and the glue coating quality can be detected in real time.

Claims

1. A glue coating robot system, characterized in that: The invention comprises a transport trolley, a gluing device and a gluing quality detection module, wherein the gluing device is connected to the transport trolley, the gluing quality detection module is installed above the gluing device, the transport trolley comprises a driving mechanism, a guiding mechanism, a clamping mechanism and a frame (17), the driving mechanism, the guiding mechanism and the clamping mechanism are all installed on the frame (17), the driving mechanism and the clamping mechanism are respectively located at two ends of the frame (17), and the guiding mechanism is located in the middle of the frame (17).

2. A glue coating robot system according to claim 1, characterized in that: The driving mechanism comprises a stepping motor (1), a rubber wheel (2), a driving bracket (3) and a guide wheel (4); the stepping motor (1) is fixed on the driving bracket (3); the rubber wheel (2) and the stepping motor (1) are connected via a coupling; and the guide wheel (4) is mounted on the driving bracket (3).

3. A glue coating robot system according to claim 1, characterized in that: The clamping mechanism comprises a clamping wheel (8), a clamping wheel frame (9), a pressure sensor (10), a screw motor (11) and a clamping bracket (12); the screw motor (11) is fixed on the clamping bracket (12); the pressure sensor (10) is connected to the screw motor (11) via a flange; the other end of the pressure sensor (10) is connected to the clamping wheel frame (9); and the clamping wheel (8) is mounted on the clamping wheel frame (9).

4. A glue coating robot system according to claim 1, characterized in that: The guide mechanism comprises a roller support (15) and at least two rollers (16); the roller support (15) is connected to the frame (17), and the roller support (15) and the rollers (16) are matched via bearings.

5. The gluing robot system according to claim 1, characterized in that: The glue coating device is connected to the carrying trolley through a special universal joint.

6. The gluing robot system according to claim 1, characterized in that: The glue coating device comprises a glue inlet (18), a glue coating guide wheel (20), a width adjustment plate (22) and a thickness adjustment plate (19), wherein the glue inlet (18) is connected to the bottom plate (30), the glue coating guide wheel (20) is mounted on a width adjustment frame (21) to match the edge of the web, the width adjustment plate (22) is mounted on the width adjustment frame (21), the width adjustment frame (21) is connected to a slide table (24), the slide table (24) is mounted on a guide rail slider (25), one end of a spring (26) is fixed to the slide table (24), and the other end of the spring (26) is fixed to a fixed block (27).

7. A glue coating robot system according to claim 6, characterized in that: The thickness adjustment plate (19) is fixed on the adapter plate (28), and the adapter plate (28) is connected to the thickness adjustment motor (29).

8. The gluing robot system according to claim 1, characterized in that: The gluing quality detection module mainly comprises a camera (32) and a camera frame (31); the camera (32) is fixed on the camera frame (31); and the camera (32) is fixed above the gluing device via a transfer block (33).

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