Integrated multifunctional blade workstation

Abstract

The utility model provides an integrated multifunctional blade workstation, which relates to the technical field of wind power generation blade processing equipment and comprises a moving platform, a mechanical rotating arm mechanism is arranged on the moving platform, and a mechanical rotating arm assembly comprises a six-axis mechanical arm and a moving assembly arranged at the bottom of the six-axis mechanical arm. The moving assembly is arranged at the top of the moving platform, the six-axis mechanical arm is connected with the moving assembly so that the six-axis mechanical arm can slide on the moving assembly, a clamping fixture is arranged at the end of the six-axis mechanical arm, and an operation tool is clamped at the end of the clamping fixture.

Description

Technical Field

[0001] The utility model relates to the technical field of wind power blade processing equipment, and specifically, to an integrated multi-functional blade workstation. Background Art

[0002] Wind power blades are mainly manufactured using composite materials composed of fiberglass and epoxy resin. These blades are manufactured within molds. Through variations in fiberglass layering, the root end contains over 100 layers, while certain areas near the tip may have only two layers. The intertwined fiberglass selects various patterns to effectively withstand loads from various directions. The blade is divided into two halves: the pressure side and the suction side. Each half has its own mold. The manufacturing process involves placing fiberglass layers into the mold, wrapping them with a sealing foil, and using a vacuum pump to draw epoxy resin into the structure, followed by hardening through exposure to heat sources. After the fiberglass structures in the two molds are hardened, the two halves are joined together.

[0003] However, certain problems are encountered during the production process:

[0004] 1. The joint between the two blade halves forms a protruding edge around the blade, which requires subsequent cutting.

[0005] 2. After the cutting process, repairs are required, including shaping with filling materials and grinding the leading edge and trailing edge.

[0006] 3. Manually place and harden fiberglass reinforcement materials at the joints of the leading edge and trailing edge.

[0007] 4. Install a rain shield.

[0008] 5. Air leakage and collisions that may occur during the vacuum stage and blade demolding can lead to impaired structural integrity, the appearance of white spots, and delamination, which require means for repair.

[0009] 6. The surface roughness after repair needs to be sanded before painting.

[0010] 7. Conduct ultrasonic inspections in specific areas to ensure structural stability.

[0011] 8. Bolt installation and torque tightening at the root end.

[0012] 9. Conduct laser inspections on the root surface, specific areas, and after repair to ensure quality.

[0013] 10. Painting.

[0014] All of the above-mentioned processes require skilled workers. During the operation process, workers need to face challenges such as glass dust exposure, health risks, and environmental pollution. Although offering a salary higher than the average level, it is difficult to find workers willing to engage in this job. Due to the high labor intensity and the unwillingness of young people to do this job, the quality is severely restricted. Summary of the Invention

[0015] The purpose of the present utility model is to provide an integrated multi-functional blade workstation, which can replace manual operation, meet the needs of diverse work types, achieve multi-functional operation, reduce manual labor, and improve work efficiency and quality.

[0016] The present utility model is achieved through the following technical solutions: It includes a mobile platform, on which a mechanical rotating arm mechanism is arranged. The mechanical rotating arm assembly includes a six-axis robotic arm and a moving component arranged at the bottom of the six-axis robotic arm. The moving component is arranged on the top of the mobile platform, and the six-axis robotic arm is connected to the moving component so that the six-axis robotic arm can slide on the moving component. An installation fixture is arranged at the end of the six-axis robotic arm, and a working tool is clamped at the end of the installation fixture.

[0017] To better implement the present utility model, further, the moving component includes a guide rail arranged on the top of the mobile platform. An installation seat is arranged at the bottom of the six-axis robotic arm. Sliders are arranged on both sides of the bottom of the installation seat and are matched with the guide rail. A ball screw parallel to the guide rail and a transmission motor for driving the ball screw are also arranged on the mobile platform. The bottom of the installation seat is sleeved outside the ball screw so that the installation seat can move linearly along the guide rail and the ball screw.

[0018] To better implement the present utility model, further, a groove strip is also arranged in the middle of the bottom of the installation seat. A threaded sleeve matched with the ball screw is arranged in the groove strip. The transmission motor is arranged at one end of the mobile platform, and a fixed seat is arranged at the other end of the mobile platform. The free end of the ball screw is fixedly installed in the fixed seat.

[0019] To better implement the present utility model, further, the installation fixture includes a main shaft. An installation port is arranged at the end of the main shaft, and a laser scanner is arranged on the side of the main shaft;

[0020] The working tool includes an installation part that can be installed in the installation port. A milling head or a cutting piece or a grinding instrument is arranged at the bottom of the installation part.

[0021] In order to better implement the present utility model, further, a plurality of lifting support legs are provided at the bottom of the mobile platform. The lifting support legs include a driving gear and a transmission gear meshing with the driving gear. A one-way release ratchet is provided at the bottom of the transmission gear. The one-way release ratchet includes an upper ratchet provided below the transmission gear, and a lower ratchet is unidirectionally engaged with the free end face of the upper ratchet;

[0022] It further includes a transmission lead screw. The one-way release ratchet is sleeved outside the end of the transmission lead screw, and a support pad is provided at the bottom of the transmission lead screw.

[0023] In order to better implement the present utility model, further, a fixed shaft is provided above the transmission gear. An adjusting spring is sleeved on the fixed shaft, and a locking nut is provided at the top of the fixed shaft.

[0024] In order to better implement the present utility model, further, the driving gear is drivingly connected to a driving motor. It further includes a mounting plate. The driving gear, the transmission gear and the one-way release ratchet are provided above the mounting plate, and the transmission lead screw and the driving motor are provided below the mounting plate.

[0025] In order to better implement the present utility model, further, a mounting nut sleeve is provided near the bottom of the transmission lead screw. The mounting nut sleeve is in a T shape, and the outside of the mounting nut sleeve is connected to the bottom of the mobile platform.

[0026] In order to better implement the present utility model, further, a plurality of omnidirectional steering wheels are provided at the bottom of the mobile platform so that the mobile platform can move.

[0027] The beneficial effects of the present utility model are:

[0028] By providing a mechanical rotating arm mechanism on the mobile platform, the mechanical rotating arm mechanism includes a six-axis robotic arm and a moving component. The moving component is equivalent to the seventh axis. With the cooperation of the six-axis robotic arm and the moving component, it can achieve multi-angle and multi-directional rotation of the workstation, which can bring more working space for the operation of the workstation. A clamping fixture is provided at the end of the six-axis robotic arm, and a working tool is connected through the clamping fixture. The clamping fixture has versatility, enabling it to connect different working tools, meeting multiple types of work in the post-curing process of the blade, thereby reducing the purpose of manual participation in the operation, reducing the dependence on manual labor, and achieving the purpose of improving operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To more clearly illustrate the technical solution of the present utility model, the attached drawings required for the present utility model will be briefly introduced below. It should be understood that the following attached drawings only show certain embodiments of the present utility model, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related attached drawings can also be obtained based on these attached drawings.

[0030] Figure 1 Structural schematic of the integrated multifunctional blade workstation provided by the present utility model Figure 1 ;

[0031] Figure 2 Structural schematic of the integrated multifunctional blade workstation provided by the present utility model Figure 2 ;

[0032] Figure 3 Structural schematic of the integrated multifunctional blade workstation provided by the present utility model Figure 3 ;

[0033] Figure 4 is Figure 2 Enlarged view of part A in

[0034] Figure 5 Structural schematic diagram of the clamping fixture and working tool provided by the present utility model;

[0035] Figure 6 Structural schematic diagram of the working tool - grinder provided by the present utility model;

[0036] Figure 7 Structural schematic diagram of the working tool - milling head provided by the present utility model;

[0037] Figure 8 Structural schematic diagram of the working tool - ultrasonic scanner provided by the present utility model;

[0038] Figure 9 Structural schematic diagram of the working tool - cutting disc provided by the present utility model;

[0039] Figure 10 Structural schematic of the lifting support leg provided by the present utility model Figure 1 ;

[0040] Figure 11 Structural schematic of the lifting support leg provided by the present utility model Figure 2 ;

[0041] Figure 12 Structural schematic of the lifting support leg provided by the present utility model Figure 3 ;

[0042] Icon:

[0043] 100 - Mobile platform, 101 - Fixed seat, 102 - Omnidirectional steering wheel, 200 - Mechanical rotating arm mechanism, 210 - Six-axis robotic arm, 211 - Mounting seat, 212 - Groove strip, 221 - Guide rail, 222 - Ball screw, 223 - Driving motor, 230 - Clamping fixture, 231 - Spindle, 232 - Mounting port, 233 - Laser scanner, 240 - Operating tool, 241 - Mounting piece, 242 - Milling and grinding head, 243 - Cutting disc, 244 - Polishing instrument, 245 - Ultrasonic scanner, 300 - Lifting support leg, 310 - Driving gear, 340 - Driven gear, 330 - One-way release ratchet, 311 - Upper ratchet, 312 - Lower ratchet, 313 - Transmission screw rod, 314 - Support pad, 315 - Fixed shaft, 316 - Adjusting spring, 317 - Locking nut, 318 - Driving motor, 319 - Mounting plate, 320 - Nut sleeve. Detailed implementation mode

[0044] The technical solutions in the present invention will be described below in conjunction with the accompanying drawings in the present invention.

[0045] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present invention, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0046] Please refer to Figures 1 to 12 , the present invention provides an integrated multi-functional blade workstation. In the prior art, skilled workers are required to perform post-curing treatment work on blades. During the treatment process, problems such as challenges of glass dust exposure, health risks, and environmental pollution are faced, which also greatly restricts the treatment efficiency and quality. To solve the above technical problems, the present invention sets up a multi-functional blade workstation to achieve the operation and treatment of blade post-curing on the premise of reducing manual participation in the operation, so as to achieve the purpose of improving operation efficiency and controlling quality.

[0047] Now, the structure of the integrated multi-functional blade workstation will be elaborated in detail:

[0048] It mainly includes a mobile platform 100. As shown in the figure, the mobile platform 100 selects an AGV mobile cart, and a number of omnidirectional steering wheels 102 are arranged at the bottom of the mobile platform 100, enabling the mobile platform 100 to achieve 360° omnidirectional movement and be able to reach all required processing positions more flexibly. A mechanical rotating arm mechanism 200 is arranged on the mobile platform 100. The mechanical rotating arm mechanism 200 includes a six-axis robotic arm 210 and a moving component arranged at the bottom of the six-axis robotic arm 210. The six-axis robotic arm 210 is a product directly purchased on the market and will not be elaborated in detail here. The six-axis robotic arm 210 can meet the processing requirements under various complex working conditions. In addition, a clamping fixture 230 is arranged at the end of the six-axis robotic arm 210, and a working tool 240 for work is arranged at the end of the clamping fixture 230. As shown in the figure, the clamping fixture 230 includes a main shaft 231, which is a high-speed electric spindle. The high-speed electric spindle can not only drive the processing tool to rotate at a high speed but also realize the quick switching of tools under different working conditions. Specifically, an installation port 232 is arranged at the end of the main shaft 231, and the working tool 240 is installed through the installation port 232. There are multiple such working tools 240, including a mounting member 241 connected to the installation port 232. A milling and grinding head 242 or a cutting disc 243 or a polishing instrument 244, etc., are arranged at the bottom of the mounting member 241 as the working tool 240. Both the installation port 232 and the mounting member 241 are standard parts so that they can match. Using the cutting disc 243 can perform operations such as cutting, milling and grinding can perform milling and grinding work, and the corresponding tools can perform corresponding types of work. The assembly is simple and the working performance is strong, which can be applied to the operation of the blade post-curing process. In addition, a high-precision 2D scanning laser is also equipped beside the main shaft 231. Through the laser, the processed parts can be scanned and calculated, and the obtained data can be fed back, so that the processing path, etc., can be analyzed.

[0049] When the workstation performs the work of cutting the flash on the blade, the operating tool 240 can be selected as the cutting disc 243, and in cooperation with the robotic arm, it can prevent the operator from being exposed to a high-dust working environment, ensuring the occupational health of the operator. At the same time, the operator no longer needs to hold the cutting machine to complete the cutting work, reducing the risk of mechanical injury; when the workstation is used for the work of manually placing and hardening the fiberglass-reinforced material at the joint of the leading edge and the trailing edge of the blade, it can reduce the exposure time of the operator to epoxy resin, ensuring the occupational health of the operator; when the work is to install the rain shield, the operator does not need to perform high-altitude operations. Only need to operate the equipment on the ground, and the robotic arm completes the corresponding work, reducing the risk of falling from a height; when the workstation performs the work of repairing the bad points on the blade surface, it reduces the time of the operator exposed to the high-dust working environment. At the same time, the processing accuracy is higher than that of manual work, the grinding accuracy can be quantified, and the processing efficiency is high; when the workstation performs the work of grinding the rough surface before spraying on the blade surface, it reduces the time of the operator exposed to the high-dust working environment, ensuring the occupational health of the operator. At the same time, the operator does not need to perform high-altitude operations, reducing the risk of falling from a height; when the workstation performs ultrasonic inspection in a specific area to ensure structural stability, the efficiency is higher than that of manual inspection; when the workstation performs the installation and torque tightening of the bolts at the root end, the high-altitude operation is replaced by the robotic arm, reducing the risk of falling from a height. At the same time, due to the characteristics of a large number and heavy weight of the root-end bolts, the repetitive handling work is replaced by the robotic arm, reducing the labor intensity of this process; when the workstation performs the painting work, it reduces the direct contact between the operator and the paint, ensuring the occupational health of the operator;

[0050] A mounting seat 211 is provided at the bottom of the six-axis robotic arm 210. The mounting seat 211 is slidably connected to the moving component. The moving component mainly includes a guide rail 221 provided on the top of the moving platform 100. Sliders cooperating with the guide rail 221 are provided on both sides of the bottom of the mounting seat 211, so that the mounting seat 211 can move along the guide rail 221. In order to be able to move the mounting seat 211 more automatically, a ball screw 222 parallel to the guide rail 221 and a drive motor 223 for driving the ball screw 222 are further provided on the moving platform 100. A groove bar 212 is provided in the middle of the bottom of the mounting seat 211, and a threaded sleeve cooperating with the ball screw 222 is provided in the groove bar 212. Under the action of the drive motor 223, the ball screw 222 is driven to rotate, and then the mounting seat 211 is driven to move linearly on the ball screw 222 and the guide rail 221. As shown in the figure, in order to install the ball screw 222 more firmly, a fixing seat 101 is further provided at the end of the moving platform 100, and the free end of the ball screw 222 is fixedly installed in the fixing seat 101. By setting the moving component, it can provide the function of a seventh free arm for the workstation, and in cooperation with the six-axis robotic arm 210, it can enhance the operation ability and operation efficiency of the workstation.

[0051] In addition to the above-mentioned structure, the utility model provides an integrated multifunctional blade workstation which also includes a lifting support leg 300. The lifting support leg 300 is arranged at the bottom of the mobile platform 100, and there are multiple lifting support legs 300. When there is no need to move the entire mobile platform 100, the lifting support legs 300 can be lowered to the ground for support, making it convenient to perform the above-mentioned post-curing process.

[0052] As shown in the figure, the lifting support leg 300 includes a driving gear 310 and a transmission gear 340 meshed with the driving gear 310. The bottom of the transmission gear 340 is connected to a one-way release ratchet 330. The one-way release ratchet 330 includes two parts, specifically an upper ratchet 311 and a lower ratchet 312. The upper ratchet 311 is directly fixedly connected to the transmission gear 340, and the lower ratchet 312 is connected to the upper ratchet 311 by a one-way bite. The end faces of the joints of the upper ratchet 311 and the lower ratchet 312 are set to a mutually bite-engaged structure, so that the upper ratchet 311 can be engaged with the lower ratchet 312 for transmission or separated from the lower ratchet 312 under the drive of the transmission. Specifically, when the upper ratchet 311 rotates counterclockwise, it engages with the lower ratchet 312 and rotates counterclockwise in the same direction. When the upper ratchet 311 rotates clockwise, the upper ratchet 311 rotates counterclockwise in the same direction.

[0053] As shown in the figure, a transmission screw 313 is also connected to the lower side of the one-way release ratchet 330, and a support pad 314 is arranged at the bottom of the transmission screw 313, and the support pad 314 can contact the ground. In addition, a mounting nut plate is also arranged on the transmission screw 313, and the bottom of the mobile platform 100 is fixedly connected by the mounting nut plate. In order to make the structure clearer, it is further explained that the transmission screw 313 is transmission-connected to the lower ratchet 312, and the lower ratchet 312 is sleeved on the end of the transmission screw 313. When the upper ratchet 311 rotates counterclockwise, the engaged lower ratchet 312 rotates counterclockwise in the same direction and transmits the rotation to the transmission screw 313, so that the transmission screw 313 gradually moves upward, and the bottom support pad 314 of the transmission screw 313 also gradually moves upward, thereby achieving the purpose of leaving the ground. Conversely, when the upper ratchet 311 rotates clockwise, the lower ratchet 312 also rotates clockwise, and the transmission screw 313 gradually moves downward, so that the bottom support pad 314 of the transmission screw 313 moves downward until it touches the ground.

[0054] In order to better control the up-and-down movement of the transmission lead screw 313, a fixed shaft 315 is further provided above the transmission gear 340. An adjusting spring 316 is sleeved on the fixed shaft 315, and a locking nut 317 is provided at the top of the fixed shaft 3157. When the support pad 314 touches the ground, an upward reaction force will be generated on the transmission lead screw 313 on the adjusting spring 316. When the transmission gear 340 continues to rotate, the adjusting spring 316 will be compressed. After the adjusting spring 316 is compressed to a certain extent, it will drive the upper ratchet wheel 311 upward, and then the upper ratchet wheel 311 and the lower ratchet wheel 312 will be separated.

[0055] In addition to the above structure, the present utility model is further provided with the following. As shown in the figure, a driving gear 310, a transmission gear 340 and a one-way release ratchet 330 are installed above the mounting plate 319. The transmission lead screw 313 is arranged below the mounting plate 319. In order to control the lifting, a driving motor 318 is further provided. The driving gear 310 is connected to the output end of the driving motor 318. During the installation process, in order to rotate more coordinately, a fixed adjustment seat is further provided. The fixed adjustment seat is arranged between the driving gear 310 and the mounting plate 319 to make the driving gear 310 parallel to the transmission gear 340.

[0056] The present utility model can also be combined with an operating system to control the operations of the workstation. Different operation processes and set operation programs are included in the operating system. During operation, the operator first needs to determine the operation tool 240 required for the work, and then select the corresponding operation mode. The operator can control the mobile platform 100, which can be remotely controlled, to move the workstation to the vicinity of the position to be processed, turn on the power supply, and then lower the support legs to touch the ground to make the overall structure firmly stand. The laser scanner 233 of the workstation is started to scan the processing area, and the scanned data is fed back to the operating system. The operating system will first judge according to the type of work selected by the operator before, and start the corresponding algorithm to calculate the scanned data to generate the corresponding processing path. After the processing path is generated, it will automatically return to the touch screen terminal. After the operator checks that the path is correct, just click the start button, and the device will automatically complete the corresponding work according to the established path.

[0057] A function box is further provided on the mobile platform 100. An electric control system, a control system for controlling the robotic arm, and other dust collection, air pressure and cooling systems are arranged inside the function box and integrally installed on the mobile platform 100. In addition, a display is also provided for the staff to operate.

[0058] The above are only specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.

Claims

1. An integrated multi-functional blade workstation, characterized in that it includes a mobile platform (100), a mechanical rotating arm mechanism (200) is arranged on the mobile platform (100), the mechanical rotating arm mechanism (200) includes a six-axis robotic arm (210) and a moving component arranged at the bottom of the six-axis robotic arm (210), the moving component is arranged on the top of the mobile platform (100), the six-axis robotic arm (210) is connected to the moving component so that the six-axis robotic arm (210) can slide on the moving component, a clamping fixture (230) is arranged at the end of the six-axis robotic arm (210), and a working tool (240) is clamped at the end of the clamping fixture (230).

2. The integrated multi-functional blade workstation according to claim 1, characterized in that the moving component includes a guide rail (221) arranged on the top of the mobile platform (100), a mounting seat (211) is arranged at the bottom of the six-axis robotic arm (210), sliders cooperating with the guide rail (221) are arranged on both sides of the bottom of the mounting seat (211), a ball screw (222) parallel to the guide rail (221) and a transmission motor (223) for driving the ball screw (222) are further arranged on the mobile platform (100), and the bottom of the mounting seat (211) is sleeved outside the ball screw (222) so that the mounting seat (211) can move linearly along the guide rail (221) and the ball screw (222).

3. The integrated multi-functional blade workstation according to claim 2, characterized in that a groove strip (212) is further arranged in the middle of the bottom of the mounting seat (211), a threaded sleeve cooperating with the ball screw (222) is arranged in the groove strip (212), the transmission motor (223) is arranged at one end of the mobile platform (100), a fixed seat (101) is arranged at the other end of the mobile platform (100), and the free end of the ball screw (222) is fixedly installed in the fixed seat (101).

4. The integrated multi-functional blade workstation according to claim 1, characterized in that the clamping fixture (230) includes a main shaft (231), an installation port (232) is arranged at the end of the main shaft (231), and a laser scanner (233) is arranged on the side of the main shaft (231); the working tool (240) includes a mounting part (241) that can be installed in the installation port (232), and a milling head (242) or a cutting blade (243) or a grinding instrument (244) is arranged at the bottom of the mounting part (241).

5. The integrated multi-functional blade workstation according to claim 1, characterized in that A plurality of lifting support legs (300) are further provided at the bottom of the mobile platform (100). The lifting support leg (300) includes a driving gear (310) and a transmission gear (340) meshing with the driving gear (310). A one-way release ratchet (330) is provided at the bottom of the transmission gear (340). The one-way release ratchet (330) includes an upper ratchet (311) disposed below the transmission gear (340), and a lower ratchet (312) is in one-way engagement with the free end face of the upper ratchet (311). It further includes a transmission lead screw (313). The one-way release ratchet (330) is sleeved outside the end of the transmission lead screw (313), and a support pad (314) is provided at the bottom of the transmission lead screw (313).

6. The integrated multi-functional blade workstation according to claim 5, wherein A fixed shaft (315) is further provided above the transmission gear (340). An adjusting spring (316) is sleeved on the fixed shaft (315), and a locking nut (317) is provided at the top of the fixed shaft (315).

7. The integrated multi-functional blade workstation according to claim 6, wherein The driving gear (310) is drivingly connected to a driving motor (318). It further includes a mounting plate (319). The driving gear (310), the transmission gear (340) and the one-way release ratchet (330) are disposed above the mounting plate (319), and the transmission lead screw (313) and the driving motor (318) are disposed below the mounting plate (319).

8. The integrated multi-functional blade workstation according to claim 7, wherein A mounting nut sleeve (320) is further provided near the bottom of the transmission lead screw (313). The mounting nut sleeve (320) is in a T shape, and the outside of the mounting nut sleeve (320) is connected to the bottom of the mobile platform (100).

9. The integrated multi-functional blade workstation according to any one of claims 1 to 8, wherein A plurality of omnidirectional caster wheels (102) are further provided at the bottom of the mobile platform (100) so that the mobile platform (100) can move.

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