Automatic mounting mechanism for wind power blade trailing edge sawteeth

Abstract

The utility model provides an automatic mounting mechanism for wind power blade trailing edge sawteeth. The automatic mounting mechanism comprises a self-crawling device, a trailing edge sawtooth storage device, a gluing device, a trailing edge sawtooth turnover device and an excessive glue removing device. A trailing edge sawtooth stacking module of the trailing edge sawtooth storage device can vertically store multiple sets of trailing edge sawteeth and drive the trailing edge sawteeth to move up and down, and a trailing edge sawtooth carrying module can horizontally push the trailing edge sawteeth at the bottommost end outwards; the gluing device comprises a moving table set which is used for driving a glue outlet head and a glue scraper to conduct the gluing process on the trailing edge sawteeth and driving an extension suction cup arm to enable the trailing edge sawteeth turned and reversed through a trailing edge sawtooth turning device to be attached to the surface of the wind power blade. The tail edge sawtooth turnover device sucks the tail edge sawteeth and drives the sucking disc to turn over and turn over after the gluing process is completed; the overflow glue removing device comprises a conical rubber coating roller which can press trailing edge sawteeth on the surface of the wind power blade after being driven, and a towel roller can remove overflow glue in the moving process of the automatic mounting mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of wind turbine blade maintenance, and in particular to an automatic installation mechanism for serrations on the trailing edge of a wind turbine blade. Background Art

[0002] Wind turbine blades are the core components of wind turbines. Installing trailing-edge serrations on the trailing edge of wind turbine blades is one of the most widely used solutions to reduce operating noise and extend blade life. Essentially, this approach reduces aerodynamic noise generated by the interaction between turbulence on the blade surface and the trailing edge airfoil. Therefore, adding trailing-edge serrations effectively reduces blade vibration, prevents fatigue damage, and reduces maintenance costs.

[0003] The existing installation method for the trailing edge serrations of wind turbine blades is to use a hanging basket raised to a predetermined height and manually install them by dispensing glue. For example, patent publication number CN108953053A proposes a wind turbine blade with a comb-like serration structure and its installation method; however, this installation method has the following drawbacks:

[0004] Since wind turbine blades are tall and complex in shape, manual errors may cause cracking, degumming, warping and other defects on the trailing edge serrations. Therefore, the pasting operation is difficult, has poor operability, high labor costs, low efficiency, and certain safety hazards, which indirectly affects the promotion of noisy wind turbines. Utility Model Content

[0005] In view of this, the problem to be solved by the present invention is to provide an automatic installation mechanism for the trailing edge serrations of a wind turbine blade.

[0006] In order to solve the above technical problems, the technical solution adopted in this utility is:

[0007] An automatic installation mechanism for the trailing edge serrations of a wind turbine blade, comprising: a self-climbing device, a trailing edge serration storage device, a gluing device, a trailing edge serration flipping device, and a glue overflow removal device;

[0008] The self-crawling device includes crawler assemblies constructed on the left and right sides of the main frame and an adjustment component for adjusting the distance between the two sets of crawler assemblies;

[0009] The trailing edge sawtooth storage device includes a trailing edge sawtooth stacking module and a trailing edge sawtooth conveying module. The trailing edge sawtooth stacking module can vertically store multiple groups of trailing edge sawtooths and drive them to move up and down. The trailing edge sawtooth conveying module can push the trailing edge sawtooth at the bottom horizontally outward. The glue coating device includes a clamping servo, a moving platform group, and a glue dispensing head, a glue scraper, and an extended suction cup arm installed on the moving platform group. The clamping servo is used to clamp the trailing edge sawtooth pushed out by the trailing edge sawtooth conveying module, and the moving platform group is used to drive the glue dispensing head and the glue scraper to align with the trailing edge sawtooth. The trailing edge serrations are subjected to a gluing process, and the extended suction cup arm is driven to fit the trailing edge serrations after being flipped and turned by the trailing edge serration flipping device to the surface of the wind turbine blade; the trailing edge serration flipping device includes a suction cup and a flipping assembly, the suction cup is used to absorb the trailing edge serrations after the gluing process is completed, and the flipping assembly is used to drive the suction cup to flip and turn; the overflow glue removal device includes a towel roller and a conical rubber-coated roller; the conical rubber-coated roller can press the trailing edge serrations against the surface of the wind turbine blade after being driven, and the towel roller can remove overflow glue during the movement of the automatic installation mechanism.

[0010] The adjustment component includes a constant force gas strut I, a bar connecting rod and an electric push rod; the track assembly is rotatably connected to the side frame on the main frame through the bar connecting rod, and is rotatably connected to the output end of the electric push rod through the constant force gas strut I, and the mounting base of the electric push rod is rotatably connected to the side frame.

[0011] The trailing edge sawtooth stacking module includes a vertical drive chain and a pallet for storing the trailing edge sawtooth. Several of the pallets are installed on the vertical drive chain. The vertical drive chain is used to drive the pallets to move up and down so that the trailing edge sawtooth on the lowest pallet falls onto the horizontal synchronous belt of the trailing edge sawtooth transport module.

[0012] The trailing edge sawtooth handling module includes a transverse synchronous belt that can move transversely relative to the vertical drive chain. A plurality of blocks are installed on the transverse synchronous belt. The area between adjacent blocks is used to receive the trailing edge sawtooth falling from the pallet.

[0013] The movable platform group includes a carrier, a support frame, a transverse drive member, a vertical drive member, and a steering drive member; the glue applicator and the glue scraper are slidably arranged on the support frame through the carrier, and a main frame for placing the trailing edge serrations is provided under the support frame; the vertical drive member is used to drive the support frame to move back and forth in the vertical direction, thereby approaching or moving away from the main frame; the transverse drive member is used to drive the carrier to move back and forth along the transverse direction of the support frame, thereby making the moving path of the glue applicator cover the trailing edge serrations on the main frame; the steering drive member is used to drive the glue scraper to flip so that the glue scraper abuts the surface of the trailing edge serrations, and scrapes the glue on the surface of the trailing edge serrations flat as the carrier moves.

[0014] The flip assembly includes a bevel gear set and a movable plate set; the upper and lower plates in the movable plate set are slid on the main frame through vertical slide rails, and the left and right plates are slid on the upper and lower plates through horizontal slide rails;

[0015] The fixed bevel gear in the bevel gear set is fixed to the left and right plates through the vertical support rod, and the movable bevel gear connected with the suction cup is installed on the horizontal connecting rod through the L-shaped frame. The two ends of the horizontal connecting rod are respectively connected to the upper and lower plates and the vertical support rod for rotation.

[0016] The movable bevel gear and the suction cup bracket of the suction cup are both fixed on the transverse shaft, and the transverse shaft is rotatably installed on the L-shaped frame; the fixed bevel gear is fixed to the support platforms on the sides of the left and right plates through a vertical support rod; the vertical support rod is also provided with a pipe sleeve, and one end of the horizontal connecting rod and the L-shaped frame are both detachably connected to the pipe sleeve.

[0017] The flip assembly also includes a cam group and a connecting rod group; the cam group includes cam I and cam II, and the connecting rod group includes upper and lower connecting rods and left and right connecting rods; rollers are provided on the leading and trailing sides of the upper and lower connecting rods, and on the leading and trailing sides of the left and right connecting rods; horizontal grooves are provided at the bottom of the upper and lower plates, and vertical grooves are provided on the left and right plates; the trailing side rollers of the upper and lower connecting rods are slid in the horizontal grooves, and the leading side rollers of the upper and lower connecting rods elastically abut against cam I; the trailing side rollers of the left and right connecting rods are slid in the vertical grooves, and the leading side rollers of the left and right connecting rods elastically abut against cam II, and the leading ends of the left and right connecting rods are rotatably connected to the plate frame.

[0018] The conical rubber-coated roller is vertically installed on the conical rubber-coated roller bracket. The vertical support rod I on the rubber-coated roller bracket is rotatably connected to the main frame through the rotating arm I; the vertical support rod II on the rubber-coated roller bracket is rotatably connected to the main frame through the rotating arm II.

[0019] The overflow glue removing device also includes a cylinder, which is horizontally mounted on the main frame, and the output end of the cylinder is rotatably connected to the vertical support rod II through a constant force gas support rod.

[0020] The automatic installation mechanism also includes an electric control box, which is installed on the side of the main frame. The electric control box includes an electric control system, an alarm, an instrument display and a counterweight. The automatic installation mechanism also includes an industrial camera, which is used to capture and record images of the trailing edge serrations after pasting is completed.

[0021] The advantages and positive effects of this utility model are:

[0022] (1) The automatic installation mechanism can move on the curved surface of the trailing edge of the wind turbine blade in a riding manner.

[0023] (2) The automatic installation mechanism can realize the three-dimensional storage and retrieval of dozens of trailing edge saw teeth, and no stacking or squeezing occurs between the trailing edge saw teeth during storage and retrieval, and the comb-like structure on the side of the trailing edge saw teeth is not damaged.

[0024] (3) This automatic installation mechanism can automatically complete the process of gluing the trailing edge serrations and scraping the glue.

[0025] (4) The automatic installation mechanism can automatically move the trailing edge serrations to the installation position and complete the patching, pressing, and glue overflow removal processes.

[0026] (5) This automatic installation mechanism can take pictures and record the serrated image of the trailing edge after pasting is completed, so as to record and archive it and remove unqualified workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention.

[0028] In the attached figure:

[0029] Figure 1 This is a first-person structural diagram of a self-climbing device crawling on a wind turbine blade;

[0030] Figure 2 This is a second-angle structural diagram of the self-climbing device crawling on the wind turbine blade;

[0031] Figure 3 It is a side view of the self-climbing device;

[0032] Figure 4 It is the overall structural diagram of the trailing edge serration storage device;

[0033] Figure 5 is a structural diagram of a trailing edge serration stacking module in a trailing edge serration storage device;

[0034] Figure 6 It is a structural diagram of the trailing edge serration handling module in the trailing edge serration storage device;

[0035] Figure 7 It is a structural diagram of the glue coating device and the trailing edge serration storage device;

[0036] Figure 8 It is a structural diagram of the gluing device in the first perspective;

[0037] Figure 9 is a structural diagram of the gluing device at a second viewing angle;

[0038] Figure 10 This is the overall structural diagram of the trailing edge serration flip device from the first perspective;

[0039] Figure 11 This is the overall structural diagram of the trailing edge serration flip device from the second viewing angle;

[0040] Figure 12 This is the overall structural diagram of the trailing edge serration flip device from a third-person perspective;

[0041] Figure 13 yes Figure 12Enlarged view of the hidden L-shaped frame and horizontal connecting rod;

[0042] Figure 14 yes Figure 13 Enlarged view of the hidden L-shaped frame, horizontal connecting rod and pipe sleeve;

[0043] Figure 15 This is the overall structural diagram of the trailing edge serration flipping device in the first working state;

[0044] Figure 16 This is the overall structural diagram of the trailing edge serration flipping device in the second working state;

[0045] Figure 17 It is the movement rhythm diagram of the upper and lower boards and the left and right boards;

[0046] Figure 18 It is a structural diagram of the overflow glue removal device;

[0047] Figure 19 It is the overall structural diagram of the automatic installation mechanism;

[0048] Figure 20 It is the structural diagram of the electric control box;

[0049] Figure 21 This is the internal structure diagram of the electric control box;

[0050] In the figure: wheel anti-roll frame 11, track assembly 12, track driving wheel 1210, tensioner 1211, track connecting rod group 1212, shock absorber 1213, track 1214, constant force gas strut I127, quick release flange 128, bar connecting rod 129, electric push rod 13, mounting seat 131, chassis connecting rod group 14, hinge 141, constant force gas strut II142, rolling chassis connecting rod I143, chassis connecting rod II144, inverted V-shaped roller group 15, side frame 17, inclined chute 18, vertical plate frame 181;

[0051] Main frame 2, electric control box 21, industrial camera 22, electric control system 211, alarm 212, instrument display 213, counterweight 214;

[0052] Trailing edge serrated stacking module 31, trailing edge serrated transport module 32, vertical drive chain 311, support plate 312, limit bar 313, transmission element 314, polyethylene groove slide 315, tensioner 316, sprocket 317, transverse synchronous belt 321, transmission toothed belt 322, pulley shaft 3221, synchronous pulley 3222, motor 3223, and stopper 331;

[0053] Screw motor 41, support frame 411, synchronous belt winding 42, synchronous belt drive motor 43, glue dispensing head 44, glue applicator 441, glue scraper 45, flip servo 451, extended suction cup arm 46, drag chain 47, carrier 471, glue storage barrel 48, clamping servo 49, pressure roller 491;

[0054] Cam I 511, cam II 512, upper and lower connecting rods 521, left and right connecting rods 522, upper and lower plates 523, horizontal slots 5231, left and right plates 524, vertical slots 5241, horizontal connecting rods 525, drive motor 53, fixed bevel gear 541, movable bevel gear 542, suction cup 55, suction cup bracket 551, plate frame 56, transmission shaft 561, transmission gear 562, horizontal shaft 571, vertical support rod 572, support platform 573, pipe sleeve 574, L-shaped frame 575;

[0055] Cylinder 61, constant force gas support rod 621, conical rubber-coated roller 63, conical rubber-coated roller bracket 631, vertical support rod I6311, vertical support rod II6312, towel roller 64, rotating arm I651, rotating arm II652. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the practical embodiment to clearly and completely describe the technical solutions in the practical embodiment. Obviously, the described embodiment is only a part of the embodiment of this utility, not all of the embodiments. Based on the embodiment of this utility, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this utility.

[0057] The utility model provides an automatic installation mechanism for the trailing edge serrations of a wind turbine blade, comprising: a self-climbing device, a trailing edge serration storage device, a glue coating device, a trailing edge serration flipping device and a glue overflow removal device;

[0058] like Figures 1 to 3 As shown, the self-crawling device includes: crawler assemblies 12 constructed on the left and right sides of the main frame 2 and an adjustment component for adjusting the distance between the two sets of crawler assemblies 12. By adjusting the distance, the wind turbine blades are clamped between the two sets of crawler assemblies 12. The crawler 1214 of the crawler assembly 12 rotates, and the friction force generated by the surface of the wind turbine blades causes the crawling device to move forward;

[0059] The adjustment component includes a constant force gas strut I127, a strip connecting rod 129 and an electric push rod 13; the track assembly 12 is rotatably connected to the side frame 17 on the main frame 2 through the strip connecting rod 129, and two groups of strip connecting rods 129 are arranged on each side of the track assembly 12, and are rotatably connected to the output end of the electric push rod 13 through the constant force gas strut I127, and the mounting seat 131 of the electric push rod 13 is rotatably connected to the side frame 17; the constant force gas strut I127 is driven to swing by the extension and contraction of the electric push rod 13, thereby realizing the state change of the strip connecting rod 129. When the track 1214 moves inward and contacts the surface of the wind turbine blade, the constant force gas strut I127 is compressed, which can realize that the pressure of the track on the surface of the wind turbine blade is approximately constant, thereby realizing the clamping of the wind turbine blade.

[0060] The crawler track assembly also includes a crawler track drive wheel 1210, a tensioner 1211, a crawler track linkage 1212, a shock absorber 1213, and a crawler track 1214. The motor drives the crawler track drive wheel 1210 to provide power, and the tensioner 1211 and the shock absorber 1213 are installed in the crawler track linkage 1212. This is a prior art and will not be described in detail here.

[0061] Specifically, the self-climbing device also includes a roller anti-roll frame 11. The roller of the roller anti-roll frame 11 is used to abut the wind turbine blades. The roller anti-roll frame 11 is rotatably installed on the main frame 2 and is rotatably connected to the output end of the electric push rod 13 through the constant force gas strut II142. The opening angle of the roller anti-roll frame 11 can be controlled by the extension and retraction of the electric push rod 13, thereby preventing the crawling device from tilting relative to the wind turbine blades during movement.

[0062] Specifically, one end of the constant force gas strut II142 is rotatably connected to the roller anti-roll frame 11, and the other end is rotatably connected to the output end of the electric push rod 13 through the chassis link group 14. The chassis link group 14 includes two groups of chassis links, one of which is a chassis link I143 slidably arranged on the inclined slide 18. One end of the chassis link I143 is rotatably connected to the constant force gas strut II142, and the other end of the chassis link I143 is rotatably connected to the chassis link II144. The chassis link II144 is connected to the electric push rod 13 through the hinge 141. At the output end, the inclined chute 18 is provided on the vertical plate frame 181, and the inclined direction of the inclined chute 18 is inclined below the plane where the main frame 2 is located; when the electric push rod 13 is extended, the state of the chassis connecting rod group 14 changes, and the chassis connecting rod I143 rotates relative to the chassis connecting rod II144 and moves downward along the inclined chute 18, thereby pushing the roller anti-roll frame 11 to abut against the wind turbine blade. When the roller anti-roll frame 11 contacts the surface of the wind turbine blade, the constant force gas strut 142 is compressed, which can realize that the clamping force of the roller anti-roll frame 11 on the surface of the wind turbine blade is approximately constant.

[0063] like Figure 4 and Figure 6The cam 312 is a plurality of support plates 312 mounted on the vertical drive chain 311, and the support plates 312 are connected to the support plates 312 by the ear parts. When the trolley bus 310 is in a state of being moved downwards, the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus 310 is in a state of being moved downwards, and the trolley bus

[0064] The trailing edge sawtooth transport module 31 includes a horizontal synchronous belt 321 that can move horizontally relative to the vertical drive chain 311. The horizontal synchronous belt 321 is arranged on the inner side of the vertical drive chain 311 and is also symmetrically arranged on both sides of the main frame 2. A number of blocks 331 are installed on the horizontal synchronous belt 321. The area between adjacent blocks 331 is used to receive the trailing edge sawtooth dropped from the support plate 312. As the horizontal synchronous belt 321 continues to move, the part carrying the trailing edge sawtooth moves to the area of ​​the wind turbine blade where the trailing edge sawtooth needs to be pasted. The trailing edge sawtooth that subsequently falls from the support plate 312 falls between the subsequent adjacent blocks 331, thereby realizing that the trailing edge sawtooth transport module 31 continuously transports the trailing edge sawtooth to the area of ​​the wind turbine blade where the trailing edge sawtooth needs to be pasted.

[0065] Specifically, four sets of vertical drive chains 311 are installed symmetrically on both sides of the main frame, and the vertical drive chains 311 on the same side are driven by sprockets installed on the same drive shaft; the transmission element 314 is installed below the vertical drive chain 311, and the output shaft, bevel gear set and synchronous pulley of the transmission element 314 simultaneously control the rotation of the four sets of vertical drive chains 311 on both sides.

[0066] A groove slide 315 is installed on the inner side of the vertical drive chain 311. The groove slide 315 is made of polyethylene material. Part of the vertical drive chain 311 is embedded in the groove slide 315 to prevent the vertical drive chain 311 and the support plate 312 installed on the vertical drive chain 311 from lateral deviation during movement.

[0067] Specifically, a tensioner 316 with an adjustable position is installed on the inner side of the vertical drive chain 311. The tensioner 316 is used to keep the vertical drive chain 311 tight to avoid tooth jumping during transmission.

[0068] Specifically, the trailing edge serration stacking module 32 further includes limit bars 313 constructed on both sides of the support plate 312. The spacing of the limit bars 313 corresponds to the width of the trailing edge serrations and is used to limit horizontal slippage of the trailing edge serrations when moving in the vertical direction.

[0069] Specifically, the transverse synchronous belts 321 are symmetrically installed on both sides of the main frame 2 through pulleys 332, and a synchronous pulley 3222 is coaxially connected to the pulley shaft 3221 of one set of the pulleys 332. The synchronous pulley 3222 is connected to the output end of the motor 3223 through a transmission toothed belt 322, and then the two sets of transverse synchronous belts 321 are driven to rotate synchronously through a single set of motors 3223.

[0070] Specifically, a rubber-wrapped limit strip may be provided on the outside of the trailing edge sawtooth transport module 31 according to working conditions, thereby limiting the distance the trailing edge sawtooth is pushed out and adjusting the transmission distance of the trailing edge sawtooth.

[0071] like Figures 7 to 9As shown, the gluing device includes: a clamping servo 49, a mobile platform group and a glue applicator 441, a glue scraper 45, and an extended suction cup arm 46 installed on the mobile platform group; the mobile platform group includes a carrier 471, a support frame 411, a horizontal drive member, a vertical drive member, and a steering drive member; the glue applicator 441 and the glue scraper 45 are slidably mounted on the support frame 411 through the carrier 471, and a main frame 2 for placing the trailing edge serrations is provided below the support frame 411; the vertical drive member is used to drive the support frame 411 to move back and forth in the vertical direction, thereby making the glue applicator 441 approach or move away from the main frame 2; the horizontal drive member is used to The steering drive member is used to drive the glue scraper 45 to flip so that the glue scraper 45 abuts the surface of the trailing edge serrations, and scrapes the glue on the surface of the trailing edge serrations flat as the carrier 471 moves, so that the glue is evenly coated on the surface of the trailing edge serrations, thereby avoiding a large amount of glue overflow when pasting wind turbine blades.

[0072] The vertical driving component is a screw motor 41. Two groups of the screw motors 41 are constructed at both ends of the support frame 411 and are connected to the screw nuts of the screw motors 41 through connecting ears. When the two groups of the screw motors 41 are started, they synchronously drive the support frame 411 to move up or down, thereby adjusting the vertical spacing between the support frame 411 and the main frame 2, thereby providing operating space for the glue applicator 441 to apply glue and for taking and placing the trailing edge serrations.

[0073] Specifically, the transverse driving component includes a synchronous belt winding 42 and a synchronous belt driving motor 43; the carrier 471 is slid on the support frame 411 through the drag chain 47, and the output end of the synchronous belt driving motor 43 is connected to the driving wheel, and the transmission wheels are evenly distributed on the support frame 411 through the vertical support shaft. The annular synchronous belt winding 42 is wound around and connected to the driving wheel and the transmission wheel, and the drag chain 47 is fixed on the upper surface of the synchronous belt winding 42, and then the movement of the drag chain 47 is driven by the rotation of the driving synchronous belt winding 42.

[0074] Specifically, a strip-shaped through-slot is provided on the support frame 411 along the sliding direction of the carrier 471 , and the glue applicator 441 passes through the strip-shaped through-slot. The glue outlet head 44 of the glue applicator 441 is located below the strip-shaped through-slot and faces the main frame 2 .

[0075] Specifically, the steering drive component is a tilting servo 451 , which is mounted on a carrier 471 . The output shaft of the tilting servo 451 is fixedly connected to the glue scraper 45 , thereby driving the glue scraper 45 to rotate.

[0076] Specifically, a clamping servo 49 is also installed on the side of the main frame 2, and the output end of the clamping servo 49 is connected to a pressure roller 491 for clamping the trailing edge serrations. A rotating arm is also connected between the pressure roller 491 and the output end of the clamping servo 49. The output end of the clamping servo 49 drives the pressure roller 491 to flip along the plane where the main frame 2 is located through the rotating arm, thereby clamping the trailing edge serrations waiting for glue coating, thereby avoiding displacement of the trailing edge serrations due to external force when the glue applicator 441 and the glue scraper 45 abut against the trailing edge serrations.

[0077] Specifically, the glue dispensing device further includes a glue storage barrel 48 , which is located at the end of the main frame 2 . The glue storage barrel 48 is connected to the glue applicator 441 through a hose to provide glue to the glue applicator 441 .

[0078] Specifically, the carrier 471 is further mounted with an extended suction cup arm 46 , which, as the carrier 471 moves, passes through a trailing edge serration flipping device to flip the reversed trailing edge serrations and affix them to the surface of the wind turbine blade.

[0079] like Figures 10 to 16As shown, the trailing edge sawtooth flipping device includes: a suction cup 55 and a flipping assembly. The suction cup 55 is used to suck the trailing edge sawtooth after the gluing process is completed, and the flipping assembly is used to drive the suction cup 55 to flip and change direction; specifically, the flipping assembly includes a bevel gear set and a moving plate set; the upper and lower plates 523 in the moving plate set are slid on the main frame through vertical slide rails, and the left and right plates 524 are slid on the upper and lower plates 523 through horizontal slide rails, and then when the upper and lower plates 523 move vertically in a periodic manner, the left and right plates 524 can be driven to move vertically in a synchronous periodic manner; the fixed bevel gear 541 in the bevel gear set is fixed on the left and right plates 524 The movable bevel gear 542 connected to the suction cup 55 is installed on the horizontal connecting rod 525; the movable bevel gear 542 and the suction cup bracket 551 of the suction cup 55 are fixed on the horizontal shaft 571, and the horizontal shaft 57 is installed on the L-shaped frame 575 through a bearing; the fixed bevel gear 541 is fixed to the support platform 573 on the side of the left and right plates 524 through a vertical support rod 572; the vertical support rod 572 is also covered with a pipe sleeve 574, and the pipe sleeve 574 can rotate axially relative to the vertical support rod 572, and one end of the horizontal connecting rod 525 and the L-shaped frame 575 are detachably connected to the pipe sleeve 574 When the upper and lower plates 523 are driven, the upper and lower plates 523 can perform vertical periodic motion, thereby driving the suction cup 55 to perform vertical periodic motion, so that the suction cup 55 with the trailing edge serrations can be moved upward; the left and right plates 524 can perform horizontal periodic motion, thereby pushing or pulling the horizontal connecting rod 525 through the left and right plates 524, so that the suction cup 55 and the horizontal connecting rod 525 can be moved upward. The connecting rod 525 and the L-shaped frame 575 rotate relative to the vertical support rod 572, that is, the fixed bevel gear 541, which drives the axial rotation of the movable bevel gear 542. Since the movable bevel gear 542 is meshed with the fixed bevel gear 541, the movable bevel gear 542 rotates axially under the action of the fixed bevel gear 541, thereby driving the suction cup 55 with the trailing edge serrations adsorbed thereon to rotate, that is, the movable bevel gear 542 rotates around the support rod 572 and is driven by the meshed fixed bevel gear 541 to rotate along its own axial direction, so that the trailing edge serrations complete the combined action of lifting and flipping.

[0080] Specifically, the flip assembly also includes a cam group and a connecting rod group; the cam group includes a cam I511 and a cam II512, and the connecting rod group includes an upper and lower connecting rod 521 and a left and right connecting rod 522; rollers are provided on the leading and trailing sides of the upper and lower connecting rods 521, and on the leading and trailing sides of the left and right connecting rods 522; a transverse groove 5231 is provided at the bottom of the upper and lower plates 523, and a vertical groove 5241 is provided on the left and right plates 524; the trailing rollers of the upper and lower connecting rods 521 are slidably arranged in the transverse groove 5231, and one end of the tension spring I is hooked on the plate frame 56, and the other end is hooked on the upper and lower connecting rods 521, so that the leading rollers of the upper and lower connecting rods 521 elastically abut against the cam I511;

[0081] The head ends of the left and right connecting rods 522 are rotatably connected to the plate frame 56, and the tail rollers of the left and right connecting rods 522 are slidably arranged in the vertical groove 5241. One end of the tension spring II is hooked on the plate frame 56, and the other end is hooked on the left and right connecting rods 522, so that the head side rollers of the left and right connecting rods 522 elastically abut against the cam II512; the design of the tension spring I and the tension spring II ensures that the rollers never leave the contour range of the cam I and the cam II. The upper and lower connecting rods 521 and the left and right connecting rods 522 are driven by the cam I511 and the cam II512 to make periodic swings respectively, thereby driving the upper and lower plates 523 and the left and right plates 524 to make vertical periodic motion and horizontal periodic motion.

[0082] Specifically, the cam I511 and the cam II512 are both fixed on the transmission shaft 561, and the transmission shaft 561 is mounted on the plate frame 56 through a bearing. The flip device also includes a drive motor 53, and the drive motor 53 is fixed on the plate frame 56. The output end of the drive motor 53 passes through the plate frame 56 and is connected to a drive gear. The transmission shaft 561 is also fixed with a transmission gear 562 that is meshed with the drive gear; if the upper and lower plates 523 move upward and the left and right plates 524 move to the left as the positive direction, the movement rhythm diagram of the upper and lower plates 523 and the left and right plates 524 is as shown in the figure Figure 17 As shown, the motion trajectory of the suction cup 55 is the superimposed trajectory of the motion of the upper and lower plates 523, the left and right plates 524 and the rotation of the movable bevel gear 542, and the rotation angle of the movable bevel gear 542 is 90 degrees.

[0083] After the suction cup 55 adsorbs the trailing edge serrations, the driving motor 53 drives the cam I511 and the cam II512 to rotate and drive the upper and lower plates 523 to swing periodically by the upper and lower connecting rods 521. The upper and lower plates 523 can perform vertical periodic motion after being driven by the upper and lower connecting rods 521, thereby driving the suction cup 55 to perform vertical periodic motion, so that the suction cup 55 adsorbed with the trailing edge serrations moves upward; the left and right plates 524 can perform horizontal periodic motion after being driven by the left and right connecting rods 522, and then push and pull the horizontal connecting rod 525 through the left and right plates 524, so that the suction cup 55, the horizontal connecting rod 525, and the L-shaped frame 575 are relative to the vertical support rod 572. The fixed bevel gear 541 rotates, which drives the axial rotation of the movable bevel gear 542. Since the movable bevel gear 542 is meshed with the fixed bevel gear 541, the movable bevel gear 542 rotates axially under the action of the fixed bevel gear 541, thereby driving the suction cup 55 with the trailing edge serration adsorbed thereon to rotate, that is, the movable bevel gear 542 rotates around the support rod 572 and is driven by the meshed fixed bevel gear 541 to rotate along its own axial direction, so that the trailing edge serration completes the combined action of lifting and flipping, and finally the flipped trailing edge serration is attached to the surface of the wind turbine blade through the extended suction cup arm 46.

[0084] like Figures 19 to 20As shown, the overflow glue removal device includes: a towel roller 64 and a conical rubber-coated roller 63; after being driven, the conical rubber-coated roller 63 can press the trailing edge serrations against the surface of the wind turbine blade, and the towel roller 64 can remove overflow glue during the movement of the automatic installation mechanism.

[0085] Specifically, an inverted V-shaped roller group 15 is provided on the main frame 2, and the inverted V-shaped roller group 15 is used to clamp the wind turbine blade in the thickness direction of the wind turbine blade, that is, the rollers on the left and right sides of the V-shaped roller group 15 provide support for the wind turbine blade on the left and right sides of the wind turbine blade, so that the glue overflow removal device is vertically installed on the wind turbine blade; the conical rubber-coated roller 63 is provided on the rear side of the inverted V-shaped roller group 15, which can move back and forth along the direction of the inverted V-shaped roller group 15 after being driven, and is used to abut the trailing edge serrations after glue coating, Before the glue is initially solidified, the trailing edge serrations are kept close to the wind turbine blades to prevent the trailing edge serrations from slipping off the wind turbine blades under the action of their own weight; the towel roller 64 is constructed on the front side of the inverted V-shaped roller group 15, and is used to abut the wind turbine blades with the trailing edge serrations pasted thereon. After the glue is initially solidified, the entire glue overflow removal device moves forward. Under the action of friction, the towel roller 64 rotates relative to the wind turbine blades, and the towel strips on the towel roller 64 contact and rub against the surface of the trailing edge serrations that have been pasted, thereby removing the overflowed glue.

[0086] The inverted V-shaped roller group 15 is installed on the main frame 2, and the conical rubber-coated roller 63 is vertically installed on the conical rubber-coated roller bracket 631. The vertical support rod I6311 on the rubber-coated roller bracket 631 is rotatably connected to the main frame 2 through the rotating arm I651; the vertical support rod II6312 on the rubber-coated roller bracket 631 is rotatably connected to the main frame 2 through the rotating arm II652. The overflow glue removal device also includes a cylinder 61, which is horizontally installed on the main frame 2. The output end of the cylinder 61 is rotatably connected to the vertical support rod II6312 through a constant force gas support rod 621;

[0087] When the cylinder 61 extends, the rubber-coated roller bracket 631 is pushed by the constant-force gas strut 621, and the rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652, and moves in a direction close to the V-shaped roller group 15, thereby causing the conical rubber-coated roller 63 to apply constant pressure to the trailing edge serrations until the glue is initially solidified; when the cylinder 61 retracts, the rubber-coated roller bracket 631 is pulled by the constant-force gas strut 621, and the rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652, and moves in a direction away from the V-shaped roller group 15, thereby causing the conical rubber-coated roller 63 to separate from the trailing edge serrations.

[0088] When the automatic installation mechanism moves forward to the position where the trailing edge serrations need to be pasted, the extended suction cup arm 46 absorbs the reversed trailing edge serrations and fits them to the surface of the wind turbine blade. Then the cylinder 61 extends and pushes the rubber-coated roller bracket 631 through the constant force gas support rod 621. The rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652 and moves in the direction close to the V-shaped roller group 15, thereby causing the conical rubber-coated roller 63 to apply constant pressure to the trailing edge serrations. When the glue is initially cured, the gas The cylinder 61 retracts and the rubber-coated roller bracket 631 is pulled by the constant force gas support rod 621. The rubber-coated roller bracket 631 is acted upon by the rotating arm I651 and the rotating arm II652 and moves in the direction away from the V-shaped roller group 15, thereby separating the conical rubber-coated roller 63 from the trailing edge serrations. When the automatic installation mechanism continues to move forward, the towel roller 64 rotates relative to the wind turbine blade under the action of friction. The towel strips on the towel roller 64 contact and rub against the surface of the trailing edge serrations that have been pasted, thereby removing the excess glue.

[0089] The automatic installation mechanism also includes an electrical control box 21, which is installed on the side of the main frame 2. The electrical control box 21 includes an electrical control system 211, an alarm 212, an instrument display 213 and a counterweight 214; the automatic installation mechanism also includes an industrial camera 22, which is used to capture and record images of the trailing edge serrations after pasting is completed.

[0090] An electrical control box 21 is mounted on the side of the main frame 2. Inside this box are installed an electronic control system 211, an alarm 212, an instrument display 213, and a counterweight 214. Inside the box 21, where it connects to the main frame 22, are multiple sets of holes 215. These holes are used to install screws that connect the box 21 to the main frame 2, enhancing the stability of the automatic assembly mechanism during operation. An industrial camera 22 is mounted at the end of the automatic assembly mechanism to capture and record the jagged edges of the trailing edge after attachment, allowing for documentation and rejection of unqualified workpieces.

Claims

1. An automatic installation mechanism for the trailing edge serrations of wind turbine blades, characterized in that: It includes a self-climbing device, a trailing edge sawtooth storage device, a glue coating device, a trailing edge sawtooth flipping device and a glue overflow removal device; The self-climbing device comprises crawler assemblies (12) constructed on the left and right sides of the main frame (2), an adjustment component for adjusting the distance between the two sets of crawler assemblies (12), and a roller anti-roll frame (11), wherein the rollers of the roller anti-roll frame (11) are used to abut against the wind turbine blades; The trailing edge sawtooth storage device comprises a trailing edge sawtooth stacking module (32) and a trailing edge sawtooth transporting module (31), wherein the trailing edge sawtooth stacking module (32) can vertically store multiple groups of trailing edge sawtooths and drive them to move up and down, and the trailing edge sawtooth transporting module (31) can horizontally push the trailing edge sawtooth at the bottom outward; The glue coating device (4) comprises a movable platform group, a glue coating device (441) mounted on the movable platform group, a glue scraper (45), and an extended suction cup arm (46); The movable platform group is used to drive the glue applicator (441) and the glue scraper (45) to apply glue to the trailing edge saw teeth, and to drive the extended suction cup arm (46) to attach the trailing edge saw teeth flipped by the trailing edge saw tooth flipping device to the surface of the wind turbine blade; The trailing edge sawtooth flipping device comprises a suction cup (55) and a flipping assembly, wherein the suction cup (55) is used to suck the trailing edge sawtooth after the gluing process is completed, and the flipping assembly is used to drive the suction cup (55) to flip and change direction; The overflow glue removing device comprises a towel roller (64), and the towel roller (64) can remove overflow glue during the movement of the automatic installation mechanism.

2. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 1, characterized in that: The adjusting component comprises a constant force gas strut I (127), a strip connecting rod (129) and an electric push rod (13); the crawler track assembly (12) is rotatably connected to a side frame (17) on a main frame (2) through the strip connecting rod (129), and is rotatably connected to an output end of the electric push rod (13) through the constant force gas strut I (127); and a mounting base (131) of the electric push rod (13) is rotatably connected to the side frame (17).

3. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 1, characterized in that: The trailing edge sawtooth stacking module (32) comprises a vertical driving chain (311) and a supporting plate (312) for storing the trailing edge sawtooth. A plurality of the supporting plates (312) are mounted on the vertical driving chain (311). The vertical driving chain (311) is used to drive the supporting plates (312) to move up and down so that the trailing edge sawtooth on the lowest supporting plate (312) falls onto the transverse synchronous belt (321) of the trailing edge sawtooth transporting module (31).

4. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 3, characterized in that: The trailing edge sawtooth transport module (31) comprises a transverse synchronous belt (321) capable of transversely moving relative to a vertical drive chain (311); a plurality of stoppers (331) are mounted on the transverse synchronous belt (321); and the area between adjacent stoppers (331) is used to receive the trailing edge sawtooth falling from the support plate (312).

5. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 1, characterized in that: The movable platform group comprises a carrier (471), a support frame (411), a transverse driving member, a vertical driving member, and a steering driving member; the glue applicator (441) and the glue scraper (45) are slidably arranged on the support frame (411) through the carrier (471), and a main frame (2) for placing the trailing edge saw teeth is arranged below the support frame (411); the vertical driving member is used to drive the support frame (411) to move back and forth in the vertical direction, thereby approaching or moving away from the main frame (2); the transverse driving member is used to drive the carrier (471) to move back and forth along the transverse direction of the support frame (411), thereby making the moving path of the glue applicator (441) cover the trailing edge saw teeth on the main frame (2); the steering driving member is used to drive the glue scraper (45) to flip so that the glue scraper (45) abuts against the surface of the trailing edge saw teeth, and scrapes the glue on the surface of the trailing edge saw teeth flat as the carrier (471) moves.

6. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 1, characterized in that: The flip assembly includes a bevel gear set and a moving plate set; The upper and lower plates (523) in the movable plate group are slidably mounted on the main frame via vertical slide rails, and the left and right plates (524) are slidably mounted on the upper and lower plates (523) via horizontal slide rails; The fixed bevel gear (541) in the bevel gear set is fixed on the left and right plates (524) through the vertical support rod (572), and the movable bevel gear (542) connected to the suction cup (55) is installed on the horizontal connecting rod (525) through the L-shaped frame (575). The two ends of the horizontal connecting rod (525) are respectively connected to the upper and lower plates (523) and the vertical support rod (572) for rotation.

7. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 6, characterized in that: The movable bevel gear (542) and the suction cup bracket (551) of the suction cup (55) are both fixed on a transverse shaft (571), and the transverse shaft (571) is rotatably mounted on an L-shaped frame (575); the fixed bevel gear (541) is fixed on support platforms (573) on the sides of the left and right plates (524) through vertical support rods (572); the vertical support rods (572) are also sleeved with a pipe sleeve (574), and one end of the horizontal connecting rod (525) and the L-shaped frame (575) are both detachably connected to the pipe sleeve (574).

8. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 7, characterized in that: The flip assembly further comprises a cam group and a connecting rod group; the cam group comprises a cam I (511) and a cam II (512), and the connecting rod group comprises an upper and lower connecting rod (521) and a left and right connecting rod (522); rollers are provided on the front and rear sides of the upper and lower connecting rods (521) and the front and rear sides of the left and right connecting rods (522); a horizontal groove (5231) is provided at the bottom of the upper and lower plates (523), and a vertical groove (5231) is provided on the left and right plates (524). 5241); the tail rollers of the upper and lower connecting rods (521) are slidably arranged in the transverse strip groove (5231), and the head rollers of the upper and lower connecting rods (521) are elastically abutted against the cam I (511); the tail rollers of the left and right connecting rods (522) are slidably arranged in the vertical strip groove (5241), and the head rollers of the left and right connecting rods (522) are elastically abutted against the cam II (512), and the head ends of the left and right connecting rods (522) are rotatably connected to the plate frame (56).

9. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 1, characterized in that: The main frame (2) is also provided with an inverted V-shaped roller assembly (15) for clamping the wind turbine blade in the thickness direction of the wind turbine blade; the towel roller (64) is constructed on the front side of the inverted V-shaped roller assembly (15).

10. The automatic installation mechanism for the trailing edge serrations of a wind turbine blade according to claim 2, characterized in that: The automatic installation mechanism further comprises an electric control box (21), which is installed on the side of the main frame (2), and the electric control box (21) comprises an electric control system (211), an alarm (212), an instrument display (213) and a counterweight (214); the automatic installation device further comprises an industrial camera (22), which is used to shoot and record an image of the trailing edge serrations after the pasting is completed.

Images