Fan blade grinding and polishing robot
By designing a wind turbine blade grinding and polishing robot and adopting a multi-degree-of-freedom automated grinding mechanism, the problems of low efficiency and difficulty in ensuring accuracy in manual grinding of wind turbine blades have been solved, achieving efficient and precise automated grinding, reducing labor costs and health hazards.
Patent Information
- Application Number
- CN202422894497.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-11-11
- Estimated Expiration
- 2034-11-26
AI Technical Summary
In the current technology, the manufacturing of wind turbine blades mainly relies on manual grinding, which has problems such as large workload, long cycle, low efficiency, great health hazards and difficulty in guaranteeing precision. In particular, as the blade size increases, the labor cost and complexity increase.
A wind turbine blade grinding and polishing robot was designed, including an X-axis transmission mechanism, a Y-axis transmission mechanism, a rotary mechanism, and a Z-axis lifting mechanism. Combined with a grinding mechanism, it can achieve automated grinding with multiple degrees of freedom.
It achieves efficient and precise automated grinding, reduces labor costs, improves grinding efficiency, ensures grinding accuracy, and reduces health hazards.
Smart Images
Figure CN223532139U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, specifically to a wind turbine blade grinding and polishing robot. Background Technology
[0002] With rapid industrial development, greenhouse gas emissions are increasing year by year. To address climate change, developing renewable energy has become a crucial step. Among these, wind power has enormous potential due to its renewable, green, and sustainable characteristics. In wind power engineering, wind turbines are one of the most widely used pieces of equipment, and the development trend of modern wind turbines is towards larger sizes, with the length of the turbine blades continuously increasing, thus raising the complexity of manufacturing and maintenance.
[0003] Currently, wind turbine blades are mainly manufactured using manual polishing. However, manual polishing is not only labor-intensive, time-consuming, and inefficient, but also generates a large amount of dust such as glass fiber during the polishing process, which poses a significant health hazard to workers. Furthermore, with the advancement of wind power generation technology, blade sizes have also increased, making manual polishing time-consuming, labor-intensive, and significantly increasing labor costs, while also failing to guarantee polishing accuracy.
[0004] Therefore, this utility model proposes a wind turbine blade grinding and polishing robot to solve the above-mentioned drawbacks. Utility Model Content
[0005] To overcome the shortcomings of the prior art, this utility model provides a wind turbine blade grinding and polishing robot, the specific technical solution of which is as follows:
[0006] A wind turbine blade grinding and polishing robot includes an X-axis transmission mechanism, a Y-axis transmission mechanism slidably disposed on the top of the X-axis transmission mechanism, a rotary mechanism rotatably disposed on the top of the Y-axis transmission mechanism, a Z-axis lifting mechanism fixedly mounted on the top of the rotary mechanism, and a grinding mechanism slidably disposed on one side of the Z-axis lifting mechanism.
[0007] Preferably, the X-axis transmission mechanism includes a base, a first servo motor, and a connecting frame; two first guide rails are arranged parallel to each other on both sides of the top of the base; the first servo motor is located between the two first guide rails, the output shaft of the first servo motor is connected to a first reducer, and the output shaft of the first reducer passes through the side wall of the connecting frame and is fitted with a transmission gear; the first servo motor and the first reducer are fixed to the bottom of the Y-axis transmission mechanism through the connecting frame; a rack parallel to the first guide rails is arranged on the top of the base corresponding to the position below the transmission gear, and the transmission gear meshes with the rack.
[0008] Preferably, the Y-axis transmission mechanism includes a first connecting seat, a second servo motor, a second connecting seat, a first ball screw pair, and second guide rails arranged parallel to both sides of the first ball screw pair; a first slider is provided at the bottom of the first connecting seat corresponding to the position of the first guide rail, and the first connecting seat is slidably connected to the first guide rail through the first slider, and the first connecting seat moves back and forth along the X-axis; a second slider is provided at the bottom of the second connecting seat corresponding to the position of the second guide rail, and the second connecting seat is slidably connected to the second guide rail through the second slider; the output shaft of the second servo motor is connected to a second reducer, and the output shaft of the second reducer is connected to one end of the lead screw of the first ball screw pair through a coupling; both ends of the lead screw of the first ball screw pair are fixed to the top of the first connecting seat through bearing seats; the top of the nut of the first ball screw pair is fixed to the bottom of the second connecting seat, and the second connecting seat moves left and right along the Y-axis.
[0009] Preferably, the rotary mechanism includes a housing, a right-angle geared motor, a flange, and a first stepped shaft; the housing is fixed to the top of the second connecting seat; the flange is fixedly connected to the top plate of the housing; the first stepped shaft is rotatably connected to the flange via a bearing; the right-angle geared motor is installed inside the housing cavity, the right-angle geared motor is fixed to the top of the second connecting seat via a motor bracket, the output shaft of the right-angle geared motor is fixedly connected to the bottom end of the first stepped shaft via a coupling, and the top end of the first stepped shaft is fixedly connected to the bottom of the Z-axis lifting mechanism.
[0010] Preferably, the Z-axis lifting mechanism includes a base plate, a third connecting seat, a third servo motor, a fourth connecting seat, a second ball screw pair, and third guide rails arranged parallel to both sides of the second ball screw pair; the third connecting seat is vertically fixed to one side of the top of the base plate; the base plate has a through hole, and the top end of the first stepped shaft is keyed to the through hole of the base plate; the third servo motor is fixed to the top of the third connecting seat, the output shaft of the third servo motor is connected to a third reducer, and the output shaft of the third reducer is connected to one end of the lead screw of the second ball screw pair; both ends of the lead screw of the second ball screw pair are fixed to the third connecting seat with bearing seats; the side of the nut of the second ball screw pair away from the third connecting seat is fixed to the fourth connecting seat; the fourth connecting seat is provided with a third slider corresponding to the position of the third guide rail, and the fourth connecting seat moves up and down along the Z-axis.
[0011] More preferably, the grinding mechanism includes an arm, a wrist, and a grinding disc; one end of the arm is fixed to the side of the fourth connecting seat away from the third guide rail, and the other end is rotatably connected to the wrist via a second stepped shaft; two connecting ears are symmetrically arranged at the end of the arm near the wrist, and both connecting ears are provided with shaft holes, and the second stepped shaft is rotatably installed between the two shaft holes; the wrist is fitted onto the second stepped shaft; the grinding disc is fixed at the end of the wrist away from the arm; a fourth servo motor is arranged on the outer wall of one of the connecting ears corresponding to the position of the shaft hole, the output shaft of the fourth servo motor is connected to a fourth reducer, and the output shaft of the fourth reducer is fixedly connected to one end of the second stepped shaft via a coupling.
[0012] Even more preferably, the side wall of the third connecting seat away from the grinding mechanism is symmetrically provided with two triangular ribs along its length.
[0013] More preferably, the length of the rack is the same as the length of the first guide rail, and both are set according to the actual length of the fan blades.
[0014] The beneficial effects of this utility model are:
[0015] This utility model has a simple structure, is easy to install and maintain, and can realize grinding work with multiple degrees of freedom, improving grinding efficiency while ensuring grinding accuracy. Attached Figure Description
[0016] The accompanying drawings constituting this application are provided to further understand this application and do not constitute an undue limitation of this application.
[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0018] Figure 2 This is a schematic diagram of the X-axis transmission mechanism;
[0019] Figure 3 This is a schematic diagram of the Y-axis transmission mechanism;
[0020] Figure 4 This is a sectional view of the rotary mechanism;
[0021] Figure 5 This is a schematic diagram of the Z-axis lifting mechanism;
[0022] Figure 6 This is a schematic diagram of the grinding mechanism;
[0023] In the diagram, 1-X-axis transmission mechanism; 11-base; 12-first servo motor; 13-first reducer; 131-connecting frame; 14-transmission gear; 15-rack; 16-first guide rail; 2-Y-axis transmission mechanism; 21-first connecting seat; 211-first slider; 22-second servo motor; 23-second reducer; 24-first ball screw pair; 25-second guide rail; 26-second slider; 27-second connecting seat; 3-rotation mechanism; 31 - Outer casing; 32- Right-angle geared motor; 33- Flange; 34- First stepped shaft; 4- Z-axis lifting mechanism; 41- Third connecting seat; 42- Base plate; 43- Third servo motor; 44- Third reducer; 45- Second ball screw pair; 46- Third guide rail; 47- Third slider; 48- Fourth connecting seat; 49- Rib plate; 5- Grinding mechanism; 51- Arm; 52- Wrist; 53- Grinding disc; 54- Fourth servo motor; 55- Fourth reducer. Detailed Implementation
[0024] The specific implementation of the wind turbine blade grinding and polishing robot provided by this utility model will be further described in conjunction with the accompanying drawings and embodiments.
[0025] like Figure 1 As shown, a wind turbine blade grinding and polishing robot includes an X-axis transmission mechanism 1, a Y-axis transmission mechanism 2 slidably disposed on the top of the X-axis transmission mechanism 1, a rotary mechanism 3 rotatably disposed on the top of the Y-axis transmission mechanism 2, a Z-axis lifting mechanism 4 fixedly mounted on the top of the rotary mechanism 3, and a grinding mechanism 5 slidably disposed on one side of the Z-axis lifting mechanism 4.
[0026] like Figure 2 As shown, the X-axis transmission mechanism 1 includes a base 11, a first servo motor 12, and a connecting frame 131. Specifically, two first guide rails 16 are arranged parallel to each other on both sides of the top of the base 11. The first servo motor 12 is located between the two first guide rails 16. The first servo motor 12 and the first reducer 13 are fixed to the bottom of the Y-axis transmission mechanism 2 through the connecting frame 131. The output shaft of the first servo motor 12 is connected to the first reducer 13. The output shaft of the first reducer 13 passes through the side wall of the connecting frame 131 and its surface is fitted with a transmission gear 14. A rack 15 parallel to the first guide rails 16 is arranged on the top of the base 11 corresponding to the position below the transmission gear 14. The transmission gear 14 and the rack 15 mesh, thereby enabling the Y-axis transmission mechanism 2 to move back and forth along the rack 15 (X-axis direction). It is worth noting that, in order to avoid frequent movement of the base 11 during use, the length of the rack 15 of the X-axis transmission mechanism 1 is the same as the length of the first guide rails 16, and both are set according to the actual length of the fan blades.
[0027] like Figure 3As shown, the Y-axis transmission mechanism 2 includes a first connecting seat 21, a second servo motor 22, a second connecting seat 27, a first ball screw pair 24, and a second guide rail 25 arranged parallel to both sides of the first ball screw pair 24. Specifically, in order to ensure the stability of the Y-axis transmission mechanism 2 moving back and forth in the X-axis transmission mechanism 1, a first slider 211 is provided at the bottom of the first connecting seat 21 corresponding to the position of the first guide rail 16 and slidably connected to the first guide rail 16. The bottom of the second connecting seat 27 is provided with a second slider 26 that is slidably connected to the second guide rail 25 at a position corresponding to the second guide rail 25; the output shaft of the second servo motor 22 is connected to the second reducer 23, and the output shaft of the second reducer 23 is connected to one end of the lead screw of the first ball screw pair 24 through a coupling; the top of the nut of the first ball screw pair 24 is fixed to the bottom of the second connecting seat 27. By controlling the second servo motor 22 to rotate the lead screw of the first ball screw pair 24, the relative position of the nut on the lead screw is adjusted, thereby driving the second connecting seat 27 connected to the nut to move left and right along the Y-axis direction; preferably, both ends of the lead screw of the first ball screw pair 24 are fixed to the top of the first connecting seat 21 through bearing seats.
[0028] like Figure 4 As shown, the rotary mechanism 3 includes a housing 31, a right-angle geared motor 32, a flange 33, and a first stepped shaft 34. Specifically, the housing 31 is fixed to the top of the second connecting seat 27; the flange 33 is fixedly connected to the top plate of the housing 31; the first stepped shaft 34 is rotatably connected to the flange 33 via a bearing; the right-angle geared motor 32 is disposed in the inner cavity of the housing 1, and the right-angle geared motor 32 is fixed to the top of the second connecting seat 27 via a motor bracket. The output shaft of the right-angle geared motor 32 is fixedly connected to the bottom end of the first stepped shaft 34 via a coupling, and the top end of the first stepped shaft 34 is fixedly connected to the bottom of the Z-axis lifting mechanism 4. By controlling the rotation of the output shaft of the right-angle geared motor 32, the first stepped shaft 34 connected to the output shaft is driven to rotate, thereby further realizing the angle adjustment of the Z-axis lifting mechanism 4 fixedly connected to the top of the first stepped shaft 34.
[0029] like Figure 5As shown, the Z-axis lifting mechanism 4 includes a third connecting seat 41, a base plate 42, a third servo motor 43, a fourth connecting seat 44, a second ball screw pair 45, and a third guide rail 46 arranged parallel to both sides of the second ball screw pair 45. Specifically, in order to fix the rotary mechanism and the Z-axis lifting mechanism 4, a through hole is provided in the middle of the base plate 42, and the top end of the first stepped shaft 34 is keyed to the through hole of the base plate 42. The third connecting seat 41 is vertically fixed to one side of the top of the base plate 42; the third servo motor 43 is fixed to the top of the third connecting seat 41, the output shaft of the third servo motor 43 is connected to the third reducer 44, and the output shaft of the third reducer 44 is connected to one end of the lead screw of the second ball screw pair 45; the side of the nut of the second ball screw pair 45 away from the third connecting seat 41 is fixed to the fourth connecting seat 48; the fourth connecting seat 48 is provided with a third slider 47 that is slidably connected to the third guide rail 46 at the position corresponding to the third guide rail 46. By controlling the third servo motor 43 to rotate the lead screw of the second ball screw pair 45, the relative position of its nut on the lead screw is adjusted, thereby driving the fourth connecting seat 48, which is fixedly connected to the nut, to move up and down along the Z-axis. Preferably, both ends of the second ball screw assembly 45 are fixed to the bearing seats and the third connecting seat 41; even more preferably, in order to ensure the overall stability of the robot, two triangular ribs 49 are symmetrically arranged along the length direction on the side wall of the third connecting seat 41 away from the grinding mechanism 5 for auxiliary support.
[0030] like Figure 6 As shown, the grinding mechanism 5 includes an arm 51, a wrist 53, and a grinding disc 53. Specifically, one end of the arm 51 is fixed to the side of the fourth connecting seat 48 away from the third guide rail 46, and the other end is rotatably connected to the wrist 52 via a second stepped shaft. Two connecting ears are symmetrically arranged at the end of the arm 51 near the wrist 52, each with a shaft hole. The second stepped shaft is rotatably mounted between the two shaft holes. The wrist 52 is fixedly fitted onto the second stepped shaft. The grinding disc 53 is fixed to the end of the wrist 52 away from the arm 51. A fourth servo motor 54 is arranged on the outer wall of one of the connecting ears corresponding to the position of the shaft hole. The output shaft of the fourth servo motor 54 is connected to a fourth reducer 55. The output shaft of the fourth reducer 55 is fixedly connected to one end of the second stepped shaft via a coupling. By controlling the fourth servo motor 54 to drive the second stepped shaft to rotate, the wrist 52, which is fixedly fitted onto the second stepped shaft, rotates, completing the angle adjustment between the arm 51 and the wrist 52, and more accurately aligning the grinding area.
[0031] In use, first move the robot to the vicinity of the area to be polished and fix the base on the ground. Then, control the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the right-angle reduction motor to align the polishing parts of the polishing mechanism with the area to be polished. After the area is polished, move the base to the next area and readjust the relative position and rotation angle of the polishing mechanism in the X, Y and Z directions for polishing.
[0032] This utility model has a simple structure and is easy to disassemble and maintain. It can replace the manual grinding and polishing method in the manufacturing process of wind turbine blades, effectively solving the problems of high cost and high health hazard of manual grinding and polishing. It can grind and polish different areas of wind turbine blades from multiple directions, improving grinding efficiency while ensuring grinding accuracy.
[0033] In this utility model, terms such as "upper," "lower," "bottom," and "top" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are merely used to facilitate the description of the structural relationships of the various components or elements of this utility model and do not specifically refer to any part or element of this utility model; they should not be construed as limiting this utility model. Terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this utility model can be determined according to the specific circumstances, and they should not be construed as limiting this utility model.
[0034] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.
Claims
1. A wind turbine blade grinding and polishing robot, characterized in that, It includes an X-axis transmission mechanism, a Y-axis transmission mechanism slidably mounted on the top of the X-axis transmission mechanism, a rotary mechanism rotatably mounted on the top of the Y-axis transmission mechanism, a Z-axis lifting mechanism fixedly mounted on the top of the rotary mechanism, and a grinding mechanism slidably mounted on one side of the Z-axis lifting mechanism.
2. The wind turbine blade grinding and polishing robot according to claim 1, characterized in that, The X-axis transmission mechanism includes a base, a first servo motor, and a connecting frame. Two first guide rails are arranged parallel to each other on both sides of the top of the base. The first servo motor is located between the two first guide rails, and the output shaft of the first servo motor is connected to a first reducer. The output shaft of the first reducer passes through the side wall of the connecting frame and is fitted with a transmission gear. The first servo motor and the first reducer are fixed to the bottom of the Y-axis transmission mechanism through the connecting frame. A rack parallel to the first guide rails is arranged on the top of the base corresponding to the position below the transmission gear, and the transmission gear meshes with the rack.
3. The wind turbine blade grinding and polishing robot according to claim 2, characterized in that, The Y-axis transmission mechanism includes a first connecting seat, a second servo motor, a second connecting seat, a first ball screw pair, and a second guide rail arranged parallel to both sides of the first ball screw pair. The bottom of the first connecting seat is provided with a first slider corresponding to the position of the first guide rail. The first connecting seat is slidably connected to the first guide rail through the first slider. The first connecting seat moves back and forth along the X-axis. The bottom of the second connecting seat is provided with a second slider corresponding to the position of the second guide rail, and the second connecting seat is slidably connected to the second guide rail through the second slider; The output shaft of the second servo motor is connected to the second reducer, and the output shaft of the second reducer is connected to one end of the first ball screw pair screw through a coupling; both ends of the first ball screw pair screw are fixed to the top of the first connecting seat through bearing seats; the top of the first ball screw pair nut is fixed to the bottom of the second connecting seat, and the second connecting seat moves left and right along the Y-axis.
4. The wind turbine blade grinding and polishing robot according to claim 3, characterized in that, The rotary mechanism includes a housing, a right-angle geared motor, a flange, and a first-step shaft; The outer casing is fixed to the top of the second connecting seat; the flange is fixedly connected to the top plate of the outer casing; the first stepped shaft is rotatably connected to the flange through a bearing; a right-angle geared motor is provided in the inner cavity of the outer casing, the right-angle geared motor is fixed to the top of the second connecting seat through a motor bracket, the output shaft of the right-angle geared motor is fixedly connected to the bottom end of the first stepped shaft through a coupling, and the top end of the first stepped shaft is fixedly connected to the bottom of the Z-axis lifting mechanism.
5. The wind turbine blade grinding and polishing robot according to claim 4, characterized in that, The Z-axis lifting mechanism includes a base plate, a third connecting seat, a third servo motor, a fourth connecting seat, a second ball screw pair, and a third guide rail arranged parallel to both sides of the second ball screw pair. The third connecting seat is vertically fixed to the top side of the base plate; the base plate is provided with a through hole, and the top end of the first stepped shaft is keyed to the through hole of the base plate. The third servo motor is fixed on the top of the third connecting seat. The output shaft of the third servo motor is connected to the third reducer. The output shaft of the third reducer is connected to one end of the second ball screw pair. Both ends of the second ball screw pair are fixed to the third connecting seat with bearing seats. The side of the second ball screw pair away from the third connecting seat is fixed to the fourth connecting seat. The fourth connecting seat is provided with a third slider corresponding to the position of the third guide rail. The fourth connecting seat moves up and down along the Z-axis.
6. The wind turbine blade grinding and polishing robot according to claim 5, characterized in that, The polishing mechanism includes an arm, a wrist, and a polishing disc; One end of the arm is fixed to the side of the fourth connecting seat away from the third guide rail, and the other end is rotatably connected to the wrist via the second stepped shaft; Two connecting ears are symmetrically arranged at the end of the arm near the wrist, and each of the two connecting ears is provided with a shaft hole. The second stepped shaft is rotatably installed between the two shaft holes. The wrist is fitted onto the second stepped shaft. The grinding disc is fixed at the end of the wrist away from the arm. A fourth servo motor is provided on the outer wall of one of the connecting ears, corresponding to the position of the shaft hole. The output shaft of the fourth servo motor is connected to a fourth reducer, and the output shaft of the fourth reducer is fixedly connected to one end of the second stepped shaft through a coupling.
7. The wind turbine blade grinding and polishing robot according to claim 5, characterized in that, The third connecting seat has two triangular ribs symmetrically arranged along its length on the side wall away from the grinding mechanism.
8. The wind turbine blade grinding and polishing robot according to claim 2, characterized in that, The rack length is the same as the first guide rail length, and both are set according to the actual wind turbine blade length.