Large complex curved surface fan blade composite material clamping cutting and collecting integrated device

Abstract

The utility model discloses a large -scale complex curved surface fan blade composite material clamping cutting collection integrated device, including water jet cutting device, the water jet cutting device one side is equipped with the clamping mechanism and floating support mechanism for clamping cutting workpiece, the floating support mechanism bottom is equipped with the rotating base and mobile base, the mobile base rear side is equipped with the jaw mechanical arm for grabbing cutting workpiece, the jaw mechanical arm one side is equipped with the inclined plane material guide groove, the inclined plane material guide groove front side is installed with transmission belt. The utility model discloses through adjustable arrangement's jaw mechanism cooperation floating support mechanism, can steady clamping the blade surface of different model, different curvature, realizes the safe clamping, the cutting of many sides and automatic collection to the complex curved surface blade of different form through water jet cutting device cooperation rotating base and by jaw mechanical arm automatic transfer, realizes.

Description

Technical Field

[0001] This utility model relates to the field of composite material processing technology for decommissioned wind turbine blades, specifically to an integrated device for clamping, cutting, and collecting large, complex curved surface high mechanical strength fiber-reinforced thermosetting composite wind turbine blades. Background Technology

[0002] With the continued rapid growth of global wind power installations and the concentrated retirement of early-installed wind turbines, the number of retired wind turbine blades is showing a rapid upward trend. Wind turbine blades are enormous and structurally complex, primarily made of high-strength fiber-reinforced resin matrix composites. These materials are difficult to biodegrade naturally, and traditional disposal methods such as landfill, incineration, or coarse crushing not only occupy significant land resources and pose environmental pollution risks but also lead to severe fiber damage and resource waste. To address the challenge of secondary damage to fibers and the resin matrix during dismantling, precise segmentation according to the blade's structural characteristics is employed to preserve the integrity and mechanical properties of the fibers as much as possible, enabling the separate recycling of materials such as the core, PVC, and balsa wood. Therefore, how to achieve the safe and efficient dismantling and recycling of large, complex curved surface wind turbine blade composites has become a hot topic in the current new energy and environmental protection industries. However, the cutting process of retired wind turbine blades faces three core technical challenges:

[0003] 1) Wind turbine blades have complex curved surface structures with significant curvature variations in different parts. If the clamping is unstable during the cutting process, the blades are prone to deformation under stress, deviating from the preset cutting path. This can reduce cutting accuracy to as little as tool jamming or material fragmentation and splashing, not only reducing material recovery rates but also posing significant safety hazards. Existing clamping solutions are mostly based on planar pressure plates, roller supports, or simple rigid clamps, which are insufficient for achieving comprehensive, uniform, and stable fixation of complex curved surfaces.

[0004] 2) Wind turbine blades contain complex structures such as main beams, webs, and skins, and the optimal cutting direction varies for different parts. Cutting in a single direction makes it difficult to efficiently and completely separate valuable materials. Traditional equipment has a limited range of cutting angle adjustments, especially when cutting curved surfaces with multiple intersecting surfaces. It usually requires frequent manual flipping and repositioning of the blades, lacking the ability to flexibly adjust the blade attitude or to cut precisely in multiple directions, resulting in low cutting efficiency.

[0005] 3) Existing equipment generally lacks an integrated design for cutting and collection / transfer. After cutting, manual handling or additional conveying devices are still required for transfer. The cutting environment is polluted by noise, dust, and water mist, increasing the labor intensity and exposure risks for operators. Furthermore, manual or separate transfer methods are significantly inefficient in terms of coordination, prolonging the overall process time and making it difficult to achieve continuous and automated processing.

[0006] Therefore, this utility model proposes an integrated device for clamping, cutting, and collecting composite materials for large, complex curved surface wind turbine blades. Utility Model Content

[0007] In view of the problems existing in the prior art, the purpose of this utility model is to design and provide an integrated device for clamping, cutting and collecting composite materials of large and complex curved wind turbine blades. This utility model solves the problems of unstable clamping and inability to achieve multi-directional precise cutting and automatic collection of complex curved wind turbine blade structures during the cutting process, and improves the safety, automation and cutting quality of the resource recycling process of retired wind turbine blades.

[0008] To achieve the above objectives, the technical solution of this utility model is as follows:

[0009] An integrated device for clamping, cutting, and collecting composite materials for large, complex curved surface wind turbine blades includes a water jet cutting device. The water jet cutting device has a clamping mechanism for clamping the workpiece to be cut on one side. The clamping mechanism has a gripper robotic arm for grabbing the workpiece to be cut on the rear side. The clamping mechanism has an inclined guide trough on the left side. A conveyor belt is installed on the front side of the inclined guide trough.

[0010] Furthermore, the clamping mechanism includes a support platform, on the upper surface of which a plurality of gripper units are symmetrically arranged. The workpiece to be cut is clamped between the left and right gripper units, and a floating support mechanism is provided at the bottom of the workpiece to be cut.

[0011] Furthermore, the gripper unit includes a gripping base, on which two grippers are symmetrically arranged. The lower part of the tail of the two grippers is rotatably connected to the gripping base via a rotating shaft. The upper part of the tail of the two grippers is rotatably connected to their corresponding connecting rods. The two connecting rods are respectively connected to the connecting parts on the front and rear sides of the gripping base via swing connecting frames. A slider is provided in the middle of the gripping base, and the slider is connected to the two swing connecting frames via a rotating shaft.

[0012] Furthermore, the connecting rod is connected to its corresponding swing connecting frame via a pivot shaft, and the swing connecting frame is connected to its corresponding clamping base side connection via a pivot shaft; the head of the gripper is a curvature-inspired arc structure.

[0013] Furthermore, the head of the gripper adopts a double-layer structure of high-strength aluminum alloy matrix and contact layer composite elastomer, and its contact surface with the blade is provided with diamond-shaped ridges.

[0014] Furthermore, an auxiliary positioning guide rail is provided at the interface between the upper surface of the support platform and the clamping base, and several sliding parts that cooperate with the auxiliary positioning guide rail are provided at the bottom of the clamping base.

[0015] Furthermore, the floating support mechanism includes a plurality of floating support units, wherein the floating support units are distributed along the length of the bottom of the workpiece being cut.

[0016] Furthermore, the floating support unit includes a support base located in the middle of the support platform. The support base has a hollow clamping shaft inside. Two top columns are symmetrically arranged inside the support base. The ends of the two top columns passing through the clamping shaft are respectively connected to springs. The support base has a spring groove inside, and the springs are located in the spring grooves. The ends of the springs are fixed to a connecting seat, which is installed on the support base. The upper end of each top column is connected to a support block, and the support block is inclined upwards.

[0017] Furthermore, the clamping shaft is symmetrically provided with two waist-shaped holes, and a screw is provided inside the clamping shaft, wherein the screw passes through two top posts, and a pin is provided at the mating point between the screw and the waist-shaped hole, and a handle is connected to the end of the screw that extends out of the support base.

[0018] Furthermore, it includes a rotating chassis, the support platform being located on the rotating chassis worktable, and the rotating chassis being mounted on a movable base.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] 1) This utility model utilizes an adjustable clamping mechanism in conjunction with a floating support mechanism to adapt to different blade curvatures and thicknesses, achieving precise fine-tuning and stable clamping in the vertical / internal / external directions. The gripper unit can adaptively clamp and release the blade at multiple points, ensuring uniform force distribution. The floating support mechanism can automatically adjust the support position and pressure distribution during the support process, avoiding structural deformation caused by stress concentration. This combined design is significantly superior to traditional planar or roller clamps, effectively preventing cutting deviation and material breakage, improving cutting accuracy and operational safety;

[0021] 2) This utility model device is equipped with a servo control chassis that can rotate 360° and an angle-adjustable water jet cutting head. With the help of a vision recognition system, it can realize automatic matching and dynamic adjustment of the cutting path of different parts, meet the needs of multi-faceted and multi-angle cutting of blades, reduce manual intervention, and improve cutting accuracy and efficiency.

[0022] 3) The cut blade segments are directly transferred to the inclined guide chute by the gripper robotic arm, and then conveyed to the next process area by the transmission belt, realizing the integrated continuous operation of cutting, collection and transfer, avoiding the safety hazards and efficiency loss caused by manual handling. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2This is a schematic diagram of the gripper unit structure of this utility model;

[0025] Figure 3 This is a schematic diagram of the floating support mechanism of this utility model;

[0026] Figure 4 This is a schematic diagram showing the fit between the top column and the clamping shaft of this utility model;

[0027] Figure 5 This is a schematic diagram of the fit between the screw and the top post of this utility model;

[0028] Figure 6 for Figure 3 Cross-sectional view.

[0029] In the diagram: 1. Waterjet cutting device; 2. Workpiece to be cut; 3. Clamping mechanism; 301. Support platform; 302. Clamping base; 303. Slider; 304. Connecting rod; 305. Gripper; 306. Swinging connecting frame; 307. Auxiliary positioning guide rail; 308. Sliding component; 4. Floating support mechanism; 401. Support base; 402. Clamping shaft; 403. Top column; 404. Spring; 405. Screw; 406. Handle; 407. Support block; 408. Connecting seat; 409. Waist-shaped hole; 410. Pin; 5. Rotating chassis; 6. Moving base; 7. Gripper robotic arm; 8. Inclined guide chute; 9. Conveyor belt. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the scope described herein.

[0031] Please refer to Figure 1 An integrated device for clamping, cutting, and collecting composite materials for large, complex curved surface wind turbine blades includes a waterjet cutting device 1. A clamping mechanism 3 is located beside the waterjet cutting device 1 to hold the workpiece 2 being cut. A gripper robotic arm 7 is located behind the clamping mechanism 3 to grasp the workpiece 2. An inclined guide trough 8 is located on the left side of the clamping mechanism 3, and a conveyor belt 9 is installed in front of the inclined guide trough 8. The inclined guide trough 8 collects the cut block-shaped blades. Its inclined bottom facilitates the blades sliding down to the conveyor belt 9 by gravity. The conveyor belt 9 then transports the cut blades to the next processing area, achieving fully automated cutting, collecting, and conveying throughout the entire process.

[0032] The waterjet cutting device 1 generates a high-pressure abrasive waterjet to cut the blade; it is equipped with a camera to achieve precise cutting through visual recognition. The waterjet cutting head can be replaced with a diamond saw blade, laser cutting head, etc.

[0033] Please refer to Figure 2The clamping mechanism 3 includes a support platform 301, which provides stable support for the entire clamping structure. Several gripper units are symmetrically arranged on the upper surface of the support platform 301, surrounding the curved surface of the blade, and are adjustable. The workpiece 2 is clamped between the left and right gripper units, and a floating support mechanism 4 is provided at the bottom of the workpiece 2.

[0034] The gripper unit includes a gripping base 302, on which two grippers 305 are symmetrically arranged. The lower part of the tail of the two grippers 305 is rotatably connected to the gripping base 302 via a rotating shaft. The upper part of the tail of the two grippers 305 is rotatably connected to their corresponding connecting rods 304. The two connecting rods 304 are respectively connected to the front and rear connecting parts of the gripping base 302 via swing connecting frames 306. A slider 303 is provided in the middle of the gripping base 302. The slider 303 is connected to the two swing connecting frames 306 via a rotating shaft.

[0035] Furthermore, the connecting rod 304 is connected to its corresponding swing connecting frame 306 via a pivot, and the swing connecting frame 306 is connected to the side connection part of its corresponding clamping base 302 via a pivot.

[0036] The slider 303 of the gripper unit moves laterally on the gripping base 302, causing the connecting rod 304 to rotate, which in turn causes the gripper 305 to move, realizing fine adjustment in the up / down / inside / outside direction, adapting to the clamping and loosening of blades with different blade curvatures and thicknesses.

[0037] In this embodiment, slider 303 is a slider driven by a motor lead screw.

[0038] The head of the gripper 305 has a curved, contoured structure that conforms to the complex surface shape of the wind turbine blades. The head of the gripper 305 adopts a double-layer structure of a high-strength aluminum alloy matrix and a composite elastomer contact layer. Its contact surface with the blade has diamond-shaped ridges, which significantly increases the coefficient of friction and effectively prevents blade slippage. At the same time, it uses polyurethane elastomer, which has high wear resistance and moderate elasticity, ensuring uniform force application and no indentation.

[0039] An auxiliary positioning guide rail 307 is provided on the upper surface of the support platform 301 where it mates with the clamping base 302. Several sliding parts 308 that mate with the auxiliary positioning guide rail 307 are provided at the bottom of the clamping base 302, which facilitates the quick arrangement and position locking of the gripper spacing according to the blade length and thickness.

[0040] Please refer to Figure 3 The floating support mechanism 4 includes several floating support units, which are distributed along the bottom length of the workpiece 2.

[0041] Please refer to Figure 4The floating support unit includes a support base 401 located in the middle of the support platform 301. The support base 401 has a hollow clamping shaft 402 inside. Two top posts 403 are symmetrically arranged inside the support base 401. Springs 404 are connected to the ends of the two top posts 403 that pass through the clamping shaft 402. Spring grooves are formed inside the support base 401, allowing the support block 407 to automatically adjust its height during clamping. The springs 404 are located within the spring grooves, and their ends are fixed to a connecting seat 408, which is mounted on the support base 401. A support block 407 is connected to the upper end of each top post 403. The support block 407 is inclined upwards and located below the blade to support its bottom surface.

[0042] Please refer to Figures 5-6 The clamping shaft 402 has two symmetrically arranged oblong holes 409. A screw 405 is installed inside the clamping shaft 402, passing through two top posts 403. A pin 410 is provided at the mating point between the screw 405 and the oblong holes 409. A handle 406 is connected to the end of the screw 405 extending out of the support base 401. Rotating the handle 406 drives the screw 405 to rotate, which in turn drives the clamping shaft 402 to move laterally, achieving self-locking of the two top posts 403 and ensuring stable support of the floating support mechanism.

[0043] Multiple sets of independent floating support mechanisms are evenly arranged along the blade axis to achieve uniform upper / lower pressure according to the blade thickness, without causing stress concentration on the blade.

[0044] This embodiment also includes a rotating chassis 5, with a support platform 301 located on the worktable of the rotating chassis 5, and the rotating chassis 5 mounted on a movable base 6.

[0045] The rotating chassis 5 drives the clamping structure to achieve 360° all-round angle adjustment; the movable base 6 allows the entire chassis to move laterally to align the workpiece; the gripper robotic arm 7 completes the stable clamping and cutting of the blade block, and transfers the cut blade to the inclined guide chute 8; equipped with a camera, it achieves precise clamping and transfer through visual recognition.

[0046] In this embodiment, the rotating chassis 5 uses a combination of a servo-controlled cross-shaped slide and a rotating module. The mechanical gripper in the gripper arm 7 can be replaced with a vacuum suction arm.

[0047] Workflow:

[0048] First, the blade is placed on the support block 407 and then clamped by the clamping mechanism 3. Next, the water jet cutting device 1 is turned on, equipped with a camera, to achieve precise cutting through visual recognition. After the blade block is stably clamped and cut, the cut blade is transferred and placed in the inclined guide chute 8. The camera is equipped with a camera to achieve precise clamping and transfer through visual recognition. Finally, the cut blade is conveyed to the next process area to achieve fully automated cutting, collection and conveying.

Claims

1. A large-scale complex curved surface wind turbine blade composite material clamping, cutting and collecting integrated device, including a water jet cutting device (1), characterized in that... The water jet cutting device (1) is provided with a clamping mechanism (3) for clamping the workpiece (2) on one side. The clamping mechanism (3) is provided with a gripper arm (7) for grabbing the workpiece (2) on the rear side. The clamping mechanism (3) is provided with an inclined guide groove (8) on the left side. A conveyor belt (9) is installed on the front side of the inclined guide groove (8).

2. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 1, characterized in that... The clamping mechanism (3) includes a support platform (301), and a number of gripper units are symmetrically arranged on the upper surface of the support platform (301). The cutting workpiece (2) is clamped between the left and right gripper units, and a floating support mechanism (4) is provided at the bottom of the cutting workpiece (2).

3. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 2, characterized in that... The gripper unit includes a gripping base (302), on which two grippers (305) are symmetrically arranged. The lower part of the tail of the two grippers (305) is rotatably connected to the gripping base (302) through a rotating shaft. The upper part of the tail of the two grippers (305) is rotatably connected to their corresponding connecting rods (304). The two connecting rods (304) are respectively connected to the front and rear connecting parts of the gripping base (302) through a swing connecting frame (306). A slider (303) is provided in the middle of the gripping base (302). The slider (303) is connected to the two swing connecting frames (306) through a rotating shaft.

4. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 3, characterized in that... The connecting rod (304) is connected to its corresponding swing connecting frame (306) by a rotating shaft, and the swing connecting frame (306) is connected to the side connection of its corresponding clamping base (302) by a rotating shaft; the head of the gripper (305) is a curvature arc structure.

5. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 3, characterized in that... The head of the gripper (305) adopts a double-layer structure of high-strength aluminum alloy matrix and contact layer composite elastomer, and its contact surface with the blade is provided with diamond-shaped convex patterns.

6. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 3, characterized in that... An auxiliary positioning guide rail (307) is provided on the upper surface of the support platform (301) where it mates with the clamping base (302), and several sliding parts (308) that mate with the auxiliary positioning guide rail (307) are provided at the bottom of the clamping base (302).

7. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 2, characterized in that... The floating support mechanism (4) includes several floating support units, which are distributed along the bottom length of the cutting workpiece (2).

8. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 7, characterized in that... The floating support unit includes a support base (401) located in the middle of the support platform (301). The support base (401) has a hollow clamping shaft (402) inside. The support base (401) has two symmetrically arranged top columns (403) inside. The ends of the two top columns (403) passing through the clamping shaft (402) are respectively connected to springs (404). The support base (401) has a spring groove inside. The springs (404) are located in the spring grooves. The ends of the springs (404) are fixed to the connecting seat (408). The connecting seat (408) is installed on the support base (401). The upper end of each top column (403) is connected to a support block (407). The support block (407) is inclined upward.

9. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 8, characterized in that... The clamping shaft (402) is symmetrically provided with two waist-shaped holes (409). The clamping shaft (402) is provided with a screw (405) inside, wherein the screw (405) passes through two top posts (403). A pin (410) is provided at the mating point between the screw (405) and the waist-shaped hole (409). A handle (406) is connected to the end of the screw (405) that extends out of the support base (401).

10. The integrated clamping, cutting, and collecting device for large, complex curved surface wind turbine blade composite materials according to claim 2, characterized in that... Includes a rotating chassis (5), the support platform (301) is located on the worktable of the rotating chassis (5), and the rotating chassis (5) is mounted on a movable base (6).

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