Blade root machining system

Abstract

The present application discloses a blade root machining system, used for machining a blade root. The blade root comprises a skin, cores, and flanges. The blade root machining system comprises: an assembly platform provided with a laying station, an assembly station, and an adhesive injection station, wherein a rail is provided between the laying station and the assembly station, between the assembly station and the adhesive injection station, and between the laying station and the adhesive injection station; a carrying device arranged on the rail, wherein the carrying device can perform reciprocating movement along the rail between the laying station and the assembly station, between the assembly station and the adhesive injection station, and between the laying station and the adhesive injection station; molds arranged on the carrying device; a laying module arranged on the laying station, wherein the laying module is configured to lay the skin on the molds; and an assembly module arranged on the assembly station, wherein the assembly module is configured to assemble and place the flanges and the cores on the molds.

Description

Blade root processing system

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese application patent 202411387922.2, filed on September 30, 2024, entitled "Blade root processing system", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of wind power generation, in particular to a blade root processing system. BACKGROUND

[0004] In recent years, wind energy as a large-scale commercial clean renewable energy has attracted widespread attention. Wind turbine blades are an important component of wind turbine generators, which drive the generator to generate electricity through the rotation of the wind turbine blades. As an important part of the wind turbine blade, the blade root plays a role in bearing load.

[0005] At present, the production and assembly of blade roots are mainly realized by manual methods. With the rapid development of the wind power industry, the size of wind turbine generators is increasing, and wind turbine blades are also developing towards large-scale, which leads to increasing difficulty in the production and assembly of blade roots and greater labor intensity of personnel. At the same time, due to the large mobility of personnel and unstable operation level, the production efficiency and qualification rate of blade roots are seriously affected. SUMMARY

[0006] The present application provides a blade root processing system, which can effectively reduce the labor intensity of personnel and improve the production efficiency and qualification rate of blade roots.

[0007] The present application provides a blade root processing system for processing a blade root, wherein the blade root comprises a skin, a core body and a flange, and the blade root processing system comprises:

[0008] an assembly platform having at least one cloth laying station, at least one assembly station and at least one glue injection station, wherein tracks are provided between the cloth laying station and the assembly station, between the assembly station and the glue injection station, and between the cloth laying station and the glue injection station;

[0009] a carrying device provided on the tracks, wherein the carrying device can move back and forth between the cloth laying station and the assembly station, between the assembly station and the glue injection station, and between the cloth laying station and the glue injection station along the tracks;

[0010] a mold provided on the carrying device;

[0011] a cloth laying module provided at the cloth laying station, wherein the cloth laying module is configured to lay the skin on the mold;

[0012] An assembling module is arranged at the assembling station, and the assembling module is configured to assemble and place the flange and the core on the mold.

[0013] The blade root machining system as described above, wherein the assembling module comprises:

[0014] A support is arranged to support the flange along the axial direction of the flange, and the support has a first side and a second side opposite to each other, and the support has a first assembling position;

[0015] A first mechanical arm is movably arranged at the first side of the support, and the first mechanical arm is configured to assemble the bolts to the flange;

[0016] A core assembling unit is movably arranged at the second side of the support at the first assembling position, and the core assembling unit is configured to assemble the core and the flange.

[0017] The blade root machining system as described above, wherein the first side of the support is provided with a bolt feeding device and a first guide rail extending along a first horizontal direction, the first mechanical arm is mounted on the first guide rail and can reciprocate along the first horizontal direction, and the first mechanical arm can grab the bolts from the bolt feeding device and assemble the bolts to the flange.

[0018] The blade root machining system as described above, wherein the core comprises a plurality of bolt sleeves, a plurality of wedge blocks and a plurality of pultruded rods;

[0019] The core assembling unit comprises:

[0020] A second mechanical arm is configured to screw each of the bolt sleeves to one of the bolts;

[0021] A third mechanical arm is configured to assemble the wedge blocks between every two adjacent bolt sleeves, one part of the wedge block is clamped between the adjacent two bolt sleeves, and the other part of the wedge block extends away from the flange;

[0022] A fourth mechanical arm is configured to assemble a pultruded rod on the side of each of the bolt sleeves away from the flange, and the pultruded rod is clamped between the two wedge blocks on both sides of the corresponding bolt sleeve.

[0023] The blade root machining system as described above, wherein the assembling module further comprises a second guide rail extending along a second horizontal direction, the axial direction of the flange is parallel to the second horizontal direction, and the support is mounted on the second guide rail and can reciprocate along the second horizontal direction;

[0024] The support further has a second assembly position, which is spaced apart from the first assembly position along the second horizontal direction, and in which the core assembly unit is located at the second side of the support;

[0025] When the support is located at the second assembly position, it can be docked with the bearing device located at the assembly station.

[0026] The blade root machining system as described above, wherein a laser aligner is arranged between the support and the bearing device;

[0027] And / or, the support is provided with a first buckle, and the bearing is provided with a second buckle, and when the support is located at the second assembly position, the first buckle can be positioned and clamped with the second buckle of the bearing device located at the assembly station.

[0028] The blade root machining system as described above, wherein the assembly module further comprises at least one set of first trusses, and each set of first trusses comprises:

[0029] At least two support columns extending along the vertical direction and spaced apart along the first horizontal direction;

[0030] A support beam extending along the first horizontal direction, and the upper end of each support column is connected to the support beam, and the second, third and fourth mechanical arms are mounted on the support beam and can reciprocate along the support beam in the first horizontal direction;

[0031] The support columns and the support beam enclose an assembly channel through which the flange and the core can move along the second horizontal direction and be placed in the mold when the mold is located at the assembly station;

[0032] The first, second and vertical directions are perpendicular to each other.

[0033] The blade root machining system as described above, wherein the cloth laying module comprises:

[0034] Two support trusses spaced apart along the first horizontal direction, and a portion of the track extends between the two support trusses along the first horizontal direction, and the distance between the two support trusses along the first horizontal direction is greater than the size of the mold along the first horizontal direction;

[0035] A moving truss extending along the first horizontal direction, and the two ends of the moving truss are respectively connected to the two support trusses, and the moving truss can reciprocate along the second horizontal direction;

[0036] A fabric supply device is arranged to move around the periphery of the mold when the mold is arranged between the two support trusses, and the fabric supply device is used to carry a roll of fiberglass fabric;

[0037] A fabric laying device is connected to the moving truss, and the fabric laying device is arranged to reciprocate along the first horizontal direction relative to the moving truss and lay fiberglass fabric on the mold to form the skin;

[0038] The first horizontal direction is perpendicular to the second horizontal direction.

[0039] The blade root processing system as described above, wherein the fabric laying device comprises:

[0040] A lifting assembly is arranged to extend along a vertical direction, and the lifting assembly is movably connected to the moving truss;

[0041] A fabric laying assembly is rotatably connected to the lower end of the lifting assembly, and the lifting assembly is arranged to drive the fabric laying assembly to reciprocate along the vertical direction;

[0042] The first horizontal direction, the second horizontal direction, and the vertical direction are perpendicular to each other.

[0043] The blade root processing system as described above, wherein the fabric laying assembly comprises:

[0044] A fabric taking unit is arranged to clamp the roll of fiberglass fabric;

[0045] A glue spraying unit is arranged on one side of the fabric taking unit, and the glue spraying unit is arranged to spray adhesive on one side surface of the fiberglass fabric;

[0046] A fabric pulling unit is arranged on the side of the fabric taking unit away from the glue spraying unit, and the fabric pulling unit is arranged to clamp the end of the fiberglass fabric and lay it on the mold.

[0047] The blade root processing system as described above, wherein the fabric pulling unit comprises:

[0048] A guide mechanism is arranged to extend and retract along the direction in which the fabric taking unit, the glue spraying unit, and the fabric pulling unit are spaced apart;

[0049] A fabric pulling mechanism is movably mounted on the guide mechanism, and the fabric pulling mechanism is arranged to move along the guide mechanism towards the fabric taking unit to interface with the fabric taking unit to grab the end of the fiberglass fabric, and the fabric pulling mechanism is arranged to move along the guide mechanism away from the fabric taking unit to unwind the fiberglass fabric;

[0050] A fabric sucking mechanism is fixedly mounted on the guide mechanism, and the fabric sucking mechanism is arranged to suck and tension the unwound fiberglass fabric;

[0051] a pressing mechanism fixedly installed on the guide mechanism, the pressing mechanism being capable of pressing the tensioned glass fiber cloth flat onto the mold;

[0052] a cutting mechanism fixedly installed on the guide mechanism, the cutting mechanism being capable of cutting the glass fiber cloth.

[0053] The blade root processing system provided by the application can realize automatic and standardized production of blade roots, improve the production efficiency and qualified rate of blade roots, reduce the proportion of manual assembly process in the production process of blade roots, and reduce the labor intensity of workers. BRIEF DESCRIPTION OF DRAWINGS

[0054] Features, advantages, and technical effects of the exemplary embodiments of the application will be described below with reference to the accompanying drawings.

[0055] FIG. 1 is a structural schematic diagram of a blade root processing system provided by an embodiment of the application;

[0056] FIG. 2 is a partial structural schematic diagram of the blade root processing system provided by the embodiment of the application;

[0057] FIG. 3 is a partial structural schematic diagram of an assembly module of the blade root processing system provided by the embodiment of the application;

[0058] FIG. 4 is another partial structural schematic diagram of the assembly module of the blade root processing system provided by the embodiment of the application;

[0059] FIG. 5 is still another partial structural schematic diagram of the assembly module of the blade root processing system provided by the embodiment of the application;

[0060] FIG. 6 is yet another partial structural schematic diagram of the assembly module of the blade root processing system provided by the embodiment of the application;

[0061] FIG. 7 is a structural schematic diagram of a core body assembly unit of the assembly module of the blade root processing system provided by the embodiment of the application;

[0062] FIG. 8 is a structural schematic diagram of a second mechanical arm and a third mechanical arm of the core body assembly unit of the assembly module of the blade root processing system provided by the embodiment of the application;

[0063] FIG. 9 is a structural schematic diagram of a fourth mechanical arm of a core assembling unit of an assembling module of a blade root processing system according to an embodiment of the present application;

[0064] FIG. 10 is a structural schematic diagram of a core supply device of an assembling module of a blade root processing system according to an embodiment of the present application;

[0065] FIG. 11 is a structural schematic diagram of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0066] FIG. 12 is a structural schematic diagram of a cloth taking unit of a cloth laying assembly of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0067] FIG. 13 is a structural schematic diagram of a glue spraying unit of a cloth laying assembly of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0068] FIG. 14 is a structural schematic diagram of a cloth pulling unit of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0069] FIG. 15 is another structural schematic diagram of a cloth pulling unit of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0070] FIG. 16 is a structural schematic diagram of a guide mechanism and a cloth pulling mechanism of a cloth pulling unit of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0071] FIG. 17 is a structural schematic diagram of a guide mechanism, a cloth pulling mechanism and a cloth sucking mechanism of a cloth pulling unit of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0072] FIG. 18 is a structural schematic diagram of a cloth pressing mechanism of a cloth pulling unit of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0073] FIG. 19 is a structural schematic diagram of a cloth cutting mechanism of a cloth pulling unit of a cloth laying module of a blade root processing system according to an embodiment of the present application;

[0074] FIG. 20 is a structural schematic diagram of a cloth pulling mechanism of a cloth pulling unit of a cloth laying module of a blade root processing system according to an embodiment of the present application.

[0075] In the drawings, the drawings are not necessarily drawn according to the actual scale.

[0076] Explanation of reference numerals: 1, assembly platform; 11, cloth laying station; 12, assembly station; 13, glue injection station; 14, track; 2, bearing device; 21, second buckle; 3, mold; 4, cloth laying module; 41, support truss; 411, cross beam; 42, moving truss; 43, cloth supply device; 44, cloth laying device; 441, lifting assembly; 442, cloth laying assembly; 4421, cloth taking unit; 4422, glue spraying unit; 4423, cloth pulling unit; 44231, guide mechanism; 442311, fixed section; 442312, telescopic section; 44232, cloth pulling mechanism; 44233, cloth sucking mechanism; 44234, cloth pressing mechanism; 44235, cutting mechanism; 442351, cutter head; 44236, cloth rolling mechanism; 442361, cloth rolling strip plate; 442362, cloth rolling brush; 5, assembly module; 51, support; 511, first buckle; 52, first mechanical arm; 53, bolt supply device; 54, first guide rail; 55, core assembly unit; 551, second mechanical arm; 552, third mechanical arm; 553, fourth mechanical arm; 554, core supply device; 56, second guide rail; 57, laser alignment device; 58, first truss; 581, support column; 582, support beam; 583, assembly channel; 59, flange supply device; 6, core; 61, bolt sleeve; 62, wedge block; 621, first section; 622, second section; 63, pultruded rod; 7, flange; 8, glass fiber cloth roll; X, first horizontal direction; Y, second horizontal direction; Z, vertical direction. DETAILED DESCRIPTION

[0077] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0078] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion. The terms "first", "second" and the like in the specification and claims of the present application and the above description of drawings are used to distinguish different objects, not to describe a particular order or primary and secondary relationship.

[0079] Reference to an "embodiment" in this application means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another.

[0080] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "attachment" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium; can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0081] In the embodiments of the application, the same reference signs represent the same parts, and for the sake of brevity, the detailed description of the same parts is omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device, are only exemplary and should not constitute any limitation on the application.

[0082] "Multiple" appearing in the application means more than two (including two).

[0083] The first horizontal direction X, the second horizontal direction Y and the vertical direction Z appearing in the application to represent the direction are only for the convenience of the drawings to more clearly illustrate the structure of the application, and the application is not limited thereto. Alternatively, the first horizontal direction X and the second horizontal direction Y are both parallel to the horizontal plane, and the vertical direction Z is perpendicular to the horizontal plane, and the first horizontal direction X, the second horizontal direction Y and the vertical direction Z are perpendicular to each other.

[0084] As shown in FIG. 1 and FIG. 2, the application provides a blade root processing system for processing a blade root.

[0085] The blade root includes a skin, a core 6 and a flange 7, the core 6 is in a ring structure, the skin includes an inner skin and an outer skin, the inner skin is fixedly covered on the inner surface of the core 6, and the outer skin is fixedly covered on the outer surface of the core 6, and the flange 7 is installed at one end of the axial direction of the ring structure, and the combination forms a complete blade root. Wherein, since the size of the core 6 is large, the core 6 and the flange 7 are segmented in the circumferential direction in the application, then the blade root segments are assembled to form a complete blade root.

[0086] The blade root processing system includes an assembly platform 1, a bearing device 2, a mold 3, a cloth laying module 4 and an assembly module 5.

[0087] The assembly platform 1 has an assembly plane parallel to the horizontal plane, and at least one cloth laying station 11, at least one assembly station 12 and at least one glue injection station 13 are divided on the assembly platform 1. The skin laying is completed at the cloth laying station 11, the assembly of the flange 7 and the core body 6 is completed at the assembly station 12, and the assembled flange 7 and core body 6 are placed in the mold 3 to complete the assembly of the core body 6, the outer skin and the inner skin. The glue injection between the inner skin and the outer skin is completed at the glue injection station 13, and the blade root section is formed after the glue is solidified.

[0088] Tracks 14 are arranged between the cloth laying station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the cloth laying station 11 and the glue injection station 13. The carrying device 2 is arranged on the tracks 14, and the carrying device 2 can move back and forth between the cloth laying station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the cloth laying station 11 and the glue injection station 13 along the tracks 14. That is, the carrying device 2 can move back and forth between the cloth laying station 11, the assembly station 12 and the glue injection station 13 along the guide rail, so as to smoothly realize each assembly process.

[0089] The mold 3 is arranged on the carrying device 2. Optionally, the core body 6 and the flange 7 are both divided into two sections along the circumference of the blade root for assembly and processing. The projection of each mold 3 along the axial direction of the flange 7 is semicircular. The segmented assembly reduces the assembly difficulty and reduces the number of segments as much as possible, which can effectively reduce the assembly difficulty of the blade root section and improve the precision of the assembly machine.

[0090] The cloth laying module 4 is arranged at the cloth laying station 11, and the cloth laying module 4 is configured to lay the skin on the mold 3. The assembly module 5 is arranged at the assembly station 12, and the assembly module 5 is configured to assemble the flange 7 and the core body 6 and place them on the mold 3. Specifically, the carrying device 2 first drives the mold 3 to move to the cloth laying station 11 to lay the outer skin, then drives the mold 3 to move to the assembly station 12 to assemble the core body 6 and the flange 7, then moves to the cloth laying station 11 again to lay the inner skin on the inner side of the core body 6, then moves to the glue injection station 13 to inject glue between the inner skin and the outer skin, and finally moves to the spare position of the assembly platform 1 except the cloth laying station 11, the assembly station 12 and the glue injection station 13. After the glue solidifies, the processing of a blade root section is completed.

[0091] Among them, the laying of the skin can be automatically completed by the cloth laying module 4, the assembly of the flange 7 and the core body 6 can be automatically completed by the assembly module 5, and the glue injection process can be carried out by manual or mechanical methods. The automatic and standardized production of the blade root can effectively improve the production efficiency and the qualified rate of the blade root, reduce the proportion of manual assembly process in the production process of the blade root, and reduce the labor intensity of the workers.

[0092] As shown in FIGS. 2-4, the blade root processing system provided by the present application, wherein the assembly module 5 comprises a support 51, a first mechanical arm 52 and a core assembly unit 55.

[0093] The support 51 is used to carry the flange 7, along the axial direction of the flange 7, the support 51 has opposite first and second sides, and the support 51 has a first assembly position; in the first assembly position, the assembly of each bolt on the flange 7 and the assembly of the core 6 and the flange 7 are completed.

[0094] The first mechanical arm 52 is movably arranged on the first side of the support 51, and the first mechanical arm 52 is used to assemble the bolts to the flange 7; specifically, the periphery of the flange 7 is provided with a plurality of positioning holes at intervals along the circumferential direction thereof, and each bolt is assembled through the first side of the support 51 into the positioning hole on the flange 7.

[0095] In the first assembly position, the core assembly unit 55 is movably arranged on the second side of the support 51, and the core assembly unit 55 is used to connect the core 6 with the bolts to assemble the flange 7 and the core 6.

[0096] As shown in FIGS. 2-5, the blade root processing system provided by the present application, wherein the first side of the support 51 is provided with a bolt feeding device 53 and a first guide rail 54 extending along the first horizontal direction X, the bolt feeding device 53 is used to provide the bolts, the first mechanical arm 52 is installed on the first guide rail 54 and can reciprocate along the first horizontal direction X, and the first mechanical arm 52 can grab the bolts from the bolt feeding device 53 to assemble the bolts into the positioning holes at each position on the flange 7.

[0097] As shown in FIGS. 5 and 6, the blade root processing system provided by the present application, wherein the core 6 comprises a plurality of bolt sleeves 61, a plurality of wedge blocks 62 and a plurality of pultruded rods 63; each wedge block 62 is arranged at intervals along the circumferential direction of the blade root, and each two adjacent wedge blocks 62 are provided with a bolt sleeve 61 and a pultruded rod 63 therebetween, and the bolt sleeve 61 and the pultruded rod 63 between the same two wedge blocks 62 are arranged along the axial direction of the blade root. Specifically, the wedge block 62 has a first segment 621 and a second segment 622 integrally connected, wherein the size of the first segment 621 at each position remains unchanged along the circumferential direction of the blade root and the radial direction of the blade root, along the direction from the first segment 621 to the second segment 622, the size of the second segment 622 at each position remains unchanged along the circumferential direction of the blade root, and the size of the second end along the radial direction of the blade root gradually decreases, the bolt sleeve 61 is fixedly clamped between the first segments 621 of the adjacent two wedge blocks 62, and the pultruded rod 63 is clamped between the second segments 622 of the adjacent two wedge blocks 62.

[0098] The core assembly unit 55 comprises a second mechanical arm 551, a third mechanical arm 552 and a fourth mechanical arm 553 which are independent of each other.

[0099] The second mechanical arm 551 is used for screwing each bolt sleeve 61 to a bolt; the third mechanical arm 552 is used for assembling a wedge block 62 between every two adjacent bolt sleeves 61, so that the first section 621 of the wedge block 62 is clamped and fixed between the two adjacent bolt sleeves 61, and the other part of the wedge block 62 extends away from the flange 7; the fourth mechanical arm 553 is used for assembling a pultrusion rod 63 on the side of each bolt sleeve 61 away from the flange 7, and clamping the pultrusion rod 63 between the second sections 622 of the two wedge blocks 62 located on both sides of the corresponding bolt sleeve 61.

[0100] The first mechanical arm 52, the second mechanical arm 551, the third mechanical arm 552 and / or the fourth mechanical arm 553 can move flexibly in the three-dimensional space along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z, so as to drive the corresponding assembly components to move to different assembly positions to complete the assembly.

[0101] Alternatively, the first mechanical arm 52, the second mechanical arm 551, the third mechanical arm 552 and / or the fourth mechanical arm 553 can adopt a gantry mechanical hand that can be telescoped along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z, so as to realize the movement in the three-dimensional space, or a multi-axis mechanical hand with five or more axes can be directly used to realize the movement in the three-dimensional space.

[0102] As shown in FIGS. 4-6, the blade root processing system provided by the present application, wherein the assembly module 5 further comprises a second guide rail 56 extending along the second horizontal direction Y, and the axial direction of the flange 7 is parallel to the second horizontal direction Y; the bracket 51 is installed on the second guide rail 56 and can reciprocate along the second horizontal direction Y.

[0103] The bracket 51 also has a second assembly position which is arranged at intervals with the first assembly position along the second horizontal direction Y, and in the second assembly position, the core assembly unit 55 is located on the second side of the bracket 51.

[0104] When the bracket 51 is located at the second assembly position, it can be docked with the bearing device 2 located at the assembly station 12, so as to ensure the accurate assembly of the core 6 and the flange 7 to the mold 3.

[0105] Alternatively, a laser aligner 57 is arranged between the bracket 51 and the bearing device 2; so as to detect whether the bracket 51 and the bearing device 2 are accurately aligned through the laser aligner 57 during the movement of the bracket 51 to the bearing device 2, if the bracket 51 and the bearing device 2 are not accurately aligned, the position of the bearing device 2 can be adjusted to make them reach the state of alignment, so as to ensure the accurate assembly of the flange 7 and the core 6 to the mold 3.

[0106] Optionally, the bracket 51 is provided with a first buckle 511, and the carrier is provided with a second buckle 21. When the bracket 51 is located at the second assembly position, the first buckle 511 can be positioned and clamped with the second buckle 21 of the carrier device 2 located on the assembly station 12. The bracket 51 and the corresponding carrier device 2 are fixed by clamping the first buckle 511 and the second buckle 21, so that the bracket 51 and the carrier device 2 remain relatively stationary, and the alignment state of the two is maintained.

[0107] As shown in FIGS. 4 and 7-9, the blade root processing system provided by the present application, wherein the assembly module 5 further comprises at least one set of first trusses 58, and the first trusses 58 comprise at least two support columns 581 and a support beam 582.

[0108] The support columns 581 extend along the vertical direction Z and are arranged at intervals along the first horizontal direction X;

[0109] The support beam 582 extends along the first horizontal direction X, and the lower end of each support column 581 is fixed to the assembly platform 1, and the upper end of each support column 581 is connected with the support beam 582. Every two adjacent support columns 581 and the support beam 582 enclose an assembly passage 583 through which the second guide rail 56 penetrates. When the carrier device 2 and the mold 3 are placed in the assembly station 12, the bracket 51 can drive the flange 7 and the core 6 to move along the second horizontal direction Y and pass through the assembly passage 583 to be placed in the mold 3.

[0110] The second, third, and fourth mechanical arms 551, 552, and 553 are installed on the support beam 582 and can reciprocate along the support beam 582 in the first horizontal direction X.

[0111] Optionally, the support beam 582 is provided with a plurality of support beams, forming a plurality of assembly passages 583. Each assembly passage 583 can be divided into an assembly station 12 and a set of assembly devices, so as to realize the simultaneous operation of multiple assembly stations 12 and improve the blade root processing efficiency.

[0112] As shown in FIG. 10, the blade root processing system provided by the present application, wherein the assembly module 5 further comprises a core supply device 554 and a flange supply device 59.

[0113] The core supply device 554 comprises a first area, a second area, and a third area. The first area places the bolt sleeve 61 for the second mechanical arm 551 to grab, the second area places the wedge-shaped block 62 for the third mechanical arm 552 to grab, and the third area places the pultruded rod 63 for the fourth mechanical arm 553 to grab.

[0114] The flange supply device 59 is used to provide the flange 7 disc.

[0115] As shown in FIG. 11, the blade root processing system provided by the application, wherein the cloth laying module 4 comprises two support trusses 41, a moving truss 42, a cloth supply device 43 and a cloth laying device 44.

[0116] The two support trusses 41 are arranged at intervals along the first horizontal direction X, and a part of the track 14 extends to the space between the two support trusses 41 along the first horizontal direction X. The distance between the two support trusses 41 along the first horizontal direction X is greater than the size of the mold 3 along the first horizontal direction X, so that the mold 3 can be moved to the space between the two support trusses 41 by the carrier device 2 for cloth laying.

[0117] Each support truss 41 can be regarded as a portal truss, which has a crossbeam 411 extending along the second horizontal direction Y. The moving truss 42 extends along the first horizontal direction X, and the two ends of the moving truss 42 are connected to the crossbeams 411 of the two support trusses 41, so that the moving truss 42 can move back and forth along the second horizontal direction Y.

[0118] The cloth supply device 43 is movably arranged at any position on the periphery of the mold 3. When the mold 3 is arranged between the two support trusses 41, the cloth supply device 43 can move on the periphery of the mold 3. The cloth supply device 43 is used to carry the fiberglass cloth roll 8 and deliver the fiberglass cloth roll 8 to any position on the periphery of the mold 3, so as to be grabbed by the cloth laying device 44.

[0119] The cloth laying device 44 is connected to the moving truss 42, and the cloth laying device 44 can move back and forth along the first horizontal direction X relative to the moving truss 42. The cloth laying device 44 grabs the fiberglass cloth roll 8 and unwinds the fiberglass cloth to form a skin on the mold 3.

[0120] As shown in FIG. 11, the blade root processing system provided by the application, wherein the cloth laying device 44 comprises a lifting assembly 441 and a cloth laying assembly 442.

[0121] The lifting assembly 441 extends along the vertical direction Z and is movably connected to the moving truss 42. The cloth laying assembly 442 is rotatably connected to the lower end of the lifting assembly 441. The lifting assembly 441 can drive the cloth laying assembly 442 to move back and forth along the vertical direction Z. The cloth laying assembly 442 rotates and swings by itself to lay the fiberglass cloth on the curved surface of the mold 3 or the core 6 to form a skin.

[0122] As shown in FIGS. 12-15, the blade root processing system provided by the application, wherein the cloth laying assembly 442 comprises a cloth taking unit 4421, a glue spraying unit 4422 and a cloth pulling unit 4423.

[0123] The cloth taking unit 4421 is used to clamp the fiberglass cloth roll 8 and lift the fiberglass cloth roll 8 above the mold 3 to prepare for laying the fiberglass cloth.

[0124] The pulling unit 4423 is arranged on the side of the taking unit 4421 away from the glue spraying unit 4422, and is used for clamping the end of the glass fiber cloth and laying it on the mold 3.

[0125] The glue spraying unit 4422 is arranged on the side of the taking unit 4421, and is used for spraying the adhesive on one side surface of the glass fiber cloth; optionally, after the glass fiber cloth is laid on the mold 3, the adhesive is sprayed on the glass fiber cloth, and then the glass fiber cloth can be continuously laid in a laminated manner, so that the multiple layers of the glass fiber cloth are laminated and fixed to form a skin with a required thickness.

[0126] As shown in FIGS. 14-19, the blade pulling unit 4423 of the blade root processing system includes a guide mechanism 44231, a pulling mechanism 44232, a suction mechanism 44233, a pressing mechanism 44234 and a cutting mechanism 44235.

[0127] The guide mechanism 44231 can extend and retract along the direction in which the taking unit 4421, the glue spraying unit 4422 and the pulling unit 4423 are arranged at intervals; optionally, the guide mechanism 44231 has two parallel extension and retraction shafts, each of which includes a fixed segment 442311 and an extension and retraction segment 442312 which are movably connected, and the extension and retraction segment 442312 can reciprocate relative to the fixed segment 442311 along the extension direction thereof.

[0128] The pulling mechanism 44232 is movably installed on the extension and retraction segment 442312 of the guide mechanism 44231, and when the extension and retraction segment 442312 moves relative to the fixed segment 442311, the pulling mechanism 44232 can move with the extension and retraction segment 442312 to the direction close to the taking unit 4421 and be connected with the taking unit to grab the end of the glass fiber cloth, and the pulling mechanism 44232 can move with the extension and retraction segment 442312 to the direction away from the taking unit 4421 to spread the glass fiber cloth.

[0129] The suction mechanism 44233 is fixedly installed on the fixed segment 442311 of the guide mechanism 44231, and during the process of spreading the glass fiber cloth by the pulling mechanism 44232, the suction mechanism 44233 can adsorb the glass fiber cloth to tension the glass fiber cloth during the spreading process and prepare for the laying of the glass fiber cloth.

[0130] The pressing mechanism 44234 is fixedly installed on the fixed segment 442311 of the guide mechanism 44231, and the pressing mechanism 44234 can press the tensioned glass fiber cloth flat on the mold 3 to ensure the flat laying of the glass fiber cloth.

[0131] The cutting mechanism 44235 is fixedly installed on the guide mechanism 44231, and has a cutter head 442351, which can cut the glass fiber cloth after the glass fiber cloth is spread to a suitable length.

[0132] Optionally, the bearing device 2 comprises a base and a support for bearing the positioning mold 3, the support being arranged on the base, and the base being connected with the track 14.

[0133] Optionally, as shown in FIGS. 14, 15 and 20, the blade root processing system provided by the present application, wherein the cloth laying unit 4423 further comprises a rod cloth arrangement mechanism 44236, which is fixedly installed on the fixed section 442311 of the guide mechanism 44231, and the rod cloth arrangement mechanism 44236 comprises a rod cloth strip plate 442361 and a rod cloth brush 442362, which can scrape and sweep the glass cloth during cloth laying, so as to further improve the flatness of the glass cloth laying.

[0134] The cloth suction mechanism 44233, the cloth pressing mechanism 44234, the cloth cutting mechanism 44235 and the rod cloth arrangement mechanism 44236 are arranged separately along the extension direction of the guide mechanism 44231 and are independent of each other, and the cloth suction mechanism 44233, the cloth pressing mechanism 44234, the cloth cutting mechanism 44235 and the rod cloth arrangement mechanism 44236 can be operated independently or cooperatively, so as to ensure the glass cloth laying quality.

[0135] The blade root processing system provided by the present application can realize the automatic and standardized production of the blade root, improve the production efficiency and qualified rate of the blade root, reduce the proportion of manual assembly process in the blade root production process, and reduce the labor intensity of the workers, by arranging at least one cloth laying station 11, at least one assembly station 12 and at least one glue injection station 13 on the assembly platform 1, and arranging the track 14 between the cloth laying station 11 and the assembly station 12, between the assembly station 12 and the glue injection station 13, and between the cloth laying station 11 and the glue injection station 13, so that the bearing device 2 bearing the mold 3 can be moved to any one of the cloth laying station 11, the assembly station 12 or the glue injection station 13, and the skin can be laid on the mold 3 located on the cloth laying station 11 by the cloth laying module 4, and the flange 7 and the core 6 can be assembled to the mold 3 by the assembly module 5, so that the flange 7, the core 6 and the skin are combined to form a complete blade root.

[0136] Although the present application has been described with reference to the preferred embodiments, various modifications can be made to it without departing from the scope of the application, and equivalent substitutions can be made to the components thereof, especially, the technical features mentioned in each embodiment can be combined in any way as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A blade root machining system for machining a blade root, wherein, The blade root comprises a skin, a core (6) and a flange (7), and the blade root processing system comprises: an assembly platform (1) having at least one cloth laying station (11), at least one assembly station (12) and at least one glue injection station (13), wherein rails (14) are arranged between the cloth laying station (11) and the assembly station (12), between the assembly station (12) and the glue injection station (13), and between the cloth laying station (11) and the glue injection station (13); a carrying device (2) arranged on the rails (14), wherein the carrying device (2) is capable of reciprocating along the rails (14) between the cloth laying station (11) and the assembly station (12), between the assembly station (12) and the glue injection station (13), and between the cloth laying station (11) and the glue injection station (13); a mold (3) arranged on the carrying device (2); a cloth laying module (4) arranged at the cloth laying station (11), wherein the cloth laying module (4) is configured to lay the skin on the mold (3); an assembly module (5) arranged at the assembly station (12), wherein the assembly module (5) is configured to assemble and place the flange (7) and the core (6) on the mold (3).

2. The blade root machining system of claim 1, wherein, The assembly module (5) comprises: a support (51) for carrying the flange (7) along the axial direction of the flange (7), wherein the support (51) has a first side and a second side opposite to each other, and the support (51) has a first assembly position; a first mechanical arm (52) movably arranged at the first side of the support (51), wherein the first mechanical arm (52) is used for assembling bolts to the flange (7); a core assembly unit (55) movably arranged at the second side of the support (51) at the first assembly position, wherein the core assembly unit (55) is used for assembling the core (6) and the flange (7).

3. The blade root machining system of claim 2, wherein, The first side of the support (51) is provided with a bolt feeding device (53) and a first guide rail (54) extending along a first horizontal direction (X), the first mechanical arm (52) is mounted on the first guide rail (54) and can reciprocate along the first horizontal direction (X), and the first mechanical arm (52) can grab the bolts from the bolt feeding device (53) and assemble them to the flange (7).

4. The blade root machining system of claim 2, wherein, The core (6) comprises a plurality of bolt sleeves (61), a plurality of wedge blocks (62) and a plurality of pultruded rods (63); The core assembly unit (55) comprises: a second mechanical arm (551) for screwing each bolt sleeve (61) to a bolt; a third mechanical arm (552) for assembling the wedge block (62) between every two adjacent bolt sleeves (61), wherein a part of the wedge block (62) is clamped between the adjacent two bolt sleeves (61), and the other part of the wedge block (62) extends away from the flange (7). A fourth robot arm (553) is configured to assemble a pultrusion rod (63) on a side of each bolt sleeve (61) away from the flange (7) and to clamp the pultrusion rod (63) between two wedge blocks (62) located on both sides of the corresponding bolt sleeve (61).

5. The blade root machining system of claim 2, wherein, The assembly module (5) further comprises a second guide rail (56) extending along a second horizontal direction (Y), an axial direction of the flange (7) being parallel to the second horizontal direction (Y), and the support frame (51) is mounted on the second guide rail (56) and can reciprocate along the second horizontal direction (Y); The support frame (51) further has a second assembly position spaced apart from the first assembly position along the second horizontal direction (Y), and the core assembly unit (55) is located on the second side of the support frame (51) at the second assembly position; When the support frame (51) is located at the second assembly position, it can be docked with the bearing device (2) located at the assembly station (12).

6. The blade root machining system of claim 5, wherein, A laser aligner (57) is arranged between the support frame (51) and the bearing device (2); And / or, the support frame (51) is provided with a first buckle (511), and the bearing is provided with a second buckle (21), and when the support frame (51) is located at the second assembly position, the first buckle (511) can be positioned and buckled with the second buckle (21) of the bearing device (2) located at the assembly station (12).

7. The blade root machining system of claim 4, wherein, The assembly module (5) further comprises at least one set of first trusses (58), and each first truss (58) comprises: At least two support columns (581) extending along a vertical direction (Z) and spaced apart along a first horizontal direction (X); A support beam (582) extending along the first horizontal direction (X), and the upper end of each support column (581) is connected to the support beam (582), and the second robot arm (551), the third robot arm (552), and the fourth robot arm (553) are mounted on the support beam (582) and can reciprocate along the support beam (582) in the first horizontal direction (X); The support column (581) and the support beam (582) form an assembly channel (583) extending along a second horizontal direction (Y), and when the mold (3) is located at the assembly station (12), the flange (7) and the core (6) can move along the second horizontal direction (Y) and pass through the assembly channel (583) to be placed in the mold (3); The first horizontal direction (X), the second horizontal direction (Y), and the vertical direction (Z) are perpendicular to each other.

8. The blade root machining system of claim 2, wherein, The cloth laying module (4) comprises: Two support trusses (41) spaced apart along a first horizontal direction (X), and a part of the track (14) extends along the first horizontal direction (X) between the two support trusses (41), and the distance between the two support trusses (41) along the first horizontal direction (X) is greater than the size of the mold (3) along the first horizontal direction (X); A moving truss (42) extending along the first horizontal direction (X), two ends of the moving truss (42) being connected with two support trusses (41) respectively, the moving truss (42) being able to reciprocate along the second horizontal direction (Y); A cloth supply device (43) being able to move along the periphery of the mold (3) when the mold (3) is arranged between two support trusses (41), the cloth supply device (43) being used for carrying a fiberglass cloth roll (8); A cloth laying device (44) being connected with the moving truss (42), the cloth laying device (44) being able to reciprocate along the first horizontal direction (X) relative to the moving truss (42) and lay the fiberglass cloth on the mold (3) to form the skin; The first horizontal direction (X) is perpendicular to the second horizontal direction (Y).

9. The blade root machining system of claim 8, wherein, The cloth laying device (44) comprises: A lifting assembly (441) extending along the vertical direction (Z) and being movably connected with the moving truss (42); A cloth laying assembly (442) being rotatably connected with the lower end of the lifting assembly (441), the lifting assembly (441) being able to drive the cloth laying assembly (442) to reciprocate along the vertical direction (Z); The first horizontal direction (X), the second horizontal direction (Y) and the vertical direction (Z) are perpendicular to each other.

10. The blade root machining system of claim 9, wherein, The cloth laying assembly (442) comprises: A cloth taking unit (4421) being used for clamping the fiberglass cloth roll (8); A glue spraying unit (4422) being arranged on one side of the cloth taking unit (4421), the glue spraying unit (4422) being used for spraying adhesive on one side surface of the fiberglass cloth; A cloth pulling unit (4423) being arranged on the side of the cloth taking unit (4421) away from the glue spraying unit (4422), the cloth pulling unit (4423) being used for clamping the end of the fiberglass cloth and laying it on the mold (3).

11. The blade root machining system of claim 10, wherein, The cloth pulling unit (4423) comprises: A guide mechanism (44231) being able to stretch and contract along the direction in which the cloth taking unit (4421), the glue spraying unit (4422) and the cloth pulling unit (4423) are arranged at intervals; A cloth pulling mechanism (44232) being movably installed on the guide mechanism (44231), the cloth pulling mechanism (44232) being able to move along the guide mechanism (44231) to the direction close to the cloth taking unit (4421) and be connected with the cloth taking unit to grab the end of the fiberglass cloth, and the cloth pulling mechanism (44232) being able to move along the guide mechanism (44231) to the direction away from the cloth taking unit (4421) to unfold the fiberglass cloth; A cloth sucking mechanism (44233) being fixedly installed on the guide mechanism (44231), the cloth sucking mechanism (44233) being able to adsorb the unfolded fiberglass cloth; A cloth pressing mechanism (44234) being fixedly installed on the guide mechanism (44231), the cloth pressing mechanism (44234) being able to press the fiberglass cloth to the mold (3); A cutting mechanism (44235) is fixedly installed on the guide mechanism (44231), and the cutting mechanism (44235) can cut the glass fiber cloth.

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