CN217728242U - Polishing robot for wind power blade - Google Patents
Polishing robot for wind power blade Download PDFInfo
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- CN217728242U CN217728242U CN202222032261.4U CN202222032261U CN217728242U CN 217728242 U CN217728242 U CN 217728242U CN 202222032261 U CN202222032261 U CN 202222032261U CN 217728242 U CN217728242 U CN 217728242U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The utility model relates to a polishing robot for wind power blades, which comprises an omnidirectional motion chassis, a six-degree-of-freedom mechanical arm and a polishing actuating mechanism; the first end of the six-degree-of-freedom mechanical arm is connected with the upper surface of the omnidirectional movement chassis, and the second end of the six-degree-of-freedom mechanical arm is connected with the polishing executing mechanism; the omnidirectional movement chassis comprises an upper end face bearing plate, a frame, a forklift groove, a drawer and a Mecanum wheel driving unit; the lower surface of the upper end surface bearing plate is connected with the frame and the forklift groove; the drawer is arranged on the frame and the forklift groove. The six-degree-of-freedom mechanical arm of the device can adjust the posture of the polishing mechanism at any time and complete track coverage, thereby effectively solving the problems of large blade size, inaccurate polishing allowance control and the like; the polishing actuating mechanism is directly connected with the dust collecting module, so that the condition of dust scattering is effectively prevented, the working environment is greatly improved, and the direct and indirect various polishing operation risks are greatly reduced.
Description
Technical Field
The utility model belongs to the field of polishing, in particular to a polishing robot for wind-powered electricity generation blade.
Background
Wind power is an important renewable energy source, the wind power installed capacity reaches 93.6GW in 2021 in the '2022 global wind energy report' issued by the Global Wind Energy Council (GWEC), 50.91% of China accounts for the wind power installed capacity, and the amount of wind power generators on the sea in China leaps the world first. Wind blades are important components of wind turbines, and related manufacturing technologies represent the competitive level of products. The surface polishing process of the wind power blade can effectively improve the surface quality of the blade and provides a foundation for a subsequent coating process. The current blade surface process of polishing still uses the manual work to polish the operation as the main, and the high-efficient reasonable equipment demand of riding instead of worker is urgent. The current manual surface polishing operation has the following difficulties:
(1) The blade grinding operation is one of the processes with the largest number of man-hours and people required in the blade production process, the main reasons are that the size of the blade is large, the types are widely distributed, the small-range grinding operation can be carried out only by using too many auxiliary devices such as a ladder climbing frame and the like manually, the movement of the ladder climbing frame is definitely forbidden when workers work in safety work, and the position adjusting efficiency is extremely low.
(2) The curved surface of the blade is complex, the operation randomness is high during manual polishing, and the polishing allowance is difficult to control, so that the subsequent coating process has the defects of poor effect, increased coating consumption and the like.
(3) The blade polishing operation dust pollution is very serious, dust caused by polishing is scattered randomly, the working environment is severe, field workers need to wear a breathing mask to operate, long-term industry is engaged, and the safety and health of the workers are threatened very easily.
In conclusion, the surface polishing process in the production link of the wind power blade has the defects of low efficiency, uncontrollable polishing uniformity, serious dust pollution, high potential safety hazard and the like.
Therefore, a grinding robot for the wind power blade is developed, intelligent production of the wind power blade is further promoted, and the grinding robot has very important practical significance.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides a polishing robot for wind-powered electricity generation blade, thereby this device realizes polishing wind-powered electricity generation blade's each angle comprehensively through setting up six degrees of freedom arms, and this device still is provided with simultaneously and hinders dirt pipeline and lower extreme dust cage on polishing actuating mechanism, can effectually concentrate the collection with the residue of polishing out, avoids producing the dust. The mecanum wheel drive unit of the device can realize integral displacement, realize multi-angle and multi-azimuth comprehensive polishing.
In order to achieve the above purpose, the utility model discloses a following technical scheme:
a grinding robot for wind power blades comprises an omnidirectional motion chassis, a six-degree-of-freedom mechanical arm and a grinding executing mechanism; the first end of the six-degree-of-freedom mechanical arm is connected with the upper surface of the omnidirectional motion chassis, and the second end of the six-degree-of-freedom mechanical arm is connected with the polishing executing mechanism; the omnidirectional movement chassis comprises an upper end face bearing plate, a frame, a forklift groove, a drawer and a Mecanum wheel driving unit; the lower surface of the upper end surface bearing plate is connected with the frame and the forklift groove; the drawer is arranged on the frame and the forklift groove; the Mecanum wheel driving units are symmetrically arranged on two sides of the lower surface of the upper end face bearing plate; the six-degree-of-freedom mechanical arm comprises a mechanical arm support, a mechanical arm, a six-degree-of-freedom driving device and a mechanical arm output connection plate; the first end of the mechanical arm is movably connected with the upper surface of the mechanical arm support, the second end of the mechanical arm is connected with the first side of the mechanical arm output connecting plate, and the second side of the mechanical arm output connecting plate is connected with the polishing executing mechanism; the lower surface of the mechanical arm support is connected with the upper surface of the upper end surface bearing plate; the six-degree-of-freedom driving device is arranged on the side wall of the mechanical arm; the polishing actuating mechanism comprises a polishing roller, a hairbrush, a polishing shell, an upper dust-proof pipeline, a second motor, a speed reducer, a polishing roller driving wheel, a polishing roller follower wheel and a lower end dust-collecting cover; the polishing roller and the hairbrush are arranged inside the polishing shell through a polishing shaft, two ends of the polishing shaft are respectively movably connected with a bearing support, the bearing support is connected with the polishing shell, and the polishing shaft can drive the polishing roller and the hairbrush to rotate; the upper dust-proof pipeline and the lower end dust-collecting hood are respectively arranged on the upper surface and the lower surface of the polishing shell where the polishing roller and the hairbrush are located; the second motor and the speed reducer are arranged on the polishing shell, the output ends of the second motor and the speed reducer are provided with the polishing roller driving wheel, the polishing roller driving wheel is connected with the polishing roller follower wheel through a synchronous belt, and the polishing roller follower wheel is connected with one end of the polishing shaft.
Preferably, the polishing machine further comprises a power distribution module and a dust collection device, wherein the power distribution module is electrically connected with the Mecanum wheel driving unit, the six-degree-of-freedom mechanical arm and the polishing actuating mechanism respectively; the dust collecting device is communicated with the upper dust blocking pipeline and the lower end dust collecting cover through pipelines.
Preferably, the mecanum wheel driving unit comprises a mecanum wheel, a wheel hub, a wheel bracket, a first motor and a speed reducer, the wheel bracket is connected with the lower surface of the upper end surface bearing plate, the first side of the joint of the wheel hub of the mecanum wheel and the bearing of the wheel bracket is movably connected and is positioned outside the wheel bracket, and the second side of the joint of the bearing of the wheel bracket is provided with the first motor and the speed reducer.
Preferably, the mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, the first end of the first mechanical arm is movably connected with the mechanical arm support, the second end of the first mechanical arm is movably connected with the first end of the second mechanical arm, the second end of the second mechanical arm is movably connected with the first end of the third mechanical arm, and the second end of the third mechanical arm is fixedly connected with the side wall of the polishing shell.
Preferably, infrared distance measuring sensors are further arranged on the upper surface and the lower surface of the polishing shell where the polishing roller and the hairbrush are located.
Preferably, a balancing weight is further arranged on the grinding shell.
Preferably, the omnidirectional exercise chassis further comprises a battery.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. this device realizes polishing actuating mechanism's all direction movement through setting up six degree of freedom arms, can guarantee to polish comprehensively each angle of wind-powered electricity generation blade, guarantees the precision of polishing. And still be provided with on the actuating mechanism that polishes and hinder dirt pipeline and lower extreme dust cage, go up and hinder dirt pipeline and lower extreme dust cage and divide equally and do not communicate with dust collecting device, can realize gathering the collection of the residue of polishing.
2. This device still is provided with the omnidirectional movement chassis, is provided with fork truck groove and mecanum wheel drive unit on the omnidirectional movement chassis, and mecanum wheel drive unit can realize the displacement of this device, and the fork truck groove can guarantee when mecanum wheel drive unit can not drive, also can remove this device.
3. The two sides of the polishing actuating mechanism of the device are provided with the auxiliary pressing wheels, and the auxiliary pressing wheels can ensure that the polishing actuating mechanism does not damage other parts when in operation.
4. The omnidirectional movement chassis top of this device still is provided with distribution module and battery, and distribution module and battery can guarantee the electric drive of this device, the operation of the whole device of effectual control simultaneously to and provide short distance duration, avoid the factory's room to remove and still need arrange the cable.
Drawings
FIG. 1 is a view of the arrangement structure of the present invention;
fig. 2 is a structural diagram of the omnidirectional exercise chassis of the present invention;
FIG. 3 is an enlarged view of the structure of the Mecanum wheel drive unit of the present invention;
FIG. 4 is a structural diagram of a six-degree-of-freedom mechanical arm of the present invention;
fig. 5 is an enlarged view of the structure of the polishing actuator of the present invention;
fig. 6 is an enlarged side view of the polishing actuator of the present invention.
Some of the drawings are illustrated below: 1. omnidirectional movement chassis, 11, upper end face loading board, 12, frame and fork truck groove, 13, drawer, 14, mecanum wheel drive unit, 141, mecanum wheel, 142, wheel support, 143, first motor and reduction gear, 15, battery, 2, distribution module, 3, dust collector, 4, six degree of freedom arm, 41, arm support, 42, six degree of freedom drive arrangement, 43, arm output linkage plate, 5, polishing actuating mechanism, 51, balancing weight, 52, polishing shell, 53, upper dust-blocking pipeline, 54, infrared distance measuring sensor, 55, second motor and reduction gear, 56, polishing roller drive wheel, 57, polishing roller follower wheel, 58, lower end dust cage, 59, polishing roller and brush, 510, auxiliary pinch roller, 511, lower dust-collecting pipeline, 512, polishing shaft.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The utility model provides a polishing robot for wind power blades, as shown in figures 1-6, comprising an omnidirectional motion chassis 1, a six-degree-of-freedom mechanical arm 4, a polishing actuating mechanism 5, a power distribution module 2 and a dust collecting device 3; the first end of the six-degree-of-freedom mechanical arm 4 is connected with the upper surface of the omnidirectional motion chassis 1 and used for better fitting, track control and the like of an actuating mechanism and a working surface, and the second end of the six-degree-of-freedom mechanical arm 4 is connected with the polishing actuating mechanism 5.
The omnidirectional movement chassis 1 is arranged at the bottommost end of the device and can enable the robot to move, and the omnidirectional movement chassis 1 comprises an upper end face bearing plate 11, a frame and forklift groove 12, a drawer 13, a Mecanum wheel driving unit 14 and a battery 15; the lower surface of the upper end surface bearing plate 11 is connected with the frame and the forklift groove 12; the drawer 13 is arranged on the frame and the forklift groove 12 and can be used for placing components such as a motor driver and the like; a plurality of mecanum wheel drive units 14 are symmetrically arranged on both sides of the lower surface of the upper end surface carrier plate 11; the battery 15 is arranged on the lower side of the upper end face bearing plate 11, short-distance cruising ability is provided for the robot, and cables are prevented from being arranged when the factory room moves.
The six-degree-of-freedom mechanical arm 4 comprises a mechanical arm support 41, a mechanical arm, a six-degree-of-freedom driving device 42 and a mechanical arm output connection plate 43; the first end of the mechanical arm is movably connected with the upper surface of the mechanical arm support 41, the second end of the mechanical arm is connected with the first side of the mechanical arm output connecting plate 43, and the second side of the mechanical arm output connecting plate 43 is connected with the polishing executing mechanism 5; the lower surface of the robot arm support 41 is connected with the upper surface of the upper end surface bearing plate 11; the six-degree-of-freedom driving device 42 is arranged on the side wall of the mechanical arm, and the six-degree-of-freedom driving device 42 is mainly responsible for adjusting the attitude and the trajectory control of the polishing head.
The polishing actuating mechanism 5 comprises a balancing weight 51, a polishing shell 52, an upper dust-blocking pipeline 53, an infrared distance measuring sensor 54, a second motor and a speed reducer 55, a polishing roller driving wheel 56, a polishing roller following wheel 57, a lower end dust-collecting cover 58, a polishing roller and a brush 59, an auxiliary pressing wheel 510, a lower dust-collecting pipeline 511 and a polishing shaft 512. The polishing shell 52 is fixed on the mechanical arm output connecting plate 43 through bolt connection, the balancing weight 51 is arranged on the left side of the polishing shell 52, the upper dust blocking pipeline 53 is arranged right above the polishing shell 52 in the middle and is connected to the dust collecting device 3, the polishing dust is prevented from flying up through blowing high-pressure gas, the infrared distance measuring sensor 54 is arranged in the center of the polishing shell 52 in an up-and-down symmetrical mode, measurement and control are carried out through an equal distance, the polishing executing mechanism 5 can be stably tangent to a polishing working area, the second motor and the speed reducer 55 are fixedly arranged on the rear side of the polishing shell 52 away from the balancing weight 51, the polishing roller driving wheel 56 is directly connected to the output shaft of the second motor and the speed reducer 55, the polishing roller follower wheel 57 is fixed on the same side of the driving wheel, the polishing shaft 512 is arranged in the center of the polishing executing mechanism 5, the polishing roller and the brush 59 are directly arranged on the polishing shaft 512 and are driven by the polishing roller follower wheel 57, polishing operation is completed, the auxiliary pressing wheel 510 is symmetrically arranged on the left side and the right side of the polishing shell 52, the polishing executing mechanism 5 is prevented from directly colliding with or rubbing the surface of a wind power blade, the blade is prevented from being damaged, the lower end of the dust collecting device 58 is directly connected to the dust collecting device 511, and is directly connected to the dust collecting device.
The power distribution module 2 is arranged on the rear side of the upper surface of the omnidirectional movement chassis 1, and the power distribution module 2 is electrically connected with the mecanum wheel driving unit 14, the six-degree-of-freedom mechanical arm 4 and the polishing executing mechanism 5 respectively.
The dust collecting device 3 is arranged at the rear side of the upper surface of the omnidirectional movement chassis 1 in parallel with the power distribution module 2 and arranged in parallel with the power distribution module 2, and the dust collecting device 3 is communicated with the upper dust-blocking pipe 53 and the lower end dust-collecting cover 58 through pipes.
Each mecanum wheel driving unit 14 can be driven independently, the polishing robot can efficiently finish movement in any direction, each mecanum wheel driving unit 14 comprises a mecanum wheel 141, a hub, a wheel support 142, a first motor and a speed reducer 143, the wheel support 142 is connected with the lower surface of the upper end face bearing plate 11, the hub of the mecanum wheel 141 is movably connected with the first side of the bearing connection position of the wheel support 142 and is positioned on the outer side of the wheel support 142, and the second side of the bearing connection position of the wheel support 142 is provided with the first motor and the speed reducer 143.
The mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, wherein the first end of the first mechanical arm is movably connected with the mechanical arm support 41, the second end of the first mechanical arm is movably connected with the first end of the second mechanical arm, the second end of the second mechanical arm is movably connected with the first end of the third mechanical arm, and the second end of the third mechanical arm is fixedly connected with the side wall of the polishing shell 52.
The upper surface and the lower surface of the grinding shell 52 where the grinding roller and the brush 59 are located are also respectively provided with an infrared distance measuring sensor.
The polishing shell 52 is further provided with a balancing weight 51, and the balancing weight 51 can balance the weight of the second motor and the reducer 55, so that the influence of additional torque on control is reduced.
The working principle is as follows:
the operation of polishing begins to be transported wind-powered electricity generation blade polishing robot by omnidirectional movement chassis 1 and gets into the blade initial position of polishing, six degree of freedom arms 4 adjustment polishing actuating mechanism 5 gesture afterwards, make it just right wind-powered electricity generation blade polish the region, six degree of freedom arms 4 will polish actuating mechanism 5's auxiliary pinch roller 510 and just in time be in the laminating in wind-powered electricity generation blade region of polishing afterwards, the upper and lower symmetrical arrangement is in the infrared distance measuring sensor 54 who polishes 52 central authorities at this moment, observe and control through the equidistance, make polishing actuating mechanism 5 can be stable tangent in the work region of polishing, second motor and reduction gear 55 work afterwards, through polishing roller drive wheel 56 and the polishing roller follower 57 in the drive synchronous belt device, further drive polishing roller and brush 59 rotate, begin the operation of polishing.
Then, under the condition that the omnidirectional motion chassis 1 does not move, the six-degree-of-freedom mechanical arm 4 controls the track of the polishing executing mechanism 5, so that the polishing executing mechanism can stably finish vertical polishing operation downwards or upwards, at the moment, the single polished area is in a bent strip shape, then, the six-degree-of-freedom mechanical arm 4 transversely adjusts the position of the polishing executing mechanism 5 to finish the polishing operation of the adjacent bent strip-shaped area, then, the second motor and the speed reducer 55 stop working, and the polishing roller and the brush 59 stop rotating synchronously. In the process, the external distance measuring sensor measures and controls in real time through an equal distance, the polishing actuating mechanism 5 is continuously adjusted to enable the polishing actuating mechanism to be tangent to a working area, and synchronously, the upper dust blocking pipeline 53 continuously blows high-pressure gas to prevent polishing dust from rising, the polishing dust is directly connected to the lower dust collecting pipeline 511 of the dust collecting device 3, and dust in the dust collecting groove is directly extracted.
After the grinding work area reaches the maximum coverage area, the Mecanum wheel driving unit 14 directly drives the robot to move to the next work area, and the steps are repeated to continuously perform the grinding operation.
The above-mentioned embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art without departing from the design spirit of the present invention should fall into the protection scope defined by the claims of the present invention.
Claims (7)
1. The utility model provides a polishing robot for wind-powered electricity generation blade which characterized in that: the grinding machine comprises an omnidirectional motion chassis, a six-degree-of-freedom mechanical arm and a grinding actuating mechanism; the first end of the six-degree-of-freedom mechanical arm is connected with the upper surface of the omnidirectional motion chassis, and the second end of the six-degree-of-freedom mechanical arm is connected with the polishing executing mechanism;
the omnidirectional movement chassis comprises an upper end face bearing plate, a frame, a forklift groove, a drawer and a Mecanum wheel driving unit; the lower surface of the upper end surface bearing plate is connected with the frame and the forklift groove; the drawer is arranged on the frame and the forklift groove; the Mecanum wheel driving units are symmetrically arranged on two sides of the lower surface of the upper end face bearing plate;
the six-degree-of-freedom mechanical arm comprises a mechanical arm support, a mechanical arm, a six-degree-of-freedom driving device and a mechanical arm output connection plate; the first end of the mechanical arm is movably connected with the upper surface of the mechanical arm support, the second end of the mechanical arm is connected with the first side of the mechanical arm output connecting plate, and the second side of the mechanical arm output connecting plate is connected with the polishing executing mechanism; the lower surface of the mechanical arm support is connected with the upper surface of the upper end surface bearing plate; the six-degree-of-freedom driving device is arranged on the side wall of the mechanical arm;
the polishing executing mechanism comprises a polishing roller, a hairbrush, a polishing shell, an upper dust-proof pipeline, a second motor, a speed reducer, a polishing roller driving wheel, a polishing roller follower wheel and a lower end dust-collecting hood; the polishing roller and the hairbrush are arranged inside the polishing shell through a polishing shaft, two ends of the polishing shaft are respectively movably connected with a bearing support, the bearing support is connected with the polishing shell, and the polishing shaft can drive the polishing roller and the hairbrush to rotate; the upper dust-proof pipeline and the lower end dust-collecting cover are respectively arranged on the upper surface and the lower surface of the polishing shell where the polishing roller and the hairbrush are positioned; the second motor and the speed reducer are arranged on the polishing shell, the output ends of the second motor and the speed reducer are provided with the polishing roller driving wheel, the polishing roller driving wheel is connected with the polishing roller follower wheel through a synchronous belt, and the polishing roller follower wheel is connected with one end of the polishing shaft.
2. The grinding robot for wind blades according to claim 1, characterized in that: the polishing machine also comprises a power distribution module and a dust collecting device, wherein the power distribution module is electrically connected with the Mecanum wheel driving unit, the six-degree-of-freedom mechanical arm and the polishing executing mechanism respectively; the dust collecting device is communicated with the upper dust blocking pipeline and the lower end dust collecting cover through pipelines.
3. A sanding robot for wind blades according to claim 2, characterised in that: the Mecanum wheel driving unit comprises a Mecanum wheel, a wheel hub, a wheel support, a first motor and a speed reducer, the wheel support is connected with the lower surface of the upper end face bearing plate, the first side of the joint of the wheel hub of the Mecanum wheel and a bearing of the wheel support is movably connected and is positioned on the outer side of the wheel support, and the second side of the joint of the bearing of the wheel support is provided with the first motor and the speed reducer.
4. A sanding robot for wind blades according to claim 3, characterised in that: the arm includes first arm, second arm and third arm, the first end of first arm with arm support swing joint, the second end of first arm with the first end swing joint of second arm, the second end of second arm with the first end swing joint of third arm, the second end of third arm with the lateral wall fixed connection of the shell of polishing.
5. A sanding robot for wind blades according to claim 1 characterised in that: and the upper surface and the lower surface of the polishing shell where the polishing roller and the hairbrush are located are also respectively provided with an infrared distance measuring sensor.
6. A sanding robot for wind blades according to claim 3, characterised in that: and a balancing weight is also arranged on the polishing shell.
7. A sanding robot for wind blades according to claim 1 characterised in that: the omnidirectional exercise chassis also comprises a battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222032261.4U CN217728242U (en) | 2022-08-03 | 2022-08-03 | Polishing robot for wind power blade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222032261.4U CN217728242U (en) | 2022-08-03 | 2022-08-03 | Polishing robot for wind power blade |
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| Publication Number | Publication Date |
|---|---|
| CN217728242U true CN217728242U (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222032261.4U Active CN217728242U (en) | 2022-08-03 | 2022-08-03 | Polishing robot for wind power blade |
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| CN (1) | CN217728242U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116900872A (en) * | 2023-05-10 | 2023-10-20 | 中复连众风电科技有限公司 | Semi-automatic polisher for large-scale offshore blades |
-
2022
- 2022-08-03 CN CN202222032261.4U patent/CN217728242U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116900872A (en) * | 2023-05-10 | 2023-10-20 | 中复连众风电科技有限公司 | Semi-automatic polisher for large-scale offshore blades |
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