CN217728242U - Grinding robot for wind turbine blades - Google Patents

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

Grinding robot for wind turbine blades

technical field

The utility model belongs to the field of grinding, in particular to a grinding robot for wind power blades.

Background technique

Wind power is an important renewable energy source. The 2022 Global Wind Energy Report released by the Global Wind Energy Council (GWEC) mentioned that the global installed capacity of wind power will reach 93.6GW in 2021, and China will account for 50.91%. Quantity ranks first in the world. Wind turbine blades are an important part of wind turbines, and their related manufacturing technologies represent the competitive level of products. The surface grinding process of wind power blades can effectively improve the surface quality of the blades and provide a basis for the subsequent coating process. At present, the blade surface grinding process is still mainly done manually, and there is an urgent need for efficient and reasonable OEM equipment. The current manual surface grinding operation has the following difficulties:

(1) Blade grinding is one of the processes that require the most man-hours and people in the production process of blades. The main reason is that the blades are large in size and widely distributed in models. Labor requires too many auxiliary equipment such as ladders to carry out small-scale operations. The grinding operation, and in the safety work, it is clearly forbidden for workers to move the ladder frame while working, and the efficiency of adjusting the position back and forth is extremely low.

(2) The curved surface of the blade is complex, the randomness of the operation is large during manual grinding, and the grinding and polishing allowance is difficult to control, resulting in poor effect of the subsequent coating process and increased paint consumption.

(3) The dust pollution caused by blade grinding is very serious. The dust caused by grinding is scattered randomly, and the working environment is harsh. On-site staff need to wear breathing masks to operate. Long-term industry engagement can easily threaten the safety and health of employees themselves.

In summary, the surface grinding process in the production process of wind power blades has disadvantages such as low efficiency, uncontrollable grinding uniformity, serious dust pollution, and high safety hazards.

Therefore, it is of great practical significance to develop a grinding robot for wind power blades and further promote the intelligent production of wind power blades.

Utility model content

Aiming at the deficiencies of the existing technology, the utility model provides a grinding robot for wind power blades. The device realizes comprehensive grinding of wind power blades at various angles by setting a six-degree-of-freedom mechanical arm. At the same time, the device is grinding the actuator There is also an upper dust-blocking pipe and a lower dust-collecting hood on the top, which can effectively collect the grinding residue and avoid dust generation. The mecanum wheel drive unit of the device can realize the overall displacement and realize multi-angle and multi-directional comprehensive grinding.

In order to achieve the above object, the utility model discloses the following technical solutions:

A grinding robot for wind turbine blades, which includes an omnidirectional movement chassis, a six-degree-of-freedom mechanical arm, and a grinding actuator; the first end of the six-degree-of-freedom mechanical arm is connected to the upper surface of the omnidirectional movement chassis, The second end of the six-degree-of-freedom mechanical arm is connected to the grinding actuator; the omnidirectional movement chassis includes an upper end surface bearing plate, a vehicle frame, a forklift slot, a drawer, and a mecanum wheel drive unit; the upper end surface The lower surface of the bearing plate is connected to the vehicle frame and the forklift slot; the drawer is arranged on the vehicle frame and the forklift slot; a plurality of the mecanum wheel drive units are symmetrically arranged on the lower surface of the upper end bearing plate the two sides of the mechanical arm; the six-degree-of-freedom mechanical arm includes a mechanical arm support, a mechanical arm, a six-degree-of-freedom drive device, and a mechanical arm output connecting plate; the first end of the mechanical arm is connected to the upper surface of the mechanical arm support The second end of the mechanical arm is connected to the first side of the output joint plate of the mechanical arm, and the second side of the output joint plate of the mechanical arm is connected to the grinding actuator; the support of the mechanical arm The lower surface of the lower surface 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 grinding actuator includes a grinding roller and a brush, a grinding shell, an upper resistance Dust pipeline, second motor and reducer, grinding roller driving wheel, grinding roller follower wheel and lower dust collection cover; the grinding roller and the brush are arranged inside the grinding shell through the grinding shaft, and the two The ends are respectively movably connected with the bearing support, the bearing support is connected with the grinding shell, and the grinding shaft can drive the grinding roller and the brush to rotate; the upper dust-blocking pipe and the lower dust-collecting hood respectively arranged on the upper surface and the lower surface of the grinding shell where the grinding roller and the brush are located; the second motor and the reducer are arranged on the grinding shell, and the output of the second motor and the reducer The grinding roller driving wheel is arranged at the end, and the grinding roller driving wheel is connected with the grinding roller follower wheel through a synchronous belt, and the grinding roller follower wheel is connected with one end of the grinding shaft.

Preferably, it also includes a power distribution module and a dust collection device, the power distribution module is respectively electrically connected to the mecanum wheel drive unit, the six-degree-of-freedom mechanical arm and the grinding actuator; The dust collecting device communicates with the upper dust blocking pipe and the lower dust collecting hood through pipes.

Preferably, the mecanum wheel drive unit includes a mecanum wheel, a wheel hub, a wheel bracket, a first motor and a reducer, the wheel bracket is connected to the lower surface of the upper end bearing plate, the mecanum The hub of the wheel is movably connected to the first side of the bearing connection of the wheel bracket and is located outside the wheel bracket, and the second side of the bearing connection of the wheel bracket is provided with a first motor and a reducer.

Preferably, the mechanical arm includes 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 support of the mechanical arm, and the first mechanical arm The second end of the second 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 first end of the third mechanical arm is The two ends are fixedly connected with the side wall of the grinding shell.

Preferably, the upper surface and the lower surface of the grinding shell where the grinding roller and the brush are located are respectively provided with infrared distance measuring sensors.

Preferably, a counterweight is also arranged on the grinding shell.

Preferably, the omnidirectional sports chassis further includes a battery.

Compared with the prior art, the utility model has the following beneficial effects:

1. This device realizes all-round movement of the grinding actuator by setting a six-degree-of-freedom mechanical arm, which can ensure comprehensive grinding of wind power blades at all angles and ensure grinding accuracy. In addition, an upper dust-blocking pipe and a lower dust-collecting hood are arranged on the grinding actuator, and both the upper dust-blocking pipe and the lower-end dust-collecting hood are respectively connected with the dust collecting device, which can realize centralized collection of grinding residues.

2. The device is also equipped with an omnidirectional movement chassis. The omnidirectional movement chassis is equipped with a forklift slot and a mecanum wheel drive unit. The mecanum wheel drive unit can realize the displacement of the device, and the forklift slot can ensure that the mecanum Even when the wheel drive unit cannot be driven, the device can be moved.

3. The two sides of the grinding actuator of the device are provided with auxiliary pressure rollers, which can ensure that the grinding actuator does not cause damage to other parts while it is in operation.

4. There is also a power distribution module and a battery above the omnidirectional movement chassis of the device. The power distribution module and the battery can ensure the electric drive of the device, and at the same time effectively control the operation of the overall device, and provide short-range battery life, avoiding the Moving still requires cabling.

Description of drawings

Fig. 1 is the finishing structure diagram of the utility model;

Fig. 2 is the structural diagram of the omnidirectional movement chassis of the present utility model;

Fig. 3 is the enlarged structure diagram of the Mecanum wheel drive unit of the present utility model;

Fig. 4 is the structural diagram of the six-degree-of-freedom mechanical arm of the present utility model;

Fig. 5 is an enlarged view of the structure of the grinding actuator of the present invention;

Fig. 6 is an enlarged side view of the grinding actuator of the present invention.

Some drawings in the accompanying drawings are explained as follows: 1. Omnidirectional sports chassis, 11. Upper end surface bearing plate, 12. Vehicle frame and forklift groove, 13. Drawer, 14. Mecanum wheel drive unit, 141. Mecanum Wheel, 142, wheel bracket, 143, first motor and reducer, 15, battery, 2, power distribution module, 3, dust collection device, 4, six degrees of freedom mechanical arm, 41, mechanical arm support, 42, six Degree of freedom driving device, 43, mechanical arm output connecting plate, 5, grinding actuator, 51, counterweight, 52, grinding shell, 53, upper dust-proof pipe, 54, infrared distance measuring sensor, 55, second motor and Reducer, 56, grinding roller driving wheel, 57, grinding roller follower wheel, 58, lower end dust collection cover, 59, grinding roller and hairbrush, 510, auxiliary pressure roller, 511, lower dust collection pipeline, 512, grinding shaft.

Detailed ways

Exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The utility model provides a grinding robot for wind power blades, as shown in Figures 1-6, which includes an omnidirectional motion chassis 1, a six-degree-of-freedom mechanical arm 4, a grinding actuator 5, a power distribution module 2 and a dust collection Device 3; the first end of the six-degree-of-freedom mechanical arm 4 is connected to the upper surface of the omnidirectional motion chassis 1, which is used for better fitting between the actuator and the working surface, track control, etc., and the second end of the six-degree-of-freedom mechanical arm 4 The end is connected with the grinding actuator 5.

The omnidirectional motion chassis 1 is set at the bottom of the device, which can make the robot move. The omnidirectional motion chassis 1 includes an upper end surface bearing plate 11, a frame and a forklift slot 12, a drawer 13, a mecanum wheel drive unit 14 and a battery 15 ; The lower surface of the upper bearing plate 11 is connected to the vehicle frame and the forklift groove 12; the drawer 13 is arranged on the vehicle frame and the forklift groove 12, and can place components such as motor drivers; a plurality of mecanum wheel drive units 14 are arranged symmetrically on the upper surface Both sides of the lower surface of the bearing plate 11; the battery 15 is arranged on the lower side of the upper end surface bearing plate 11, which provides short-range battery life for the robot and avoids the need to arrange cables for the movement of the factory room.

The six-degree-of-freedom mechanical arm 4 includes a mechanical arm support 41, a mechanical arm, a six-degree-of-freedom drive device 42, and a mechanical arm output connecting plate 43; the first end of the mechanical arm is movably connected with the upper surface of the mechanical arm support 41, and the mechanical arm The second end of the second end of the mechanical arm is connected with the first side of the output connecting plate 43 of the mechanical arm, and the second side of the output connecting plate 43 of the mechanical arm is connected with the grinding actuator 5; The surface is connected; 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 track control of the grinding head.

The grinding actuator 5 includes a counterweight 51, a grinding shell 52, an upper dust-proof pipe 53, an infrared ranging sensor 54, a second motor and a reducer 55, a grinding roller driving wheel 56, a grinding roller follower wheel 57, and a lower dust collection cover 58, grinding roller and hairbrush 59, auxiliary pressure wheel 510, lower dust collection pipe 511 and grinding shaft 512. The grinding shell 52 is fixed on the output joint plate 43 of the mechanical arm through bolt connection, the counterweight 51 is arranged on the left side of the grinding shell 52, and the upper dust-blocking pipe 53 is centrally set directly above the grinding shell 52 and connected to the dust collecting device 3. By blowing out high-pressure gas, the grinding dust is prevented from rising. The infrared distance measuring sensor 54 is arranged symmetrically in the center of the grinding shell 52. Through equidistant measurement and control, the grinding actuator 5 can be stably tangent to the grinding work area. The second motor and reducer 55 is fixedly installed on the rear side of the grinding shell 52 away from the counterweight 51, the grinding roller driving wheel 56 is directly connected to the output shaft of the second motor and the reducer 55, and the grinding roller follower wheel 57 is fixed on the same side of the driving wheel , the grinding shaft 512 is arranged in the center of the grinding actuator 5, the grinding roller and the brush 59 are directly installed on the grinding shaft 512, and are driven by the grinding roller follower wheel 57 to complete the grinding operation, and the auxiliary pressure roller 510 is symmetrically installed on the grinding shaft 512 The left and right sides of the casing 52 prevent the grinding actuator 5 from directly colliding with or rubbing the surface of the wind power blade, causing damage to the blade. One end of the pipe 511 is connected to the lower dust collecting cover 58, and the other end is directly connected to the dust collecting device 3, and the collected dust is directly extracted.

The power distribution module 2 is arranged on the rear side of the upper surface of the omnidirectional motion chassis 1 , and the power distribution module 2 is electrically connected to the mecanum wheel drive unit 14 , the six-degree-of-freedom mechanical arm 4 and the grinding actuator 5 respectively.

The dust collection device 3 is arranged side by side with the power distribution module 2 on the rear side of the upper surface of the omnidirectional movement chassis 1, and is arranged side by side with the power distribution module 2. The dust collection device 3 is connected with the upper dust blocking pipe 53 and the lower dust collection cover through the pipe. 58 connected.

Each mecanum wheel drive unit 14 can be driven independently, which can efficiently make the polishing robot move in any direction. The mecanum wheel drive unit 14 includes a mecanum wheel 141, a wheel hub, a wheel bracket 142 and a first motor and Speed reducer 143, wheel bracket 142 is connected with the lower surface of upper end surface bearing plate 11, the wheel hub of Mecanum wheel 141 is flexibly connected with the first side of the bearing joint of wheel bracket 142, and is on the outside of wheel bracket 142, the wheel bracket 142 The second side of the bearing connection is provided with a first motor and a reducer 143 .

The mechanical arm includes a first mechanical arm, a second mechanical arm and a third mechanical arm. The first end of the first mechanical arm is movably connected to the mechanical arm support 41, and the second end of the first mechanical arm is connected to the second end of the second mechanical arm. One end is movably connected, 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 grinding shell 52 .

The upper surface and the lower surface of the grinding shell 52 where the grinding roller and the hair brush 59 are located are respectively provided with infrared distance measuring sensors.

The grinding shell 52 is also provided with a counterweight 51, the counterweight 51 can balance the weight of the second motor and the reducer 55, and reduce the influence of the additional torque on the control.

working principle:

At the beginning of the grinding operation, the omnidirectional motion chassis 1 transfers the wind turbine blade grinding robot into the initial blade grinding position, and then the six-degree-of-freedom mechanical arm 4 adjusts the attitude of the grinding actuator 5 so that it is facing the wind turbine blade grinding area, and then the six-degree-of-freedom mechanical arm 4 The auxiliary pressure wheel 510 of the grinding actuator 5 is just attached to the grinding area of the wind power blade. At this time, the infrared distance measuring sensor 54 is arranged symmetrically up and down in the center of the grinding shell 52. Through equidistant measurement and control, the grinding actuator 5 can be stably aligned Cut to the grinding work area, then the second motor and reducer 55 work, by driving the grinding roller drive wheel 56 and the grinding roller follower wheel 57 in the synchronous belt device, the grinding roller and the brush 59 are further driven to rotate, and the grinding operation starts .

Then, under the condition that the omnidirectional movement chassis 1 does not move, the trajectory control of the grinding actuator 5 is performed by the six-degree-of-freedom mechanical arm 4, so that it can stably complete the vertical grinding operation downward or upward. The throwing area is in the shape of a curved strip, and then the six-degree-of-freedom mechanical arm 4 laterally adjusts the position of the grinding actuator 5 to complete the grinding operation of the adjacent curved strip area, and then the second motor and reducer 55 stop working, and the grinding roller and brush 59 stop rotating synchronously. In the above-mentioned process, the outer distance measuring sensor passes the equidistant measurement and control in real time, and constantly adjusts the grinding actuator 5 to make it tangent to the working area. Synchronously, the upper dust-blocking pipe 53 continuously blows out high-pressure gas to prevent the grinding dust from rising, and is directly connected to the collector. The lower dust collection pipe 511 of the dust device 3 directly extracts the dust in the dust collection tank.

The working area to be polished reaches the maximum covered area, and then the mecanum wheel drive unit 14 directly drives the robot to move to the next working area, and repeats the above steps to continue the grinding operation.

The above-mentioned embodiment is only to describe the preferred implementation of the present utility model, not to limit the scope of the present utility model. Various modifications and improvements made should fall within the scope of protection determined by the claims of the utility model.

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.

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