CN219189699U - Blade internal surface staggered floor polishing robot - Google Patents
Blade internal surface staggered floor polishing robot Download PDFInfo
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- CN219189699U CN219189699U CN202223395446.8U CN202223395446U CN219189699U CN 219189699 U CN219189699 U CN 219189699U CN 202223395446 U CN202223395446 U CN 202223395446U CN 219189699 U CN219189699 U CN 219189699U
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model discloses a staggered polishing robot for the inner surface of a blade, which comprises a frame, a sucker positioning device, a four-axis motion platform, a polishing mechanism and a laser scanning positioning mechanism, wherein the sucker positioning device comprises a plurality of middle suckers and a plurality of auxiliary suckers; the four-axis motion platform comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism; the polishing mechanism comprises a polishing motor and a polishing milling cutter; the laser scanning and positioning mechanism comprises a laser sensor. The utility model can be well adapted to the surface of the blade through the sucker positioning device, can stably keep the whole frame and the blade fixed, and ensures the polishing quality of the inner staggered layer; the four-axis motion platform and the laser scanning positioning mechanism are matched, so that the inner staggered layer can be positioned rapidly and effectively, and the polishing accuracy is improved; dust generated in the polishing process can be quickly sucked away and collected by using the dust collector, so that the dust generated in polishing is prevented from affecting the workshop environment.
Description
Technical Field
The utility model belongs to the technical field of wind power blades, and particularly relates to a staggered layer polishing robot for the inner surface of a blade.
Background
The blade size of the wind driven generator is up to several tens of meters, and the production process comprises the steps of vacuum defoaming, constant-temperature mixing, pouring into a mould, heating and curing. When the wind power blade is produced, the half sides are produced firstly, and then the two half sides are bonded to form the complete wind power blade. The surface quality of the wind power blade determines the service life, after the pouring is finished, the outer surface and the inner surface of the blade can have some staggered defects, and the defective places need to be polished for secondary repair. The staggered defect repair of the inner surface of the blade is carried out before the two halves are bonded, and because the blade is too large in size and complex in internal structure, the traditional manual polishing has high requirement on the polishing level of workers, the time consumption is long, the quality cannot be ensured, and dust pollution generated in the polishing process is large. Therefore, an automatic polishing device which can adapt to the inner surface of the blade and automatically polish the staggered layers of the inner surface of the blade and ensure polishing precision is designed according to the characteristics of the inner surface of the wind power blade.
Disclosure of Invention
In order to solve the technical problems, the utility model adopts the following technical scheme: the staggered polishing robot for the inner surface of the blade comprises a frame, a sucker positioning device, a four-axis motion platform, a polishing mechanism and a laser scanning positioning mechanism;
the sucker positioning device comprises main upright posts positioned at two ends of a frame, the upper ends of the main upright posts are fixedly connected with the frame, a plurality of middle suckers are installed at the lower ends of the main upright posts, a plurality of auxiliary upright posts are respectively arranged at two sides of the main upright posts, the upper ends of the auxiliary upright posts are respectively and fixedly connected with the frame, guide rails and telescopic cylinders are installed on the auxiliary upright posts, the guide rails are vertically arranged, the telescopic cylinders are positioned above the guide rails, sliding blocks are installed on the guide rails in a matched mode, the telescopic cylinders are connected with the sliding blocks and drive the sliding blocks to move on the guide rails, swing connecting seats are arranged at the lower ends of the sliding blocks, each swing connecting seat comprises a vertical plate and a transverse plate, the lower ends of the vertical plates are fixedly connected with the corresponding transverse plates, the vertical plates are rotatably connected with the sliding blocks through swing shafts, and the auxiliary suckers are installed on the transverse plates;
the four-axis motion platform comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism, wherein the X-axis moving mechanism drives the Y-axis moving mechanism to move in the X-axis direction, the Y-axis moving mechanism drives the Z-axis moving mechanism to move in the Z-axis direction, the Z-axis moving mechanism drives the R-axis swinging mechanism to move in the Z-axis direction, and the R-axis swinging mechanism drives the polishing mechanism to swing on a vertical plane;
the polishing mechanism comprises a fixed mounting plate, a polishing motor and a polishing milling cutter, wherein the polishing motor is fixedly arranged on the fixed mounting plate and drives the polishing milling cutter to rotate;
the laser scanning positioning mechanism comprises a laser sensor and a circuit module, wherein the circuit module is connected with and controls the four-axis motion platform to operate, and the laser sensor is arranged on the fixed mounting plate.
As the preference of above-mentioned technical scheme, connect by the level portion of bending on the fixed mounting panel, be equipped with the through-hole that supplies the pivot activity of motor of polishing to pass on the level portion of bending, connect milling cutter of polishing after the pivot of motor of polishing passes the through-hole, milling cutter of polishing is equipped with dustproof baffle all around, and dustproof baffle connects the level portion of bending.
As the optimization of the technical scheme, the horizontal bending part is provided with a dust collection opening, and the dust collection opening is connected with the dust collector through a pipeline.
As the optimization of the technical scheme, the horizontal bending part is provided with the blowing condensing port, the blowing condensing port is connected with the air compressor through the blowing condensing pipe, and the air compressor supplies air to the telescopic air cylinder.
As the optimization of the technical scheme, the vacuum pump is further included, and the auxiliary sucker and the middle sucker are connected with the vacuum pump through air pipes respectively.
As the optimization of the technical scheme, the X-axis moving mechanism comprises an X-axis moving frame, an X-axis screw rod, an X-axis sliding rail, an X-axis moving motor and an X-axis moving mounting plate, wherein the X-axis screw rod is rotatably arranged on the X-axis moving frame, the X-axis sliding rail is arranged on the X-axis moving frame, the X-axis moving mounting plate is arranged on the X-axis sliding rail, the X-axis moving motor drives the X-axis screw rod to rotate, an X-axis screw rod nut is cooperatively arranged on the X-axis screw rod, and the X-axis screw rod nut is fixedly connected with the X-axis moving mounting plate; the Y-axis moving mechanism comprises a Y-axis moving frame, a Y-axis screw rod, a Y-axis sliding rail, a Y-axis moving motor and a Y-axis moving mounting plate, wherein the Y-axis moving frame is fixedly connected with the X-axis moving mounting plate; the Z-axis moving mechanism comprises a Z-axis moving frame, a Z-axis sliding rail, a Z-axis moving electric cylinder and a Z-axis moving mounting plate, wherein the Z-axis moving frame is fixedly connected with the Y-axis moving mounting plate; the R-axis swinging mechanism comprises an R-axis swinging motor, the R-axis swinging motor is arranged on the Z-axis movable mounting plate, and the R-axis swinging motor drives the fixed mounting plate to swing.
As the optimization of above-mentioned technical scheme, still including the dolly, be equipped with a plurality of bracing pieces on the dolly, the frame is arranged in on the bracing piece, be equipped with a plurality of lugs on the frame.
The beneficial effects of the utility model are as follows: according to the blade inner surface staggered layer polishing robot, the sucker positioning device enables the polishing robot to be well adapted to the surface of the blade, the whole frame and the blade can be stably kept fixed, the polishing acting force in the polishing process is ensured to be stable, and the polishing quality of the inner staggered layer is ensured; the four-axis motion platform and the laser scanning positioning mechanism are matched, so that the inner staggered floor can be positioned rapidly and effectively, and the accuracy of the polishing robot in polishing the inner staggered floor is improved; dust generated in the polishing process can be quickly sucked away and collected by using the dust collector, so that the dust generated in polishing is prevented from affecting the workshop environment.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic view of a portion of the structure of the present utility model;
FIG. 3 is a schematic view of the structure of the suction cup positioning device;
FIG. 4 is a schematic structural view of a grinding mechanism;
FIG. 5 is a schematic structural view of a main column;
fig. 6 is a schematic structural view of the secondary post.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1-6, the staggered polishing robot for the inner surface of the blade comprises a frame 100, a sucker positioning device, a four-axis motion platform, a polishing mechanism and a laser scanning positioning mechanism.
The sucker positioning device comprises a main upright post 101 positioned at two ends of a frame 100, the upper end of the main upright post 101 is fixedly connected with the frame 100, two middle suckers 102 are installed at the lower end of the main upright post 101, two sides of the main upright post 101 are respectively provided with a subsidiary upright post 103, the upper ends of the subsidiary upright posts 103 are respectively fixedly connected with the frame 100, a guide rail 104 and a telescopic cylinder 106 are installed on the subsidiary upright post 103, the guide rail 104 is vertically arranged, the telescopic cylinder 106 is positioned above the guide rail 104, a slide block 105 is installed on the guide rail 104 in a matched mode, the telescopic cylinder 106 is connected with the slide block 105 and drives the slide block 105 to move on the guide rail 104, a swing connecting seat is arranged at the lower end of the slide block 105 and comprises a vertical plate 107 and a transverse plate 108, the vertical plate 108 is fixedly connected with the lower end of the vertical plate 107, the vertical plate 107 is rotatably connected with the slide block 105 through a swing shaft 109, and an auxiliary sucker 110 is installed on the transverse plate 108. In use, the frame 100 is placed on the blade such that the four intermediate suction cups 102 are attracted to the blade surface with the inner staggered layer that is to be polished being located below the milling cutter 200. And then the four auxiliary suckers 110 with adjustable height and angle are utilized to adsorb other positions of the blade, so that the stability of the connection between the polishing robot and the blade is improved. Wherein the intermediate suction cup 102 and the auxiliary suction cup 110 are connected to the vacuum pump 400 through pipes, respectively, so that negative pressure is generated to be adsorbed on the surface of the blade.
The four-axis motion platform comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism, wherein the X-axis moving mechanism drives the Y-axis moving mechanism to move in the X-axis direction, the Y-axis moving mechanism drives the Z-axis moving mechanism to move in the Z-axis direction, the Z-axis moving mechanism drives the R-axis swinging mechanism to move in the Z-axis direction, and the R-axis swinging mechanism drives the polishing mechanism to swing on a vertical plane.
The polishing mechanism comprises a fixed mounting plate 202, a polishing motor 201 and a polishing milling cutter 200, wherein the polishing motor 201 is fixedly arranged on the fixed mounting plate 202, and the polishing motor 201 drives the polishing milling cutter 200 to rotate.
The laser scanning positioning mechanism comprises a laser sensor 203 and a circuit module, wherein the circuit module is connected with and controls the four-axis motion platform to operate, and the laser sensor 203 is arranged on a fixed mounting plate 202. The laser sensor 203 scans the blade surface to obtain accurate position information of the inner staggered layer, and then controls the four-axis motion platform to enable the milling cutter 200 to move to a designated position for milling.
Further, the fixed mounting plate 202 is connected with a horizontal bending portion 204, a through hole through which a rotating shaft of the polishing motor 201 movably passes is formed in the horizontal bending portion 204, the rotating shaft of the polishing motor 201 passes through the through hole and then is connected with the polishing milling cutter 200, dust-proof baffles 205 are arranged around the polishing milling cutter 200, and the dust-proof baffles 205 are connected with the horizontal bending portion 204. The dust-proof baffle 205 can prevent dust from directly entering into the workshop to affect the health of workers, and meanwhile, the surface of the blade is not damaged.
Further, the horizontal bending portion 204 is provided with a dust suction opening 206, and the dust suction opening 206 is connected to the dust collector 410 through a pipe. Dust collection port 206 sucks away dust generated during the polishing process and collects the dust in dust collector 410, thereby avoiding a large amount of dust from entering the workshop.
Further, a blowing condensing port 207 is provided on the horizontal bending portion 204, the blowing condensing port 207 is connected with an air compressor 208 through a blowing condensing pipe, and the air compressor 208 supplies air to the telescopic cylinder 106. The polished part is subjected to cold cutting by utilizing gas sprayed out of the blowing condensing port 207, so that the polished internal staggered layer is prevented from being excessively high in temperature.
Further, a vacuum pump 400 is further included, and the auxiliary suction cup 110 and the intermediate suction cup 102 are connected to the vacuum pump 400 through air pipes, respectively. The vacuum pump 400 enables the auxiliary suction cup 110 and the intermediate suction cup 102 to effectively suck the blade.
Further, the X-axis moving mechanism comprises an X-axis moving frame 300, an X-axis screw rod 301, an X-axis sliding rail 302, an X-axis moving motor 303 and an X-axis moving mounting plate 304, wherein the X-axis screw rod 301 is rotatably mounted on the X-axis moving frame 300, the X-axis sliding rail 302 is arranged on the X-axis moving frame 300, the X-axis moving mounting plate 304 is mounted on the X-axis sliding rail 302, the X-axis moving motor 303 drives the X-axis screw rod 301 to rotate, an X-axis screw rod nut is mounted on the X-axis screw rod 301 in a matched manner, and the X-axis screw rod nut is fixedly connected with the X-axis moving mounting plate 304; the Y-axis moving mechanism comprises a Y-axis moving frame 305, a Y-axis screw rod 306, a Y-axis sliding rail 307, a Y-axis moving motor 320 and a Y-axis moving mounting plate 308, wherein the Y-axis moving frame 305 is fixedly connected with an X-axis moving mounting plate 304, the Y-axis screw rod 306 is rotatably mounted on the Y-axis moving frame 305, the Y-axis sliding rail 307 is arranged on the Y-axis moving frame 305, the Y-axis moving mounting plate 308 is mounted on the Y-axis sliding rail 307, the Y-axis moving motor 320 drives the Y-axis screw rod 306 to rotate, a Y-axis screw rod nut is cooperatively mounted on the Y-axis screw rod 306, and the Y-axis screw rod nut is fixedly connected with the Y-axis moving mounting plate 308; the Z-axis moving mechanism comprises a Z-axis moving frame 309, a Z-axis sliding rail 311, a Z-axis moving electric cylinder 310 and a Z-axis moving mounting plate 312, wherein the Z-axis moving frame 309 is fixedly connected with a Y-axis moving mounting plate 308, the Z-axis sliding rail 311 is arranged on the Z-axis moving frame 309, the Z-axis moving mounting plate 312 is arranged on the Z-axis sliding rail 311, and the Z-axis moving electric cylinder 310 drives the Z-axis moving mounting plate 312 to move on the Z-axis sliding rail 311; the R-axis swing mechanism includes an R-axis swing motor 313, the R-axis swing motor 313 is mounted on the Z-axis moving mounting plate 312, and the R-axis swing motor 313 drives the fixed mounting plate 202 to swing. The X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism drive the X-axis, the Y-axis, and the Z-axis of the milling cutter 200 to move, respectively. The method comprises the steps of carrying out a first treatment on the surface of the The R-axis swinging mechanism drives the grinding milling cutter 200 to rotate in the plane by a certain angle, so that the grinding milling cutter is suitable for different parts of the blade, and the profiling grinding of the grinding surface is simpler, convenient to process, install and adjust.
Further, the trolley 401 is further included, a plurality of support rods 402 are arranged on the trolley 401, the frame 100 is arranged on the support rods 402, and a plurality of lifting lugs 403 are arranged on the frame 100. In use, the frame 100 is hoisted and transferred over the blade by a crane or crane. After the frame 100 descends, the auxiliary suction cup 110 and the middle suction cup 102 are used for keeping the polishing robot and the blade fixed. The cart 401 may facilitate transfer of the sanding robot. The cart 401 may be towed for movement by an electric trailer. The sanding robot is placed in the cart 401 when it is not in use or when it needs to be transferred. The support bar 402 supports the whole frame 100, and in order to improve stability, a positioning column can be arranged at the upper end of the support bar 402, corresponding positioning holes are arranged on the frame 100, and then a quick press hand is installed in a matched mode. Thus, the safety of the polishing robot in the transfer process can be ensured.
It should be noted that technical features of the air compressor 208, the dust collector 410, the motor, the electric cylinder, the suction cup, the vacuum pump and the like according to the present utility model should be considered as the prior art, and specific structures, working principles, control modes and spatial arrangement of the technical features may be selected conventionally in the art, and should not be considered as the utility model point of the present utility model patent, which is not further specifically expanded and detailed.
While the preferred embodiments of the present utility model have been described in detail, it should be appreciated that numerous modifications and variations may be made in accordance with the principles of the present utility model by those skilled in the art without undue burden, and thus, all technical solutions which may be obtained by logic analysis, reasoning or limited experimentation based on the principles of the present utility model as defined by the claims are within the scope of protection as defined by the present utility model.
Claims (7)
1. The staggered polishing robot for the inner surface of the blade is characterized by comprising a frame, a sucker positioning device, a four-axis motion platform, a polishing mechanism and a laser scanning positioning mechanism;
the sucker positioning device comprises main upright posts positioned at two ends of a frame, the upper ends of the main upright posts are fixedly connected with the frame, a plurality of middle suckers are installed at the lower ends of the main upright posts, a plurality of auxiliary upright posts are respectively arranged at two sides of the main upright posts, the upper ends of the auxiliary upright posts are respectively and fixedly connected with the frame, guide rails and telescopic cylinders are installed on the auxiliary upright posts, the guide rails are vertically arranged, the telescopic cylinders are positioned above the guide rails, sliding blocks are installed on the guide rails in a matched mode, the telescopic cylinders are connected with the sliding blocks and drive the sliding blocks to move on the guide rails, swing connecting seats are arranged at the lower ends of the sliding blocks, each swing connecting seat comprises a vertical plate and a transverse plate, the lower ends of the vertical plates are fixedly connected with the corresponding transverse plates, the vertical plates are rotatably connected with the sliding blocks through swing shafts, and the auxiliary suckers are installed on the transverse plates;
the four-axis motion platform comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism, wherein the X-axis moving mechanism drives the Y-axis moving mechanism to move in the X-axis direction, the Y-axis moving mechanism drives the Z-axis moving mechanism to move in the Z-axis direction, the Z-axis moving mechanism drives the R-axis swinging mechanism to move in the Z-axis direction, and the R-axis swinging mechanism drives the polishing mechanism to swing on a vertical plane;
the polishing mechanism comprises a fixed mounting plate, a polishing motor and a polishing milling cutter, wherein the polishing motor is fixedly arranged on the fixed mounting plate and drives the polishing milling cutter to rotate;
the laser scanning positioning mechanism comprises a laser sensor and a circuit module, wherein the circuit module is connected with and controls the four-axis motion platform to operate, and the laser sensor is arranged on the fixed mounting plate.
2. The blade inner surface staggered floor polishing robot of claim 1, wherein the fixed mounting plate is connected with a horizontal bending part, a through hole for a rotating shaft of a polishing motor to movably pass through is formed in the horizontal bending part, the rotating shaft of the polishing motor passes through the through hole and is connected with a polishing milling cutter, dust-proof baffles are arranged on the periphery of the polishing milling cutter, and the dust-proof baffles are connected with the horizontal bending part.
3. A blade inner surface staggered floor polishing robot as recited in claim 2, wherein the horizontal bending portion is provided with a dust suction port, and the dust suction port is connected with a dust collector through a pipeline.
4. A blade inner surface staggered polishing robot as recited in claim 2, wherein the horizontal bending portion is provided with an air blowing condensing port, the air blowing condensing port is connected with an air compressor through an air blowing condensing pipe, and the air compressor supplies air to the telescopic cylinder.
5. A staggered grinding robot for the inner surface of a blade according to claim 1, further comprising a vacuum pump, wherein the auxiliary suction cup and the middle suction cup are respectively connected with the vacuum pump through air pipes.
6. The blade inner surface staggered polishing robot as recited in claim 1, wherein the X-axis moving mechanism comprises an X-axis moving frame, an X-axis screw rod, an X-axis sliding rail, an X-axis moving motor and an X-axis moving mounting plate, the X-axis screw rod is rotatably mounted on the X-axis moving frame, the X-axis sliding rail is arranged on the X-axis moving frame, the X-axis moving mounting plate is mounted on the X-axis sliding rail, the X-axis moving motor drives the X-axis screw rod to rotate, an X-axis screw rod nut is cooperatively mounted on the X-axis screw rod, and the X-axis screw rod nut is fixedly connected with the X-axis moving mounting plate; the Y-axis moving mechanism comprises a Y-axis moving frame, a Y-axis screw rod, a Y-axis sliding rail, a Y-axis moving motor and a Y-axis moving mounting plate, wherein the Y-axis moving frame is fixedly connected with the X-axis moving mounting plate; the Z-axis moving mechanism comprises a Z-axis moving frame, a Z-axis sliding rail, a Z-axis moving electric cylinder and a Z-axis moving mounting plate, wherein the Z-axis moving frame is fixedly connected with the Y-axis moving mounting plate; the R-axis swinging mechanism comprises an R-axis swinging motor, the R-axis swinging motor is arranged on the Z-axis movable mounting plate, and the R-axis swinging motor drives the fixed mounting plate to swing.
7. A staggered polishing robot for the inner surface of a blade according to claim 5 further comprising a trolley, wherein a plurality of support rods are arranged on the trolley, the frame is arranged on the support rods, and a plurality of lifting lugs are arranged on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223395446.8U CN219189699U (en) | 2022-12-19 | 2022-12-19 | Blade internal surface staggered floor polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223395446.8U CN219189699U (en) | 2022-12-19 | 2022-12-19 | Blade internal surface staggered floor polishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219189699U true CN219189699U (en) | 2023-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223395446.8U Active CN219189699U (en) | 2022-12-19 | 2022-12-19 | Blade internal surface staggered floor polishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219189699U (en) |
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2022
- 2022-12-19 CN CN202223395446.8U patent/CN219189699U/en active Active
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