EP2845064A1

EP2845064A1 - Rotor blade production device and corresponding method

Info

Publication number: EP2845064A1
Application number: EP13719737.2A
Authority: EP
Inventors: Marc Ullmann; Lothar Rademacher; Andreas Riener; Alexander Meissner
Original assignee: Duerr Systems AG
Current assignee: Duerr Systems AG
Priority date: 2012-05-03
Filing date: 2013-05-03
Publication date: 2015-03-11
Also published as: DE102012021658A1; US20150136305A1; CN104272206A; WO2013164101A1

Abstract

The invention relates to a device, in particular for measuring surfaces of joints (FS) of at least two joining parts (H1, H2, S1, S2) to be connected and, preferably, for connecting same. The device comprises an application device (30) for applying an application means to the joints (FS), at least one measurement device (10) for measuring the surfaces of the joints (FS), and a displacement device (20, 25) for displacing the measurement device (10) along the joints (FS). At least one application parameter is measured on the basis of the surfaces measured, whereby a surface-dependent application process can be achieved.

Description

DESCRIPTION

Rotor blade manufacturing apparatus and associated method

The invention relates to a device, in particular for measuring surfaces of joints of at least two joining parts to be joined and preferably for connecting the same. The joining parts to be joined are preferably half-shells for producing a rotor blade for a wind turbine and / or stiffening webs for this purpose. The device is thus in particular a device for producing rotor blades for wind power plants. The invention also relates to an associated method and a rotor blade produced by the method.

In the manufacture of rotor blades for wind power plants by means of manual adhesive application, rotor blade half shells are positioned in their final position relative to one another and adhesively bonded together after the adhesive has been applied. Due to tolerances of the rotor blade half shells, the joint gap often has relatively large tolerances. These tolerances are commonly used e.g. determined by kneading and manually increased the amount of adhesive with possible underdosing. In the automated adhesive application, the adhesive is applied by robots along a predetermined, taught path. Each point of this path is usually associated with a fixed amount of application agent.

A disadvantage of conventional rotor blade manufacturing methods is that they often lead to increased material consumption. For example, the adhesive usually has to be removed due to existing component parts. overdosed in order to achieve a complete joint filling. Furthermore, the conventional rotor blade manufacturing processes often have an improved quality and / or are associated with additional rework.

An object of the invention is to provide an improved and / or alternative device, which is particularly useful in the manufacture of a rotor blade for a wind turbine.

This object is achieved in particular by the features of the independent claims. Advantageous developments can be found in the dependent claims. Preferably, an apparatus is provided, in particular for measuring surfaces of joints, at least two ^¬ it to be connected to the joining members and / or for connecting dersel ^¬ ben. The device suitably comprises an application device for applying an application agent, preferably an adhesive material (eg adhesive) and / or a

Sealing material, on the joints. The device expediently comprises at least one measuring device for measuring the surfaces of the joints, in particular the surface contours (eg surface topology, surface geometry, etc.) and z. B. a moving device for moving the measuring device, in particular along the joints. The apparatus is particularly configured so that at least one preferably function of the primary to the application process application parameters as a function of the measured surface top is determined, whereby a oberflächenab ^{¬-dependent,} in particular surface-tolerance-dependent, application operation can be realized suitably. With the device according to the invention it is possible, for example, to determine deviations between joint-actual contours and joint setpoint contours and to adapt the application process accordingly. As a result, for example, the application agent can be metered so that neither too much nor too little application agent is applied. In addition, if necessary, for example, the course of the application agent bead to be applied can be varied depending on the measured surfaces.

It is possible that the at least one application parameter comprises the amount of the application agent to be applied. The amount may e.g. a substantially constant outflow rate and / or a varying outflow rate.

Preferably, the determination of the application ^parameter takes place as a function of joint setpoint contours which, for example, can be stored in a memory device. In particular, the determination of the application parameter can be carried out as a function of the deviation between the measured upper ^surface contours, which represent suitable joint-actual contours, and joint setpoint contours. In particular, the amount of to be applied Applikati ^¬ onsmittels or generally at least a Applikationspa ^¬ parameters can be varied as a function of a correction value calculated from the deviation. The at least one application parameter may alternatively or additionally include the dynamics of motion executed (eg Geschwin ^¬ speed) and / or the movement path of the executed BEWE ^¬ restriction device and / or the application device. Since the moving means preferably for movement In the context of the invention, the movement dynamics to be executed and / or the movement path of the movement device to be executed in particular comprise the movement dynamics to be performed and / or the movement path of the application device to be executed.

In addition, the at least one application parameter may e.g. comprise the path of the application agent bead to be applied (e.g., adhesive or sealing bead).

In particular, it is possible to generate a variable amount of application agent (eg outflow rate) adapted to the measured surfaces and / or to generate a variable movement dynamics (eg speed) and / or movement path of the movement device, in particular the application device, adapted to the measured surfaces is.

The at least one application parameter is preferably defined in such a way that the filling of a joint is ensured, but overfilling of the joint is at least reduced, or generally an over or underdosing of the application agent is at least reduced.

It is possible for the measuring device to additionally serve for the web guide and thus suitably a measuring device-guided, in particular sensor-guided, application device application can be realized. Within the scope of the invention, the measuring device may comprise a plurality of measuring devices provided for different purposes. However, it is possible that one and the same measuring device is used to both measure and to ensure a fair device-guided web guide. It should be mentioned that a railway operator tion system can also be integrated, for example, in the measuring device, in particular a sensor.

The measuring device or devices may e.g. at least one sensor, in particular a 2D or 3D

Sensor, at least one distance sensor, at least one optical sensor and / or at least include a camera system.

The movement device preferably also serves for moving, in particular guiding, the application device. This makes it possible, for example, that the application device can preferably be moved together with the measuring device. In particular, the measuring device and the Appli ^¬ cation device may be adjacent to each other. Alternatively or additionally, the measuring device is preferably directed forward relative to the direction of movement. Preferably, the application device is arranged relative to the direction of movement behind the measuring device. The movement device may include, for example, a robot, in particular a multi-axis robot, on which the measuring device and / or the application device is mounted. Alternatively or additionally, the movement device may comprise a movable portal construction which preferably comprises at least two side parts (eg two supports, a support and a wall, etc.) and a carrier connecting the side parts, wherein the multi-axis robot can be moved along the carrier and / or projecting down from the carrier. In the context of the invention, the movable portal construction also includes, for example, a one-sided or two-sided wall and / or floor-guided portal construction.

It is possible that the device comprises eg a dynamic mixing device which is configured to To mix component adhesive material. The mixing device is preferably arranged directly in front of or in the application device.

It is possible that a material supply, which includes the application means, is mounted on the movable portal construction and is preferably carried by the portal construction.

In addition, the device may comprise a dosing unit for dosing the application agent to be applied. The dosing unit is preferably movable together with the multi-axis robot, e.g. along the said carrier. The aforementioned amount is thus advantageously preferably a metered amount.

The device may include a computing and / or control unit configured to perform the one or more determinations and / or to control the device components, including, as appropriate, rules within the scope of the invention. The one or more determinations may preferably be performed in real time.

The apparatus may further comprise a handling apparatus configured to merge the adherends to be joined after application of the appliqué.

The joining parts to be joined are preferably half-shells for a rotor blade for a wind turbine and / or Ausstei ^¬ tion webs for it. The device is thus in particular a device for producing rotor blades for wind power plants or at least a part thereof. In the context of the invention, the at least one application parameter can relate in particular to the application means (eg amount, outflow rate, application bead course, etc.), the application device and / or the movement device (eg movement dynamics, speed, trajectory, application bead path, etc.). Within the scope of the invention, the application parameter can refer to any component related to the device, which does not necessarily have to be in connection with the actual application of the application agent. Within the scope of the invention, the application parameter may include, for example, processes before, during and / or after the application of the application agent.

It should be mentioned that in the context of the invention, in particular a variable outflow rate of the application means at a substantially constant speed of the movement device (in particular the Tool Center Points (TCP)) is possible and / or a substantially constant discharge rate at variable speed of the movement device.

The invention is not limited to a device, son ^¬ also includes a method, in particular for measuring joints of at least two joining parts to be joined and / or for connecting the same, which can be preferably carried out by means of a device as described herein. In the method, an application device is preferably moved along the joints and an application agent applied to the joints, a measuring device is suitably moved along the joints, for. B. surfaces of the joints are measured, and at least one, preferably acting on the application process application parameters, depending on the measured NEN surfaces determined, which expediently a surface, in particular surface tolerance-dependent application process can be realized. The method is in particular a production method for a rotor blade for a wind turbine or at least a part thereof.

As a rule, two rotor blade half shells are glued together, wherein at least one web is inserted between the two rotor blade half shells and glued to the inner walls of the two rotor blade half shells. Here, there is the problem that the production of the rotor blade half shells and the webs is associated with considerable component tolerances, so that the adhesive gaps between the two rotor half shells and between the rotor blade half shells and the webs are also subject to tolerances, which leads to fluctuating gaps in production. This, in turn, is problematic because so much adhesive has to be applied so that even with a maximum gap dimension a durable adhesive seam is created. As a rule, with a minimum gap of the adhesive gap, excess adhesive is applied, which in extreme cases can lead to a detachment of adhesive residues, which then fly around inside the rotor blade during operation of the wind turbine

Can cause damage. Furthermore, it should be noted that the mechanical strength of an adhesive seam depends on the thickness of the adhesive seam or on the gap dimension. Thus, the adhesion partner are not bonded at a gap with one another zero, since then it can be applied to the adhesive areas not adhesives ^¬ material. With an extremely large gap ^¬ measure the mechanical strength of the adhesive connection is there against ^¬ with increasing gap, since the adhesive itself only a relatively low mechanical strength has. It is therefore desirable to produce an adhesive seam with a certain optimum thickness, which is greater than zero and allows maximum mechanical strength of the adhesive bond.

The invention therefore comprises various other variants for solving the above-described problems in gluing together rotor blade half shells for a wind power plant. In one variant of the invention, at least one web is first adhesively bonded to an inner wall of a first rotor blade half shell, a first adhesive material having a first pot life being used. The pot life defines the duration of the processability of the respective adhesive. In the preferred exemplary embodiment of the invention, two such webs are usually adhesively bonded to the inner wall of the first rotor blade half shell, but in principle it is also possible within the scope of the invention to use a different number of webs between the two rotor half shells.

Subsequently, a second rotor blade half shell is then bonded to the first rotor blade half shell and to the web or webs, wherein a second adhesive material with a second pot life is used.

The invention now provides in this variant that the first adhesive has a shorter pot life than the second adhesive. This is advantageous because when gluing the web to the first rotor blade shell only a single

Adhesive seam must be applied for each web, which requires relatively little time, so that a fast-curing adhesive ^¬ material can be used. This is also advantageous because the web is usually exactly aligned during hardening. must be so that a rapid curing is desirable. When gluing the second rotor blade shell, however, two glued seams between the two Rotorblatthalbschalen and additionally for each web another adhesive seam must be applied, which requires more time due to the larger number of adhesive seams, so that a longer pot life is desirable.

In another variant of the invention, however, it is considered that the rotor blade half shells are usually produced in a mold, so that the half shell outer dimensions of the individual rotor blade half shells are predetermined by the internal dimension of the mold used, while the half shell inner dimensions of the individual rotor blade half shells are production-dependent. vary. In this variant of the invention, it is therefore provided that in the individual rotor blade half shells in each case a half shell inner dimension and a half shell outer dimension is measured in order to calculate therefrom the wall thickness of the rotor blade half shells and / or an adhesive gap dimension of the adhesive gap between the two rotor blade half shells. When the adhesive is applied between the two rotor half shells, an application parameter (eg adhesive quantity) is then set as a function of the wall thickness calculated in this way or the gluing gap dimension calculated in this way. In this case, it is sufficient if the half shell outer dimension is measured once based on the predetermined manufacturing form, whereas the half shell internal dimension is preferably measured individually for each rotor blade half shell. It has already been mentioned above that, between the two rotor blade half-shells is preferably at least one web is ^¬ sets, which is glued to the inner walls of the two rotor blade half ^¬ cups. Preferably, the adhesive seam for gluing the web in one of the rotor blade half shells of a robot applied to a constructively predetermined position. The adhesive seams are applied as flat as possible in order to leave as much tolerance reserve for the adhesive seams at the opposite end of the web as possible.

Furthermore, it has already been mentioned above that the webs have to be aligned spatially exactly when glued to the inner wall of a rotor blade half shell until the adhesive has cured. In order to facilitate an exact spatial alignment of the individual webs, it is provided in a variant of the invention that an optical alignment aid is projected onto the web, by means of which a worker can manually align the web. For example, a laser marking can be projected onto the free end of the web by means of a laser.

It has already been pointed out above that the manufacture of the rotor blade half shells is associated with considerable component tolerances, which leads to corresponding tolerances of the adhesive gap dimension, in particular between the free ends of the webs and the rotor blade half shell to be adhesively bonded thereto. In a further variant of the invention it is therefore provided that a distance dimension is measured between a reference plane and the free end of the respective web. Subsequently, depending on this, a gap dimension of the gluing gap between the free end of the web and the rotor blade half shell to be adhesively bonded thereto is calculated. When Ap ^¬ complicate the adhesive to the free ends of the webs or to the associated bonding surface on the inner wall of the other rotor blade half shell is then an application parameters

(eg amount of adhesive) adjusted according to the calculated gap. The invention also includes a rotor blade for a wind turbine that has been manufactured by a method as described herein.

The above-described features and preferred embodiments of the invention can be combined with one another as desired. Other advantageous developments of the invention are disclosed in the dependent claims or will become apparent from the following description of preferred embodiments of the invention in conjunction with the accompanying drawings.

1A shows a perspective view of two parts to be joined and a device according to an embodiment of the invention,

FIG. 1B shows an enlarged portion of the device of FIG. 1A, FIG.

Fig. 2 shows a schematic principle view of a

Joint-actual contour, a joint setpoint contour and a device according to a

Embodiment of the invention,

3 shows a perspective view of two parts to be joined and part of a device according to an embodiment of the invention,

Fig. 4 shows a schematic perspective An

sees two rotor blade halves and two stiffening webs for this according to one embodiment of the invention, ^¬, 5 shows a flowchart of a method according to an embodiment of the invention,

6A-6E different stages of production when gluing two rotor blade ^half- shells with two webs to a rotor blade for a wind turbine ^¬ plant,

7A and 7B cross-sections through two rotor half shells, idie must be glued together to form a rotor, wherein in each case a rotor blade inner dimension and a rotor blade outer dimension is entered,

8 shows a cross-sectional view through a rotor blade half shell with two glued-in webs, wherein the gluing gap dimension is measured between the free ends of the webs and the rotor blade half shell to be adhesively bonded thereto.

The embodiments described with reference to the figures are partially identical, wherein similar or identical parts are provided with the same reference numerals and reference is made to the explanation of other Ausfüh ^¬ tion forms or figures to avoid repetition.

FIG. 1A shows a device for measuring surfaces of joints FS of two joining parts H1 and H2 to be joined. The joining parts Hl and H2 are rotor blade half shells for producing a rotor blade for a wind power plant. Figure 1B shows an enlarged portion of the device of Fi gur ^¬ 1A. The device comprises a measuring device 10 for measuring the surfaces of the joints FS, in particular the surface contours (eg surface topology, surface geometry, etc.). The device further comprises an application device 30 for applying an application agent, in particular an adhesive or sealing material, to the joints FS. In addition, the device comprises a movement device 20, 25 for moving the measuring device 10 and the application device 30 along the joints FS. The measuring device 10 is arranged adjacent to the application device 30 and directed forward relative to the direction of movement.

The movement device comprises a portal structure 25 which can be moved along arrow PI and which comprises two side parts 26 and a carrier 27 connecting the side parts 26. The movement device also includes a multi-axis robot 20 for guiding the measuring device 10 and the application device 30. The multi-axis robot 20 can be moved along the carrier 27 along the arrow P2 and protrudes downwards from the carrier 27. The apparatus also includes a material supply 50 which is mounted on the traveling portal structure 25 and carried by the portal structure 25.

The device also comprises a dosing unit 60 for dosing the application agent to be administered. The metering unit 60 is preferably movable together with the Mehrachsro ^¬ boter 20 along the support 27th

The apparatus is configured so that at least one application parameter as a function of the measured Oberflä ^¬ surfaces of the joints FS is determined, and thereby an upper surface ^¬ dependent application process can be realized. Thus, it is possible that the amount of the application agent to be applied is determined as a function of the measured surface and the application process is adapted accordingly.

The determination is preferably carried out as a function of joint setpoint contours and, in particular, as a function of a deviation between measured surface contours, which thus describe joint-actual contours, and joint setpoint contours. The amount of the application agent to be applied can be varied as a function of a correction value determined from the deviation. It is also possible that the motion dynamics and / or trajectory of the application direction 30 to be executed is determined as a function of the measured surfaces of the joints FS and the application process is adapted accordingly. This also allows the course of the application means caterpillar is performed in dependence of the measured upper ^¬ surfaces of the joining points FS, for example.

Thus, a variable, adapted to the measured surfaces of the joints FS application agent outflow can be generated and alternatively or additionally a variable, adapted to the measured surfaces of the joints FS movement dynamics / movement path of the moving means 20, 25 and thereby the application device 30. The amount of applying application agent and the motion dynamics of the movement device 20, 25 to be executed are defined so that a filling of an adhesive or sealing joint is ensured, but overfilling of the adhesive ^¬ or sealing joint is at least reduced. The measuring device 10 can additionally serve for web guidance, so that a measuring device-guided, in particular sensor-guided, application process can be realized. In the context of the invention, the measuring device 10 may be formed from a plurality of measuring devices.

The measuring device 10 e.g. may include one or more suitable sensors (e.g., 2D or 3D sensors, proximity sensors, optical sensors, etc.) or one or more camera systems.

The apparatus may also include a mixing means, not shown, for mixing multi-component adhesive material. The mixing device is preferably arranged directly before or even in the application device 30 and serves in particular for mixing so-called 2K adhesives.

The application agent can be conventional adhesive or common sealing material used in the manufacture of rotor blades for wind turbines.

Figure 2 shows a schematic principle view of a Vorrich ^¬ processing according to an embodiment of the invention. 2 shows highly schematically a portal structure 25, a movable mounted on the portal structure 25 Mehrachsrobo ^¬ ter 20 and a multi-axis robot guided by the 20 application device 30, on which a measuring device is vorgese ^¬ hen 10th In addition, an application nozzle 31, which is assigned to the application device 30, can be seen. Furthermore, a metering device 60 is shown schematically, which serves for Dosie ^¬ Ren of the applied application agent and which is movable together with the multi-axis robot 20. You can also see a target contour of the surface of a joint FS and an actual contour of the upper surface of the joint FS. It can be seen that the desired contour corresponds to an idealized, in practice barely occurring surface contour, and application agent application purely with reference to the desired contour would lead to overdosing and / or underdosing of the application medium.

Since, within the scope of the invention, application parameters are determined as a function of a measured and thus actually present surface, the application process is based not only on theoretical nominal assumptions, but on actual actual conditions, whereby e.g. an over- and / or ünterdosierung can be at least reduced.

FIG. 2 also shows a computing / control unit 40, which is configured to perform the determinations of the application parameter and / or to control the device accordingly, whereby a regulation may also be included within the scope of the invention. The determinations made by the arithmetic / control unit 40 may be e.g. done in real time. The computing / control unit 40 can be indirectly or directly in operative connection with the measuring device 10, the movement device 20, 25, the application device 30, the material supply 50 and / or the dosing unit 60.

The apparatus may also include a handling apparatus umfas ^¬ sen, which is configured to loading after application of Kle- and / or to be connected half-shells Hl and zusammenzu for bonding lead ^¬ sealing material to the joining points FS H2. The handling apparatus may be a conventional handling apparatus known in the art for lead two shells for producing a rotor blade for a wind turbine.

In a particularly preferred embodiment of the invention, the device is configured to carry out the following process steps:

Detection of the surfaces of the joints FS,

Calculation of the required quantity of application agent, wherein the contour of the measured surface is compared with the desired contour of the surface and the difference between the quantity of application agent to be applied and a correction value is calculated from the difference,

Adjustment of the required Dosmittelmittel Dosiermenge depending on the correction value, and

Preferably, sensor-run application of the delivery device Figure 3 shows a perspective view of two to verbin ^¬ dender joining members Hl and H2, and a part of a device according to an embodiment of the invention. FIG. 3 once again shows a measuring device 10 and an application device 30, which are guided by a movement device which is only partially shown. The rectilinear in Figure 3 joining points FS of the fitting piece Hl are used to Ver ^¬ bonding with the rectilinear in Figure 3 joining points FS of the adherend H2, while the curved Figure 3 ver ^¬ current joints FS for bonding with a non-shown in Figure 3 Aussteifungssteg serve.

Figure 4 shows a schematic view of a rotor blade for a wind turbine according to an embodiment of OF INVENTION ^¬ dung. The rotor blade is made of two half shells Hl and H2 and formed two half-shells Hl and H2 stiffening stiffening webs Sl and S2. The reference symbols FS denote joints between the connected half shells Hl and H2 (in FIG. 4 the left and right joints FS) and joints between the stiffening webs Sl and S2 and the half shells Hl and H2 (in FIG. 4 the middle joints FS).

FIG. 5 shows a flow chart of a method according to an embodiment of the invention, in particular for measuring surfaces of joints FS of at least two joining parts H1, H2, S1 and S2 to be joined, and preferably for joining them. The method can preferably be used in a production method for a rotor blade for a wind power plant and is carried out in particular with a device as described above.

In a step ST1 first surface contours of joints FS to be joined joining parts Hl, H2, Sl and S2 are measured.

In a step ST2, an application parameters, the amount of to be applied delivery device is then at least determined as a function of the measured surface contours, wherein the application parameters preferably includes, but also, for example, the moving speed and / or the BEWE ^¬ supply path of the application device 30 and / or the application device 30 leading movement device 20, 25 may include. In a step ST3, the application means is applied to the joining points FS as a function of the determined Applikationspa ^¬ rameters and thus as a function of the measured Oberflä ^¬ chenkonturen. Additionally or alternatively, the application device 30 leading movement device 20, 25 are controlled or regulated as a function of the measured surface contours, in particular with respect to their speed to be executed and / or trajectory to be executed.

The variant of the invention shown in FIGS. 6A-6E will now be described below.

In this case, two rotor blade half-shells 70, 71, which are shown only schematically, are glued together, wherein two webs 72, 73 are inserted between the two rotor half shells 70, 71 in order to increase the rigidity of the resulting rotor blade, which is important for use in a wind power plant.

In a first step according to FIG. 6A, first the rotor blade half shell 70 is provided.

In a second step according to FIG. 6B, two adhesive beads 74, 75, which extend in the longitudinal direction of the rotor blade half shell 70, are then applied to the inner wall of the rotor blade half shell 70. The adhesive bead 74 is here applied at a distance C from the side edge of the rotor blade half shell 70, while the adhesive bead 75 is applied at a distance D from the side edge of the rotor blade half shell 70. The distances C, D are given in this case constructively, the adhesive beads 74, 75 are applied controlled by a robot, thereby ensuring that the distances C, D are maintained with low tolerances.

In a next step according to FIG. 6C, the ^posts 72, 73 are then placed on the adhesive beads 74, 75 in order to bond the webs 72, 73 to the rotor blade half shell 70. In this case, the webs 72, 73 must be aligned spatially exactly, until the adhesive of adhesive beads 74, 75 has hardened. This orientation of the webs 72, 73 is done manually by a worker. To facilitate the manual alignment of the webs 72, 73, two lasers 76, 77 are provided, each projecting a laser marking 78, 79 on the free ends of the webs 72, 73. The worker can then align the lands 72, 73 corresponding to the laser marks 78, 79, thereby ensuring that the lands 72, 73 are aligned according to the given technical specification.

In a further step according to FIG. 6D, further adhesive beads 80, 81, 82, 83 are then applied to the free ends of the webs 72 and to the adhesive surfaces of the rotor blade half shell 70.

In a next step according to FIG. 6E, the other rotor blade half shell 71 is then placed and glued to the rotor blade half shell 70 and the webs 72, 73. The adhesive beads 74, 75 consist of a relatively fast-curing adhesive, whereas the adhesive beads 80-83 consist of a slower curing adhesive. This is expedient because the application of the two adhesive beads 74, 75 can take place relatively quickly, whereas the application of the adhesive beads 80-83 requires more time because of the larger number of adhesive beads 80-83.

The production of the rotor blade half shells 70, 71 generally takes place in a form such that the rotor blade half shells 70, 71 have a constant rotor blade outer dimension B1, B2, which is predetermined by the internal dimension of the mold used, as can be seen from FIGS. 7A and 7B. In the inven tion ^¬ variant according to Figures 7A and 7B is therefore in the Usually once the rotor blade outer dimension Bl or B2 measured based on the shape used.

In the production of the individual rotor blade half shells 70, 71, however, the respective rotor blade internal dimension AI or A2 varies from component to component. In the context of the invention, therefore, the rotor blade internal dimension AI, A2 is preferably measured individually for each component. From the measured values for the internal rotor blade dimension AI, A2 and the rotor blade outer dimension B1, B2, a thickness D1 of the resulting adhesive gap between the two rotor blade half-shells 70, 71 can then be calculated. Upon application of the adhesive beads 82, 83, an application parameter (e.g., amount of adhesive) is then adjusted accordingly.

Finally, FIG. 8 shows a further variant of the invention, which partially coincides with the variants described above, so that reference is made to the above description to avoid repetition, the same reference numerals being used for corresponding details.

A special feature here is that after the gluing of the webs 72, 73 on the inner wall of the rotor blade half-shell 70, the distance E or F between the free ends of the webs 72, 73 and a reference plane 84 is measured. The distance values E, F vary depending on the likewise varying wall thickness of the rotor blade half-shell 70. When applying the adhesive beads 80, 81 (see. Fig. 6D) to the free ^¬ en ends of the webs 72, 73 can then the distance values E, F taken into account to be able to adjust the adhesive beads 80, 81 accordingly. The invention is not limited to the preferred embodiments described above. Rather, a variety of variants and modifications is possible, which just ^¬ if make use of the inventive idea and therefore fall within the scope. In addition, the invention also claims protection for the subject matter and the features de dependent claims regardless of the requirements and related chen chen characteristics.

Claims

1. Device for connecting joints (FS) of at least two parts to be joined (Hl, H2, Sl, S2), comprising:

an application device (30) for applying an application agent, in particular an adhesive and / or sealing material, on at least one of the joints (FS), characterized in that

at least one measuring device (10) is provided for measuring at least one surface of the joints (FS), in particular at least one surface contour, and a movement device (20, 25) is provided for moving the measuring device (10) along at least one of the joints (FS); and

at least one application parameter is determined as a function of the at least one measured surface, and thus preferably a surface-dependent application process can be realized.

2. Device according to claim 1, characterized in that the at least one application parameter comprises the amount of the application agent to be applied.

3. Apparatus according to claim 1 or 2, characterized in that the determination is carried out in dependence on at least one Fü ^¬ frame-desired contour.

4. Device according to one of the preceding claims, ^¬ characterized in that the determination takes place as a function of the deviation between at least one measured surface contour and at least one joint setpoint contour.

5. The device according to claim 4, characterized in that the amount of the application agent to be applied is varied in dependence of a determined from the deviation correction value.

6. Device according to one of the preceding claims, characterized in that the at least one application Pa parameters

the movement dynamics / movement path of the movement device (20, 25) to be executed, in particular the applicator device (30), comprises, and / or

the path of the application agent bead to be applied.

7. Device according to one of the preceding claims, characterized in that

a variable, to the at least one measured Oberflä surface adapted application agent outflow can be generated, and / or

a variable, to the at least one measured Oberflä surface adapted movement dynamics / trajectory of the moving means (20, 25), in particular the application device (30) can be generated. 8. Device according to one of the preceding claims, characterized in that which is defined at least one Applikationspa ^¬ parameters, in particular the amount of to be applied delivery device and / or to be executed Bewegungsdyna ^¬ mik / movement path so that the filling of a joint is ensured, but an overfilling of the joint is at least ^¬ reduced.

9. Device according to one of the preceding claims, characterized in that the measuring device (10) comprises at least one of the following:

at least one sensor, in particular a 2D or 3D sensor,

at least one distance sensor,

at least one optical sensor,

at least one camera system.

10. Device according to one of the preceding claims, characterized in that the measuring device (10) in addition to the web guide is used and thus preferably a device device-guided application means Applizierung is feasible.

11. Device according to one of the preceding claims, characterized in that

the movement device (20, 25) serves to move the application device (30) along at least one of the joints (FS), in particular the application device (30) is movable together with the measuring device (10) by the movement device (20, 25), and / or

the measuring device (10) is arranged on the application device (30) and is preferably directed forward relative to the direction of movement.

12. Device according to one of the preceding claims, characterized in that the movement device

a multi-axis robot (20), on which the measuring ^{device ¬} (10) and / or the application device (30) is mounted, and / or

a movable portal construction (25), the at least two side parts (26) and the Seitentei Le (26) connecting carrier (27), wherein the multi-axis robot (20) along the carrier (27) is movable and preferably from the support (27) projects downwards.

13. Device according to one of the preceding claims, characterized in that a particular dynamic

Mixing device is provided to mix multi-component adhesive material and the mixing device vorzugswei- se is arranged directly in front of or in the application device (30).

14. Device according to claim 12 or 13, characterized in that a material supply (50) is mounted on the movable portal structure (25) and carried along by the portal construction (25).

15. Device according to one of the preceding claims, characterized in that the device comprises a metering unit (60) for metering the application agent to be applied, which is preferably along with the multi-axis robot (20) along the carrier (27) movable.

16. Device according to one of the preceding claims, characterized by a computing / control unit (40) which is configured to perform the determination (s), and / or the determination (s) take place in real time.

17. Device according to one of the preceding claims, charac- terized by a handling apparatus which is configured in order, after the application of the adhesive and / or Dichtmate ^¬ rials to be joined joining parts (Hl, H2, Sl, S2) for bonding Ver ^¬ merge.

18. Device according to one of the preceding claims, characterized in that the joining parts to be joined (Hl, H2) half shells for producing a rotor blade for a wind turbine and / or stiffening webs (Sl, S2) are for and the device thus expediently a device for manufacturing of rotor blades for wind turbines is.

19. Method for joining joints (FS) of at least two parts to be joined (H1, H2, S1, S2), wherein: - an application device (30) is moved along at least one of the joints (FS) and an application agent is applied to at least one of Joints (FS) applied,

characterized in that

at least one measuring device (10) is moved along at least one of the joints (FS),

at least one surface of the joints (FS) is measured, in particular at least one surface contour, and at least one application parameter as a function of the at least determines a measured surface and thus preferably a surface-dependent Appli ^¬ cation operation can be realized.

20. The method according to claim 19, characterized in that the method is a manufacturing method for a rotor blade for a wind turbine.

21. The method according to any one of claims 19 or 20,

characterized,

a) that at least one web (72, 73) is glued to an inner wall of a first rotor blade half shell (70), wherein a first adhesive material (74, 75) is used with a first pot life, b) that a second rotor blade half shell (71) with the first rotor blade half shell (70) and with the web (72, 73) is glued, wherein a second adhesive material (80-83) is used with a second pot life, and

c) that the first pot life is shorter than the second pot life.

Method according to one of claims 19 to 21,

Measurement of a half shell internal dimension (AI, A2) in the case of two rotor half shells (70, 71) which are connected to one another,

Measurement of a half shell outer dimension (Bl, B2) in the two rotor half shells (70, 71), which are connected to each other,

Calculation of the wall thickness of the two rotor half shells and / or an adhesive gap dimension of the adhesive gap between the two rotor half shells (70, 71) from the measured half shell internal dimension (AI, A2) and the measured sheath shell outer dimension (B1, B2),

Application of the adhesive material (82, 83) for Zusammenkle ^¬ ben the two rotor blade half shells (70, 71), and

Adjustment of the application parameter when applying the adhesive material as a function of the calculated wall thickness and / or as a function of the calculated adhesive gap dimension,

wherein the sheath outer dimension (Bl, B2) is preferably measured once a ^¬ times on a predetermined manufacturing form for the Ro ^¬ torblatt half shells (70, 71),

while the half shell internal dimension (AI, A2) is preferably measured individually for each rotor blade half shell (70, 71).

23. The method according to any one of claims 19 to 22, characterized by the following steps:

a) determining a desired position (C, D) of at least one web (72, 73) in a rotor blade half shell (70),

b) applying the adhesive material (74, 75) by means of a robot at the fixed position (C, D) on the inner wall of the rotor blade half shell (70).

24. The method according to any one of claims 19 to 23, characterized by the following steps:

a) adhering at least one web (72, 73) to an inner wall of a robot blade half shell (70) by means of an adhesive material (74, 75),

b) aligning the web (72, 73) during the curing time of the adhesive material (74, 75),

c) projecting an optical alignment aid (78, 79) onto the land (72, 73) to facilitate alignment of the land (72, 73), in particular by projecting a laser mark on the land by means of a laser (76, 77).

25. The method according to any one of claims 19 to 24, characterized by the following steps:

a) measuring a half-shell inside dimension (Al, A2) when two rotor blade half-shells (70, 71) which are each verbun ^¬,

b) gluing at least one web (72, 73) (on an inner wall of one of two rotor blade half-shells 70), c) measuring a distance measure (E, F) between a reference ^¬ plane (84) and the free end of the web (72, 73), d) calculating a gap of the adhesive gap between the free end of the web (72, 73) and the rotor blade half shell (71) to be adhered thereto in dependence on measured half shell internal dimensions and the measured distance measure,

e) applying adhesive material (80, 81) for gluing together the free end of the web (72, 73) with the inner wall of the other rotor blade half shell, wherein an application parameter depending on the calculated gap of the adhesive gap.

26. Rotor blade for a wind turbine, produced by a method according to one of claims 19 to 25.

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