CN113056361A - 用于制造风能设施的转子叶片的设备和方法以及风能设施 - Google Patents

用于制造风能设施的转子叶片的设备和方法以及风能设施 Download PDF

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CN113056361A
CN113056361A CN201980070757.9A CN201980070757A CN113056361A CN 113056361 A CN113056361 A CN 113056361A CN 201980070757 A CN201980070757 A CN 201980070757A CN 113056361 A CN113056361 A CN 113056361A
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rotor blade
adhesive
blade shell
robot arm
holding device
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CN201980070757.9A
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CN113056361B (zh
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乌尔斯·本德尔
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Siemens Comesa Renewable Energy Services Co ltd
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Siemens Comesa Renewable Energy Services Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
    • B29C65/52—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the way of applying the adhesive
    • B29C65/522—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the way of applying the adhesive by spraying, e.g. by flame spraying
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor 
    • F03D1/06—Rotors
    • F03D1/065—Rotors characterised by their construction elements
    • F03D1/0675—Rotors characterised by their construction elements of the blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C13/00—Means for manipulating or holding work, e.g. for separate articles
    • B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
    • B29C65/52—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the way of applying the adhesive
    • B29C65/524—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the way of applying the adhesive by applying the adhesive from an outlet device in contact with, or almost in contact with, the surface of the part to be joined
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • B29C65/7841—Holding or clamping means for handling purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/01—General aspects dealing with the joint area or with the area to be joined
    • B29C66/05—Particular design of joint configurations
    • B29C66/10—Particular design of joint configurations particular design of the joint cross-sections
    • B29C66/11—Joint cross-sections comprising a single joint-segment, i.e. one of the parts to be joined comprising a single joint-segment in the joint cross-section
    • B29C66/112—Single lapped joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/01—General aspects dealing with the joint area or with the area to be joined
    • B29C66/05—Particular design of joint configurations
    • B29C66/10—Particular design of joint configurations particular design of the joint cross-sections
    • B29C66/13—Single flanged joints; Fin-type joints; Single hem joints; Edge joints; Interpenetrating fingered joints; Other specific particular designs of joint cross-sections not provided for in groups B29C66/11 - B29C66/12
    • B29C66/131—Single flanged joints, i.e. one of the parts to be joined being rigid and flanged in the joint area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
    • B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
    • B29C66/52—Joining tubular articles, bars or profiled elements
    • B29C66/524—Joining profiled elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
    • B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
    • B29C66/53—Joining single elements to tubular articles, hollow articles or bars
    • B29C66/532—Joining single elements to the wall of tubular articles, hollow articles or bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
    • B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
    • B29C66/54—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
    • B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
    • B29C66/54—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles
    • B29C66/545—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles one hollow-preform being placed inside the other
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
    • B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
    • B29C66/54—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles
    • B29C66/547—Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles, e.g. endless tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/70—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material
    • B29C66/72—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the structure of the material of the parts to be joined
    • B29C66/721—Fibre-reinforced materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/80—General aspects of machine operations or constructions and parts thereof
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    • B29C66/814—General aspects of the pressing elements, i.e. the elements applying pressure on the parts to be joined in the area to be joined, e.g. the welding jaws or clamps characterised by the design of the pressing elements, e.g. of the welding jaws or clamps
    • B29C66/8141—General aspects of the pressing elements, i.e. the elements applying pressure on the parts to be joined in the area to be joined, e.g. the welding jaws or clamps characterised by the design of the pressing elements, e.g. of the welding jaws or clamps characterised by the surface geometry of the part of the pressing elements, e.g. welding jaws or clamps, coming into contact with the parts to be joined
    • B29C66/81411—General aspects of the pressing elements, i.e. the elements applying pressure on the parts to be joined in the area to be joined, e.g. the welding jaws or clamps characterised by the design of the pressing elements, e.g. of the welding jaws or clamps characterised by the surface geometry of the part of the pressing elements, e.g. welding jaws or clamps, coming into contact with the parts to be joined characterised by its cross-section, e.g. transversal or longitudinal, being non-flat
    • B29C66/81421—General aspects of the pressing elements, i.e. the elements applying pressure on the parts to be joined in the area to be joined, e.g. the welding jaws or clamps characterised by the design of the pressing elements, e.g. of the welding jaws or clamps characterised by the surface geometry of the part of the pressing elements, e.g. welding jaws or clamps, coming into contact with the parts to be joined characterised by its cross-section, e.g. transversal or longitudinal, being non-flat being convex or concave
    • B29C66/81423—General aspects of the pressing elements, i.e. the elements applying pressure on the parts to be joined in the area to be joined, e.g. the welding jaws or clamps characterised by the design of the pressing elements, e.g. of the welding jaws or clamps characterised by the surface geometry of the part of the pressing elements, e.g. welding jaws or clamps, coming into contact with the parts to be joined characterised by its cross-section, e.g. transversal or longitudinal, being non-flat being convex or concave being concave
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/80—General aspects of machine operations or constructions and parts thereof
    • B29C66/83—General aspects of machine operations or constructions and parts thereof characterised by the movement of the joining or pressing tools
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    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29C66/80—General aspects of machine operations or constructions and parts thereof
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    • B29C66/86531—Independently movable welding apparatus, e.g. on wheels being pushed by hand or being self-propelling being guided
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    • B29D99/00—Subject matter not provided for in other groups of this subclass
    • B29D99/0025—Producing blades or the like, e.g. blades for turbines, propellers, or wings
    • B29D99/0028—Producing blades or the like, e.g. blades for turbines, propellers, or wings hollow blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
    • B29C65/4805—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the type of adhesives
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/01—General aspects dealing with the joint area or with the area to be joined
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B29L2031/00—Other particular articles
    • B29L2031/08—Blades for rotors, stators, fans, turbines or the like, e.g. screw propellers
    • B29L2031/082—Blades, e.g. for helicopters
    • B29L2031/085—Wind turbine blades
    • 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
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    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • 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
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Combustion & Propulsion (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Sustainable Development (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Wind Motors (AREA)
  • Coating Apparatus (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Turbine Rotor Nozzle Sealing (AREA)
  • Manufacture Of Motors, Generators (AREA)

Abstract

本发明涉及用于制造风能设施的转子叶片的设备和方法以及风能设施，转子叶片具有至少两个彼此粘合的转子叶片壳。设备(20)具有：保持装置(1)，该保持装置设置为，将转子叶片壳(2)保持在一位置中，在该位置中，设置在所述转子叶片壳(2)上的和/或设置在安装在转子叶片壳(2)上的接桥(3)上的至少一个粘合面(11‑14)裸露，在该粘合面上，转子叶片壳(2)能与另一转子叶片壳粘合；机器人臂(7)，该机器人臂设置为，将粘合剂(4)涂覆到至少一个粘合面(11‑14)上；移动架(8)，机器人臂(7)安装在该移动架上；以及安装在保持装置(1)上的引导装置(9)，移动架(8)可运动地支承在该引导装置上，并且该引导装置设置为，沿着所述保持装置(1)、特别是沿着粘合面(11‑14)引导移动架(8)连同安装在其上的机器人臂(7)。

Description

用于制造风能设施的转子叶片的设备和方法以及风能设施
技术领域
本发明涉及用于制造风能设施的转子叶片的设备和方法以及风能设施。
背景技术
风能设施的转子叶片通常由两个彼此分开制造的转子叶片壳组装成。在此，两个转子叶片壳分别在设置在所谓的前边棱或凸耳的区域中以及所谓的后边棱的区域中的粘合面上彼此粘合。此外，可以在转子叶片的内部中设置一个或多个接桥，两个转子叶片壳经由所述接桥额外地粘合。
在实现相应需要的粘合、特别是粘合宽度时，在应在叶片壳彼此之间或者叶片壳与接桥之间建立粘合的面上的粘合膏的量的配量扮演着重要角色。已知的是，通过由操作者将涂覆涂覆喷嘴手动引导经过粘合凸缘的速度来调整所涂覆涂覆的粘合剂的量。在这种情况下，粘合剂可经由具有连接的储备单元的泵单元提供，该储备单元装配在挂斗上并且经常通过叉车沿着转子叶片的形状运动。然而以这种方式涂覆在粘合的每个单独的横截面中的粘合剂的量并不总是可靠地可复制的。此外，该过程要求投入大量的人力。
发明内容
本发明的目的是：提供用于改善地制造转子叶片的设备和方法以及相应的风能设施。所述目的通过根据独立权利要求的用于制造转子叶片的设备和方法以及风能设施得以解决。
根据本发明的第一方面，用于制造风能设施的具有至少两个彼此粘合的转子叶片壳的转子叶片的设备具有：保持装置，该保持装置设置为，将转子叶片壳保持在一位置中，在该位置中，设置在该转子叶片壳上的和/或设置在安装在该转子叶片壳上的接桥上的至少一个粘合面裸露，在该粘合面上，所述转子叶片壳可以与另一转子叶片壳粘合；机器人臂，该机器人臂设置为，将粘合剂涂覆涂覆到所述至少一个粘合面上；移动架，所述机器人臂安装在该移动架上；以及安装在所述保持装置上的引导装置，所述移动架可运动地支承在该引导装置上并且该引导装置设置为，沿着保持装置、特别是沿着粘合面引导所述移动架连同安装在该移动架上的机器人臂。
根据本发明的第二方面，在用于制造风能设施的具有至少两个彼此粘合的转子叶片壳的转子叶片的方法中，借助保持装置保持转子叶片壳，使得设置在转子叶片壳上的和/或设置在安装在该转子叶片壳上的接桥上的至少一个粘合面裸露，在该粘合面上，所述转子叶片壳可以与另一转子叶片壳粘合，并且借助机器人臂将粘合剂涂覆涂覆到至少一个粘合面上，其中，所述机器人臂安装在移动架上，该移动架可运动地支承在安装在所述保持装置上的引导装置上并且连同安装在该移动架上的机器人臂被沿着保持装置、特别是沿着粘合面引导。随后，将另一转子叶片壳与所述转子叶片壳的至少一个设置有粘合剂的粘合面接触，由此将两个转子叶片壳彼此粘合。
根据本发明的第三方面，风能设施具有至少一个转子叶片，该转子叶片通过使用根据本发明第一方面的设备和/或利用根据本发明第二方面的方法制成。
本发明的优选方面基于以下手段：借助可运动地支承在保持装置上的并且可移动的机器人臂将粘合剂施加到转子叶片壳的粘合面上，所述保持装置将转子叶片壳保持在适当的位置中。机器人臂、也称为机械手优选是所谓的工业机器人的一部分，该工业机器人是用于处理和/或装配和/或加工工件的可编程机器并且特别是具有机械手(机器人臂)、控制器和执行器执行器(例如喷嘴、工具、夹具等)。结合本发明，术语机器人臂、机械手和工业机器人被同义地使用。优选地，机器人臂或者说工业机器人还具有一个或多个不同的传感器，借助该传感器可以检测、控制或调节机器人臂和/或执行器分别执行的动作。优选地，机器人臂是可编程的，使得该机器人臂能够自动地执行和/或根据传感器信息在界限内改变粘合剂到粘合面上的涂覆。
通过本发明显著提高了涂覆到相应粘合面上的粘合剂量的可复制性。由于以高精度涂覆的粘合剂的剂量是可能的，所以与手动涂覆以及随之出现可能的的粘合剂超剂量配量相比可以节省成本。此外，粘合剂的涂覆更快，因为与例如手动引导涂覆喷嘴的工作人员相比，机器人臂可以更快地并且更精确地特别是沿转子叶片壳的纵向方向和/或沿着粘合面或者说粘合线向前运动。此外，通常不需要或至少需要较少的再加工，这减少了用于将粘合剂涂覆到为每个转子叶片壳设置的粘合面上的可达到的周期时间。同样地，由于可以通过更少的员工来执行粘合剂的涂覆，因此可以节省人力成本。
总之，通过本发明改善了转子叶片的制造并给出相应的风能设施。
优选地，保持装置具有用于制造转子叶片壳的凹模。转子叶片壳优选通过以下方式由纤维复合材料制成，即，将多层薄的、特别是0.5mm至2mm薄的纺织结构例如织物、编织物、铺放物(Gelege)或非织造织物(Vlies)置入到凹模中，并且随后借助树脂灌注技术为其设置树脂。可选地，可以使用预浸渍纤维层(所谓的预浸料)，其中纤维层已经嵌入到树脂中、特别是嵌入到由树脂制成的层中并且在加热和必要情况下施加负压之后形成材料结合连接。在两种情况中，纤维复合材料均具有与凹模相对应的表面。由此可以省去在凹模中织造的转子叶片层例如到设置用于涂覆粘合剂的分开的保持器中的“转移”。
可选地或附加地，转子叶片壳可定位或已定位在保持装置中，使得至少一个设置在转子叶片壳的前边棱和/或后边棱上的和/或设置在安装在该转子叶片壳上的接桥上的粘合面裸露，即，至少一个粘合面至少从一侧、特别是从上部对机器人臂、特别是设置在机器人臂上的用于涂覆粘合剂的喷嘴而言是可接近的。由此确保了转子叶片壳、特别是粘合面的特别有利的定位，这使得粘合剂涂覆特别容易、快速并且可良好复制。
优选地，保持装置具有上部区域、底部区域和两个侧面区域，在所述上部区域中特别设置有凹模，其中，引导装置安装在保持装置的侧面区域之一上。优选地，引导装置具有一个或多个导轨，该导轨特别是沿凹模的或转子叶片壳的纵向方向延伸。由此能够实现移动架的或者安装在该移动架上的机器人臂的节省空间的、牢固的且无间隙的或至少间隙很小的在保持装置上的支承。
优选地，机器人臂具有至少两个旋转轴和/或至少两个旋转接头。可选地或附加地，机器人臂可以具有至少一个平移轴和/或至少一个滑动接头。优选地，机器人臂具有一系列刚性肢节，这些刚性肢节通过旋转接头和/或滑动接头彼此连接，其中，这些接头可以通过受控的驱动器进行调节。该系列肢节的一端部优选安装在移动架上，而另一端部可***并且装备有工具、特别是喷嘴。由此可以为可特别好地复制的粘合剂涂覆实现机器人臂的良好的可运动性。
进一步优选地，机器人臂和/或移动架和/或引导装置设置为，沿着特别是位于转子叶片壳的前边棱和/或后边棱上的粘合面引导机器人臂的自由端部，并且/或者向着特别是位于安装在转子叶片壳上的接桥上的粘合面引导机器人臂的自由端部。优选地，各个肢节的数量和/或长度，以及/或者旋转接头和/或滑动接头的数量和/或顺序选择为，使得机器人臂的自由端部可以沿着前边棱和/或后边棱或在接桥上到达相关的(多个)粘合面。
优选地，在机器人臂的自由端部处设置有喷嘴，该喷嘴设置为，将粘合剂涂覆到粘合面上。优选地，喷嘴可运动地支承在机器人臂上。由此可能的是，在涂覆粘合剂时喷嘴始终相对粘合面以最优角度定向。
优选设置有供给装置，该供给装置设置为，将粘合剂供给给喷嘴。优选设置有阀装置，该阀装置设置为，控制由喷嘴涂覆到粘合面上的粘合剂的量和/或供给给喷嘴的粘合剂的量。例如通过调整阀装置的阀开口的尺寸、特别是通过打开或关闭阀开口来控制所涂覆或供给的粘合剂的量。
优选设置有驱动装置，该驱动装置设置为，使移动架沿着保持装置、特别是沿着粘合面进给。作为调整阀开口的替代或补充，通过调整移动架和安装在该移动架上的机器人臂的进给速度，同样可以控制所涂覆或供给的粘合剂的量。
在另一优选的设计方案中，设置有控制装置，该控制装置设置为，根据要制造的转子叶片的类型和/或移动架在转子叶片的纵向方向(z方向)上的实时位置和/或实时要设置粘合剂的粘合面的种类和/或实时要设置粘合剂的粘合面在空间中的位置来控制阀装置和/或驱动装置。实时相应要设置粘合剂的粘合面或粘合线例如是转子叶片壳的前边棱和/或后边棱和/或至少一个接桥的粘合面。通过调整阀装置的阀开口的大小和/或由进给装置产生的进给速度，可以特别可靠且可复制地调整每单位时间涂覆到粘合面上的粘合剂的量。
附图说明
本发明的其它优点、特征和应用可能性从以下结合附图的描述中得出。
附图中：
图1示出了将粘合剂涂覆到第一粘合面上时的设备的示例；
图2示出了将粘合剂涂覆到第二粘合面上时的设备的示例；
图3示出了将粘合剂涂覆到第三粘合面上时的设备的示例；
图4示出了将粘合剂涂覆到第四粘合面上时的设备的示例。
具体实施方式
图1示出了将粘合剂4涂覆到第一粘合面11上时设备20的示例的非常简化的横剖视图。设备20具有保持装置1，设置用于制造转子叶片壳2的凹模1a位于该保持装置的上侧上。
为了制造转子叶片壳2，优选将多层薄纺织结构例如织物、编织物、铺放物或非织造织物置入到凹模1a中，并且随后借助树脂灌注技术为其设置树脂。可选地，将已经嵌入到树脂中、特别是嵌入到由树脂制成的层中的预浸渍纤维层(所谓的预浸料)置入到凹模1a中。这些预浸渍纤维层在加热和必要情况下施加负压之后形成材料结合连接。在两种情况中，分别获得的纤维复合材料均具有与凹模1a相对应的表面。
转子叶片壳2如下地保持或定位在保持装置1中，使得粘合面11、12裸露，在这些粘合面上，转子叶片壳2可以与相应设计的第二转子叶片壳(未示出)粘合。粘合面11、12优选位于转子叶片壳2的前边棱和/或后边棱上。如果所示的转子叶片壳2例如是转子叶片的压出侧的转子叶片壳，则将该转子叶片壳与转子叶片的抽吸侧的转子叶片壳粘合，或者反过来。
在本示例中，两个接桥3安装在转子叶片壳2的内侧上，在这些接桥的自由端部上同样设置有粘合面13、14，除了在前边棱或者说后边棱上的粘合面11、12外，转子叶片壳2还可以在这些接桥的自由端部上的粘合面上与第二转子叶片壳的内侧粘合。
除了底部区域1b之外，保持装置1还具有两个侧面区域1c，这两个侧面区域可以构造为例如侧壁形式的连续面，或者也可以构造为例如支撑件和/或支柱形式的有孔区域并且基本上竖直延伸。
在侧面区域1c之一上安装有引导装置9，该引导装置在本示例中构造为具有T形横截面的轨道。优选地，引导装置9可以具有多于一个的轨道、特别是两个轨道。
特别是构造为一个或多个轨道的引导装置9基本上平行于转子叶片壳2或保持装置1的纵向方向L延伸，在本示例中，该纵向方向垂直于附图平面延伸。
在引导装置9上支承有可以沿纵向方向L移动的移动架8。在本示例中，移动架8具有两个L形轮廓8a，这两个L形轮廓从上部和下部与引导装置9的轨道的T形轮廓接合。
机器人臂7安装在移动架8上，该机器人臂在本示例中具有总共三个单个的肢节，这些肢节经由旋转接头7a彼此连接。机器人臂7的一个端部优选经由另一旋转接头7b可旋转地支承在移动架8上。在机器人臂7的另一自由端部上安装有喷嘴5，该喷嘴优选经由另一旋转接头7c可旋转地支承在机器人臂7上。
原则上机器人臂7可以具有多于或少于三个的肢节和/或多于或少于所示的旋转接头7a、7b、7c。可选地或附加地，机器人臂7可以具有至少一个滑动接头，该滑动接头能够实现机器人臂7的肢节之一的平移运动或伸长和/或缩短。
在喷嘴5上连接有例如高压软管形式的供给装置6，粘合剂可以通过该供给装置供给给喷嘴5。在本示例中，供给装置6与粘合剂储备容器10连接，粘合剂10a、例如人造树脂和硬化剂位于该粘合剂储备容器中，并且该粘合剂储备容器优选构造为可移动滑动架。此外，优选设置有高压泵，粘合剂10a通过该高压泵以高压通过供给装置6输送至喷嘴5。
在喷嘴5上和/或中设置有阀装置5a，通过该阀装置可以控制多少粘合剂4被经由喷嘴5涂覆到粘合面11上。
此外设置有驱动装置16，该驱动装置在当前示例中集成到移动架8中并且设置为，实现移动架8沿着引导装置9的进给运动。可选地，驱动装置16也可以设置在移动架8的外部、例如设置在引导装置9上。
此外设置有控制装置15，该控制装置设置为，控制移动架8的进给运动和/或机器人臂7和/或阀5或者说阀装置5a和/或高压泵或者说用于将粘合剂10a输送至喷嘴5的高压。设备20的前述部件中的一个或多个在此优选控制或调节为，使得用于相应粘合面11至14的粘合剂4的期望量或预定量被涂覆到相应的粘合面11至14上。优选地，通过控制在喷嘴5上的阀装置5a的开口的尺寸和/或通过移动架8的进给速度来调整相应涂覆的粘合剂4的量。可选地或附加地，所涂覆的粘合剂4的量可以通过控制机器人臂7和安装在该机器人臂上的喷嘴5沿转子叶片壳2的轮廓深度的方向T的运动来适配粘合的期望宽度。
优选地，在本发明的意义中，术语“粘合剂的量”或“粘合剂量”可以理解为：针对相应粘合面11至14的单位面积所施加的粘合剂4的体积和/或重量，即，例如毫升每平方厘米或克每平方厘米。可选地或附加地，术语“量”或者“粘合剂量”也可以针对特别是在移动架8的进给运动期间每单位时间涂覆的粘合剂4的量，即例如毫升每秒、克每秒、毫升每秒平方厘米或克每秒平方厘米。可选地或附加地，“量”或“粘合剂量”也可以针对相应施加的粘合剂4的横向延展和/或高度，即例如沿转子叶片壳2的轮廓深度的方向T涂覆到粘合面11至14上的粘合剂层的宽度和/或粘合剂层的高度。
优选地，控制装置15设置为，根据参数确定需相应涂覆的粘合剂量，并且特别是相应地控制阀装置5a的开口。所述参数优选是相应的转子叶片类型，该转子叶片类型涉及机器人臂7或移动架8相应在转子叶片壳2的纵向方向L上的实时z位置和/或相应需设置粘合剂4的粘合面11至14的类型，例如前边棱11、后边棱12、在朝向前边棱11的接桥3上的粘合面13、在朝向后边棱12的接桥3上的粘合面14和/或粘合面、特别是接桥3的粘合面13、14在空间中的绝对位置等。所提及的参数可以由操作者预定并且/或者也可以自动地例如传感地检测并且存储在控制装置15可以访问的存储器或中间存储器17中。
优选地，当移动架8和/或机器人臂7位于起始位置时，例如借助一个或多个传感器来检测。所述起始位置例如可以在转子叶片壳2的端部上、例如在叶片根部或叶片尖端上。此外，如果传感检测移动架8和/或机器人臂7、特别是位于该机器人臂上的喷嘴5的运动，则可以由此确定移动架8或者说机器人臂7相对起始位置(该起始位置可以说构成“零点”)并且因此也相对转子叶片壳2的准确位置。与此相应地，可以根据所确定的、必要情况下取决于在纵向方向L上的z位置和/或在轮廓深度T的方向上的位置的位置精确地控制粘合剂涂覆。
可选地设定，设备20具有传感器，这些传感器能够实现：确定粘合面11至14在空间中的位置并且将其与先前存储的目标位置进行比较。然后可以根据该比较相对先前规定的额定粘合剂量来调整要涂覆的粘合剂量。当已计算出在被分析的粘合面与第二转子叶片壳之间的较大的粘合间隙时，则可以涂覆更多的粘合剂，并且当已计算出小的间隙时，则相应地可以涂覆少量的粘合剂。当计算出的粘合间隙超过或低于规定的极值时，所述设备也可以基于该分析生成警告。
在图1所示的示例中，在朝向机器人臂7的粘合线或者说粘合面11的区域中沿着转子叶片壳2的前边棱进行粘合剂涂覆。设备20、特别是机器人臂7优选设计和/或控制为，使得粘合剂4也可以被以上述方式施加到其它粘合线或者说粘合面12至14上。这将在下面示例性描述。
在图2所示的示例中，在朝向机器人臂7的粘合线或者说粘合面13上沿着转子叶片的前边棱接桥13进行粘合剂涂覆。
在图3所示的示例中，在背离机器人臂7的粘合线或粘合面14上沿着转子叶片的后边棱接桥14实现粘合剂涂覆。
在图4所示的示例中，在背离机器人臂7的粘合线或者粘合面12的区域中沿着转子叶片壳2的后边棱12进行粘合剂涂覆。
在设备20的结构和作用方式方面，结合图1的上述实施例也相应地适用于图2至4所示的示例。

Claims (13)

1.用于制造风能设施的转子叶片的设备(20)，其中，所述转子叶片具有至少两个彼此粘合的转子叶片壳，所述设备具有：
-保持装置(1)，该保持装置设置为，将转子叶片壳(2)保持在一位置中，在该位置中，设置在所述转子叶片壳(2)上的和/或设置在安装在所述转子叶片壳(2)上的接桥(3)上的至少一个粘合面(11-14)裸露，在所述粘合面上，所述转子叶片壳(2)能与另一转子叶片壳粘合；
-机器人臂(7)，该机器人臂设置为，将粘合剂(4)涂覆到所述至少一个粘合面(11-14)上；
-移动架(8)，所述机器人臂(7)安装在该移动架上；以及
-安装在所述保持装置(1)上的引导装置(9)，所述移动架(8)可运动地支承在该引导装置上，并且该引导装置设置为，沿着所述保持装置(1)、特别是沿着所述粘合面(11-14)引导所述移动架(8)连同安装在该移动架上的机器人臂(7)。
2.根据权利要求1所述的设备(20)，其中，所述保持装置(1)具有用于制造所述转子叶片壳(2)的凹模(1a)。
3.根据权利要求1或2所述的设备(20)，其中，所述保持装置(1)具有上部区域、底部区域(1b)和两个侧面区域(1c)，在所述上部区域中特别是设置有所述凹模(1a)，其中，所述引导装置(9)安装在所述保持装置(1)的侧面区域(1c)之一上。
4.根据前述权利要求中任一项所述的设备(20)，其中，所述机器人臂(7)具有至少两个旋转轴(7a、7b、7c)和/或至少一个平移轴。
5.根据前述权利要求中任一项所述的设备(20)，其中，所述机器人臂(7)和/或所述移动架(8)和/或所述引导装置(9)设置为，沿着特别是位于所述转子叶片壳(2)的前边棱和/或后边棱上的粘合面(11、12)引导所述机器人臂(7)的自由端部，并且/或者向着特别是位于安装在所述转子叶片壳(2)上的接桥(3)上的粘合面(13、14)引导所述机器人臂的自由端部。
6.根据权利要求5所述的设备(20)，所述设备具有设置在所述机器人臂(7)的自由端部上的喷嘴(5)，该喷嘴设置为，将粘合剂(4)涂覆到所述粘合面(11-14)上。
7.根据权利要求6所述的设备(20)，其中，所述喷嘴(5)可运动地支承在所述机器人臂(7)上。
8.根据权利要求6或7所述的设备(20)，所述设备具有供给装置(6)，该供给装置设置为，将粘合剂(10a)供给给所述喷嘴(5)。
9.根据权利要求6至8中任一项所述的设备(20)，所述设备具有阀装置(5a)，该阀装置设置为，控制由所述喷嘴(5)涂覆到所述粘合面(11-14)上的粘合剂(10a)的量和/或控制供给给所述喷嘴(5)的粘合剂的量。
10.根据前述权利要求中任一项所述的设备(20)，所述设备具有驱动装置(16)，该驱动装置设置为，使所述移动架(8)沿着所述保持装置(1)、特别是沿着所述粘合面(11-14)进给。
11.根据权利要求8和/或9所述的设备(20)，所述设备具有控制装置(15)，该控制装置设置为，根据要制造的转子叶片的类型和/或所述移动架(8)在转子叶片壳(2)的纵向方向(L)上的实时位置和/或实时要设置粘合剂(4)的粘合面(11-14)的种类和/或实时要设置粘合剂(4)的粘合面(11-14)在空间中的位置来控制所述阀装置(5a)和/或驱动装置(16)。
12.用于制造风能设施的转子叶片的方法，该转子叶片具有至少两个彼此粘合的转子叶片壳，其中，
-借助保持装置(1)如下地保持转子叶片壳(2)，使得设置在所述转子叶片壳(2)上的和/或设置在安装在所述转子叶片壳(2)上的接桥(3)上的至少一个粘合面(11-14)裸露，在所述粘合面上，所述转子叶片壳(2)能与另一转子叶片壳粘合，
-借助机器人臂(7)将粘合剂(4)涂覆到所述至少一个粘合面(11-14)上，其中，所述机器人臂(7)安装在移动架(7)上，该移动架可运动地支承在安装在所述保持装置(1)上的引导装置(9)上并且连同安装在该移动架上的机器人臂(7)被沿着所述保持装置(1)、特别是沿着所述粘合面(11-14)引导，并且
-使所述另一转子叶片壳与所述转子叶片壳(2)的至少一个设置有粘合剂(4)的粘合面(11-14)接触，由此将两个转子叶片壳彼此粘合。
13.风能设施，该风能设施具有至少一个转子叶片，该转子叶片通过使用根据权利要求1至11中任一项所述的设备(20)和/或利用根据权利要求12所述的方法制造。
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