US20120322349A1 - Grinding device for machine based grinding of rotor blades for wind energy systems - Google Patents
Grinding device for machine based grinding of rotor blades for wind energy systems Download PDFInfo
- Publication number
- US20120322349A1 US20120322349A1 US13/580,362 US201113580362A US2012322349A1 US 20120322349 A1 US20120322349 A1 US 20120322349A1 US 201113580362 A US201113580362 A US 201113580362A US 2012322349 A1 US2012322349 A1 US 2012322349A1
- Authority
- US
- United States
- Prior art keywords
- grinding
- dust
- unit
- rotor blade
- drum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0061—Other grinding machines or devices having several tools on a revolving tools box
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B53/00—Devices or means for dressing or conditioning abrasive surfaces
- B24B53/007—Cleaning of grinding wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
- B24D9/00—Wheels or drums supporting in exchangeable arrangement a layer of flexible abrasive material, e.g. sandpaper
- B24D9/02—Expansible drums for carrying flexible material in tubular form, e.g. expanded by centrifugal force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Definitions
- the present invention relates to a grinding device for a machine based grinding of rotor blades for wind energy systems.
- grinding tasks can be automated during the manufacturing and during the maintenance of rotor blades.
- wind energy systems that comprise a rotor that drives a generator and that is supported rotatably at a mast.
- the loads, that effect on the parts in particular the rotor blades of a wind energy system is however very high.
- Atmospheric influences like for instance wind, water, hail, UV-radiation, erosion- and bending-loads lead to highest requirements for the material of the rotor blades.
- the correct operation and the surface quality are relevant for the effectivity and economic efficiency of wind energy systems.
- rotor blades comprise a specific coating, wherein its application is very time-consuming, since as a rule every single layer of the coating has to be ground.
- the extremely loaded polymer surfaces of rotor blades are coated by a plurality of layers.
- the layer systems for the protection of the surfaces consist of a so called gel coat, spatling compound, etch protection and cover lacquers.
- the products that are used therefore consist as a rule of solvent-free, two-component polyurethane compounds. After the application of the single layers, each one has to be ground.
- the rotor blades to be ground comprise for instance a length of up to about 80 m and a surface to be ground of up to about 300 m 2 . According to this, the surface that has to be manually ground is very large.
- the viscoplastic coatings of the rotor blades are used, because rotor blades move with speeds of up to 300 km/h and they are not allowed to be damaged, when for instance hail stones dash against them.
- DE 298 05 833 U1 DE 199 29 386 A and DE 297 09 342 U1 coating systems for rotor blades are described.
- the enormous dimensions of rotor blades and the problems that come up during the grinding of the viscoplastic coating did not allow an automization of the grinding tasks up to now.
- the cost for the grinding tasks may be 30% and more of the manufacturing costs of a rotor blade.
- a grinding device for machine-based grinding of rotor blades for wind energy systems comprising at least one industrial robot and a grinding unit that is guided by the industrial robot, wherein the grinding unit comprises a grinding means and a cleaning device that cleans the grinding means at its grinding surface.
- an industrial robot that guids a grinding unit can be used in a grinding device in an advantageous manner. This was not possible for conventional grinding means, since a use of a robot was uneconomical because of the fast clogging of the grinding means and the high exchange rates of the grinding means. Now, the lifetime of the grinding means is raised 10-100 times by the cleaning device, so that none or only very few tool exchanges are necessary for the grinding of the surface of a rotor blade and an industrial robot can be now used economically for the grinding of rotor blades.
- the cleaning device cleans the grinding surface of the grinding means either from time to time or continuously during the grinding.
- the grinding surface can—if necessary—be cleaned from time to time, for example depending on the degree of clogging of the grinding surface, by bringing the grinding surface after a specific grinding time into contact with a cleaning device.
- the cleaning device is in contact with a part of the grinding surface during the grinding and cleans it continuously during the grinding.
- the cleaning device cleans the grinding surface by means of a nozzle for blowing on of pressurized air and/or a device for the suchtion of grinding dust and/or a brush for brushing the grinding surface.
- a nozzle for blowing on of pressurized air and/or a device for the suchtion of grinding dust and/or a brush for brushing the grinding surface.
- Such a grinding device can be used for a discontinuous as well as for continuous cleaning of the grinding surface of the grinding means.
- the grinding device comprises furthermore a drive unit for moving the industrial robot in the direction of the longitudinal axis L of a rotor blade.
- the industrial robot can move along the rotor blade and grind the entire surface of the rotor blade.
- the grinding unit comprises a cylinder grinding unit with a grinding sleeve.
- a grinding sleeve comprises a comparatively large grinding surface that can be cleaned in its region that is currently not in contact with the rotor blade.
- the cylinder grinding units are furthermore very compact and can be moved very well with an industrial robot in order to grind the surface of the rotor blade as desired.
- the cylinder grinding unit comprises a rigid suction drum and elastic, pneumatically expandable clamping elements that are arranged at the barrel of the suction drum wherein the grinding sleeve is fixed to the clamping elements at the suction drum by the application of pressure. It is possible by such an arrangement of the drum grinding unit, to fix the grinding sleeve very simple and fast at the suction drum so that a tool exchange—that means the exchange of the grinding sleeve—can be carried out very easy and fast.
- the elastic, pneumatically expandable clamping elements have the advantage that the grinding sleeve can adapt itself in some degree to the surface of the rotor blade and compensates smaller inconsistencies of the positioning of the grinding device.
- the suction drum comprises suction openings at the barrel and air permitting spaces are present between the clamping elements and the grinding sleeve comprises perforation openings arranged essentially over its entire surface in order to be able to suck grinding dust from the grinding surface through the perforation openings and through the air permitting spaces and through the suction openings.
- the drum grinding unit it is possible on the one hand to carry out the above mentioned simple pneumatic clamping of the grinding sleeve to a rigid suction drum and on the other hand to suck grinding dust from the grinding surface through the clamping elements, the suction drum and through the grinding sleeve. By doing so, the dust removal can be carried out from the grinding surface over the entire surface, whereby a clogging of the grinding surface is furthermore minimized and a nearly dustless grinding becomes possible.
- the grinding sleeve comprises an air- and particle-flow-permitting layer, in particular a fleece layer, through which suction air and grinding dust are able to flow transversely behind the grinding surface from the perforation openings to the air permitting spaces.
- a fleece layer through which the suction air and the grinding dust can flow transversely behind the surface, perforation openings can be arranged over the entire surface of the grinding surface of the grinding sleeve, so that the way of the grinding dust from its generation at the grinding surface to the perforation opening at which it is sucked away is very short.
- the air- and particle-flow-permitting layer behind the grinding surface allows a dust suction over the entire surface and permits a clogging of the grinding sleeve.
- this dust transport is carried out over the entire surface and independently from the arrangement of the air permitting spaces that are formed by the elastic, pneumatically expandable elements.
- the grinding unit comprises several drum grinding units, that each can be individually brought into contact with the surface of the rotor blade.
- drum grinding units that each can be individually brought into contact with the surface of the rotor blade.
- grinding sleeves that are presently not in contact with the rotor blade can be replaced or cleaned without significantly enlarging the overall grinding time for the rotor blade. It is also possible to use on the single drum units grinding sleeves with different graining or dust drums and to use them very fast.
- a cleaning unit cleans one of the drum grinding units which is not in contact with the surface of the rotor blade.
- the grinding unit comprises a belt grinding unit with a circulating grinding belt.
- a circulating grinding belt is only in contact with the rotor blade with a part of its grinding surface and the part of the circulating grinding belt that is not in contact with the rotor blade can move along a cleaning device, which carries out a cleaning of the grinding surface. According to this, this embodiment is also appropriate very well for a continuous cleaning of the grinding surface during the operation.
- the grinding belt is a perforated grinding belt that comprises perforation openings arranged essentially over its entire surface.
- the generated grinding dust can be sucked though this perforation openings on the shortest-possible way behind the grinding surface so that a clogging of the grinding belt is avoided and a nearly dustless grinding is possible.
- the grinding device further comprises a dust removing unit with a circulating dust belt or a dust sleeve that can be guided by the industrial robot along at least one surface of the rotor blade, in order to remove dust mechanically from the surface of the rotor blade.
- a dust removing unit with a circulating dust belt or a dust sleeve that can be guided by the industrial robot along at least one surface of the rotor blade, in order to remove dust mechanically from the surface of the rotor blade.
- the industrial robot comprises pressure sensors at at least one robot arm or at the head for controlling the contact pressure of the grinding unit onto the rotor blade.
- the industrial robot is also used for lacquering the rotor blades.
- the investment costs of the entire system is reduced to a minimum, wherein in one system lacquering of a rotor blade as well as the grinding and the dedusting of the rotor blade respectively is carried out with the same industrial robot that has only to exchange the necessary tools between the single process steps. Also such an exchange can be carried out automatically.
- the entire coating processes, including grinding and dedusting of a rotor blade is reduced to a fraction of time, compared with conventional systems in which it has to be ground manually and often also to be lacquered manually. According to this the manufacturing times as well as the manufacturing costs are reduced by the grinding device according to the invention.
- FIG. 1 A first preferred embodiment of a grinding device for machine-based grinding of rotor blades for wind energy systems in a front view;
- FIG. 2 The grinding device of FIG. 1 in a top view
- FIG. 3 A drum grinding unit of the grinding device according to FIG. 1 in a cross sectional view from the side;
- FIG. 4 A detail of a drum grinding device of FIG. 3 in a cross sectional view from the side;
- FIG. 5 The drum grinding device of FIG. 3 in an cross sectional view from the from;
- FIG. 6 A second embodiment of a grinding device for machine based grinding of rotor blades for wind energy systems in a front view;
- FIG. 7 A grinding device according to FIG. 6 with an alternative guiding of the industrial robot at a wall in a top view;
- FIG. 8 A front view of a further preferred embodiment of a grinding device for a machine based grinding of rotor blades for wind energy systems with a belt grinding unit in a front view;
- FIGS. 1 and 2 show a front view and a top view of a grinding device 1 for machine-based grinding of rotor blades 100 .
- an industrial robot 30 is arranged on the right hand side of the rotor blade 100 at the wall 60 of a building, wherein it is possible to move the industrial robot 30 in the longitudinal direction.
- the industrial robot 30 can move by means of an undercarriage 32 at the wall 60 along a longitudinal axis L of the rotor blade 100 at wall tracks 42 .
- the industrial robot 30 is only shown in a symbolic manner and can be every industrial robot that is appropriate for the task that is described in the following.
- the industrial robot 30 comprises an undercarriage 32 , a drive motor 40 , a first arm 34 , that is attached to the undercarriage 32 in a hinged manner, a second arm 36 that is attached to the first arm 34 in a hinged manner as well as a head 38 , that is attached to the second arm in a hinged manner
- a drive motor 40 drives the industrial robot 30 in a hinged manner
- a first arm 34 that is attached to the undercarriage 32 in a hinged manner
- a second arm 36 that is attached to the first arm 34 in a hinged manner as well as a head 38 , that is attached to the second arm in a hinged manner
- a head 38 that is attached to the second arm in a hinged manner
- All axes of the industrial robot 30 are driven in a common manner by a motor and are controlled by means of a NC-control by means of a program.
- a grinding unit in form of a drum grinding unit 10 is attached, that can be guided NC-controlled by the industrial robot 30 along the surface 102 of the rotor blade 100 , in order to grind the surface.
- the industrial robot 30 it is thus possible to grind at least one side of the surface 102 of the rotor blade 100 in a machine-based manner
- a second industrial robot 30 with a grinding unit 10 , 50 , 70 can be provided.
- the rotor blade 100 can be also supported rotatably around its longitudinal axis, so that the side to be ground can be rotated in the direction of the industrial robot 30 .
- FIG. 3 shows a cross section through a preferred drum grinding unit 10 .
- the drum grinding unit 10 comprises a rigid suction drum 15 that is equipped with suction openings 16 around its circumference.
- Elastic and pneumatically extendable clamping elements 17 are arranged around the barrel of the rigid drum 15 that consists preferably of a light metal.
- the elastic clamping elements 17 consist preferably of a polymer material and are supported by an inlet for pressurized air 18 with clamping air.
- the clamping elements 17 are connected amongst each other pneumatically via ducts 19 , so that they generate between themselves air permitting spaces 11 , through which the dust can be sucked into the suction drum 15 .
- the clamping elements 17 are preferably realized in form of shallow torus-shaped rings or as single pillows that are arbitrarily shaped.
- a grinding means in form of a grinding sleeve 12 is slided onto to the suction drum 15 with the clamping elements 17 that are arranged at the barrel and is fixed to the suction drum 15 by an application of pressure onto the clamping element 17 .
- the clamping element 17 expand by inducing of clamping air 18 and fix the grinding sleeve 12 from inside onto the suction drum 15 . It is especially simple by this pneumatic way of fixation to clamp the grinding sleeve 12 onto the suction drum 15 and to exchange the grinding sleeve 12 after the expiration of its lifetime.
- the grinding sleeve 12 consists preferably of a wide grinding belt 66 that is coated with grinding particles and is made of a tissue that is glued together to a cylinder-shaped sleeve.
- the drum grinding unit 10 is preferably equipped with a dust suction device 14 that allows sucking the generated grinding dust through the grinding sleeve 12 during the grinding. Therefore, the grinding sleeve 12 preferably comprises over its entire surface peroration openings 62 that expand at least through the grinding belt layer 66 so that grinding dust can be sucked from the grinding surface 64 through the perforation openings 62 and through the air-permitting spaces 11 between the clamping elements 17 and through the suction openings 16 into the suction drum 15 . From the suction drum 15 the suction air is sucked together with grinding particles through a suction air connection 14 into a suction system (similar to a vacuum cleaner).
- a suction air connection 14 similar to a vacuum cleaner.
- a particular effective dust suction is achieved when the grinding sleeve 12 comprises in addition on its inner side an air- and particle-flow-permitting layer 13 , in particular a fleece layer, through which the sucked air and the grinding dust is able to flow transversally behind the grinding surface 64 from the perforation openings 62 to the air-permitting spaces 11 .
- This is exemplarily shown by the arrow 68 in FIG. 4 .
- the size and the arrangement of the perforation openings 62 of the grinding sleeve 12 can be chosen according to the generated grinding dust and has not to be adapted to the arrangement of the air-permitting space 11 between the clamping elements 17 .
- the perforation openings 62 comprise a diameter of about 1 mm-6 mm and are spaced apart from each other in a distance of about 10 mm-50 mm and are distributes essentially homogenously over the entire surface of the grinding sleeve 12 . According to this, a nearly complete suction off of the grinding dust can be carried out so that also for this reason a clogging of the grinding surface 64 of the grinding sleeve 12 is avoided and only little dust is dispensed to the environment.
- the drum grinding unit 10 comprises furthermore a drive motor (not shown) that rotatably drives the suction drum 15 with the grinding sleeve 12 around its rotation axis in order to grind the surface 102 by that.
- the industrial robot 30 comprises preferably in its head 38 or in its arms 34 , 36 a pressure sensor (not shown) in order to control the contact pressure of the grinding unit 10 onto the rotor blade 100 .
- the drum grinding unit 10 comprises furthermore a cleaning device 20 .
- the cleaning device 20 comprises a brush 22 for brushing the grinding surface 64 of the grinding sleeve 12 .
- the cleaning device 20 comprises a nozzle 24 that can be used for blowing pressurized air onto the surface 64 of the grinding sleeve 12 .
- the cleaning device 20 comprises a surrounding hood 28 that is connected to a suction element 26 , in order to suck grinding dust that was detached by the brush 22 and the nozzle 24 .
- the suction element 26 can be connected to the suction element of the suction drum 15 .
- the cleaning device 20 detaches in an effective manner at the grinding surface 64 of the grinding sleeve 12 adhering grinding dust that cannot be removed by the common suction element. This is in particular decisive for an effective use of the grinding device 1 according to the invention, since an industrial robot 30 can be only used in a reasonable manner for grinding of rotor blade 100 , when the life time of the grinding means 12 , 52 is so high, that a significant surface of the rotor blades 100 can be ground without having to exchange the grinding means 12 , 52 . By means of the cleaning device 20 it is possible, also to remove firmly adhering or sticky grinding dust of viscoplastic coatings of a rotor blade 100 from the grinding surface 64 of a grinding sleeve 12 or the later described grinding belt 52 .
- FIGS. 6 and 7 show a further embodiment of a grinding device 1 with an industrial robot 30 .
- the industrial robot is guided via an undercarriage 32 at floor tracks 44 on the floor 61 of a system in a longitudinally moveable manner
- FIG. 7 shows an alternative embodiment, wherein the industrial robot 30 is guided via a undercarriage 32 at wall tracks 42 at the wall 60 of a building.
- the grinding device 1 of the FIGS. 5 and 6 differs from the embodiment according to FIGS. 1 and 2 therein, that at the head 38 of the industrial robot 30 a 4-fold grinding unit 70 is attached, that comprises three drum grinding units 10 like these of FIGS. 3-5 , as well as one dust removing unit in form of a cleaning drum 72 .
- the 4-fold grinding unit 70 can—similar to a tool revolver—be moved around an angle of 90° each so that either a new drum grinding unit 10 or the cleaning drum 72 can be used at the rotor blade 100 .
- the cleaning drum 72 is similar to the drum grinding unit 10 in its construction, but comprises instead of a grinding sleeve 12 , a cleaning sleeve made of a soft, dust attracting and air-permitting tissue- or fleece-material.
- a cleaning sleeve made of a soft, dust attracting and air-permitting tissue- or fleece-material.
- the grinding devices 10 and the cleaning drum 72 respectively are not provided each with an own cleaning device 20 , but there is one common cleaning device 20 for all four units 10 , 72 .
- the cleaning device 20 is fixed to the head 38 at a fixed position, for instance in the position of FIG. 6 .
- the drum grinding unit 10 and the cleaning drum 72 each are pivoted to the cleaning device 20 and is cleaned there.
- a cleaning of one of the drum grinding units 10 and the cleaning drum 72 respectively is possible when at the same time another unit 10 , 72 is in contact with the rotor blade 100 .
- FIG. 8 shows a further embodiment of the grinding device 1 for machine-based grinding of rotor blades 100 for wind energy systems.
- the industrial robot 30 guides a belt grinding unit 50 along the surface 102 of the rotor blade in order to grind it.
- the belt grinding unit 50 comprises a frame 51 , at which guide rolls 54 are rotatably supported, which guide a grinding belt 52 continuously.
- a tension roll 56 tightens the grinding belt 52 .
- One of the guide rolls 54 is preferably driven by an electric motor, in order to circulate the grinding belt 52 .
- the grinding belt 52 is pressed by means of pressure elements 58 homogenously onto the surface 102 of the rotor blade 100 so that a homogenous grinding pressure is ensured.
- the pressure elements 58 comprise furthermore a suction element 59 , so that the grinding dust can be sucked directly during grinding. Therefore the grinding belt 52 is preferably perforated at its entire surface like the above described grinding sleeve 12 , so that the grinding dust can be removed on the shortest possible way from the grinding surface 53 and a nearly dust-free grinding becomes possible.
- a significant advantage of the belt grinding unit 50 lies in the fact that during the grinding only a part of the grinding belt 52 is in grinding contact with the surface 102 of the rotor blade 100 . Thus it is possible, to execute a cleaning of the areas, that are currently not in contact with the surface 102 by the cleaning device 20 .
- the cleaning device 20 comprises like in the above described embodiments a nozzle 24 for blowing of pressurized air onto the grinding surface in order to remove adhering grinding dust. Furthermore, the cleaning device 20 comprises a brush 22 , in order to remove stronger adhering grinding dust from the grinding surface of the grinding belt 52 . The removed grinding dust is sucked off by a suction element 26 . The grinding device 20 is surrounded by a hood 28 , so that no dust can be dispersed to the environment. By means of the cleaning device 20 it is possible to clean the grinding belt 52 continuously during the operation at its grinding surface, so that grinding dust cannot adhere and it cannot come to a clogging of the grinding belt 52 . This significantly increases the lifetime of the grinding belt 52 , so that it is possible, to grind the complete rotor blade 100 with only one grinding belt completely.
- Another advantage of the belt grinding unit 50 also compared to drum grinding units lies in the fact that its grinding performance is adaptable by a corresponding dimensioning of the grinding means surface.
- the grinding performance can be adjusted according to the rotor blade to be ground so that none or at the most only few exchanges of the grinding belt 52 are necessary per grinding iteration.
- the industrial robot 30 can be guided by means of a drive unit 32 , 32 ′ either at the wall 60 or also at the floor 61 and can move all in all along the longitudinal direction L at the rotor blade 100 .
- a drive unit 32 , 32 ′ either at the wall 60 or also at the floor 61 and can move all in all along the longitudinal direction L at the rotor blade 100 .
- FIG. 9 both alternatives of the drive unit 32 and 32 ′ are shown.
- the industrial robot 30 can be equipped at one of its arms 34 , 36 or at its head 38 with pressure sensors in order to adjust the contact pressure of the belt grinding unit 50 onto the surface 102 exactly.
- the belt grinding unit 50 can be equipped with a dust belt instead of the grinding belt 52 , wherein the dust belt consists of an air-permitting tissue- or fleece-material. This is guided similarly to the grinding belt 52 along the surface 102 of the rotor blade 100 and picks up there the adhering grinding dust mechanically and cleans the surface 102 so that it can be lacquered and coated respectively directly afterwards.
- the industrial robot 30 that is used for grinding and dedusting respectively can be also used.
- the entire coating process which consists of several lacquer-, grinding- and cleaning-processes.
- Manual work like for instance the manual grinding or a manual cleaning is omitted completely.
- the manufacturing time for the rotor blade of wind energy systems and according to this also the manufacturing costs are reduced.
- the cleaning of the grinding means high savings concerning grinding means are achieved, that also reduce the manufacturing costs.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Grinding device 1 for machine-based grinding of rotor blades 100 for wind energy systems, comprising at least one industrial robot 30 and a grinding unit 10, 50, 70 that is guided by the industrial robot 30, wherein the grinding unit 10, 50, 70 comprises a grinding means, 12, 52 and a cleaning device 20, that cleans the grinding means 12, 52 at its grinding surface 64, 53.
Description
- The present invention relates to a grinding device for a machine based grinding of rotor blades for wind energy systems. By the use of the grinding device, grinding tasks can be automated during the manufacturing and during the maintenance of rotor blades.
- The use of wind force for the energy generation is seen as one of the most environmentally compatible forms of winning energy. Therefore, wind energy systems are used, that comprise a rotor that drives a generator and that is supported rotatably at a mast. The loads, that effect on the parts in particular the rotor blades of a wind energy system is however very high.
- Atmospheric influences, like for instance wind, water, hail, UV-radiation, erosion- and bending-loads lead to highest requirements for the material of the rotor blades. The correct operation and the surface quality are relevant for the effectivity and economic efficiency of wind energy systems. Thus, rotor blades comprise a specific coating, wherein its application is very time-consuming, since as a rule every single layer of the coating has to be ground.
- The extremely loaded polymer surfaces of rotor blades are coated by a plurality of layers. The layer systems for the protection of the surfaces consist of a so called gel coat, spatling compound, etch protection and cover lacquers. The products that are used therefore consist as a rule of solvent-free, two-component polyurethane compounds. After the application of the single layers, each one has to be ground.
- These grinding tasks are a very human resource-intensive process, since they are carried out manually by hand grinding machines. The rotor blades to be ground comprise for instance a length of up to about 80 m and a surface to be ground of up to about 300 m2. According to this, the surface that has to be manually ground is very large.
- A further reason for the fact that grinding tasks at rotor blades are still carried out manually by means of hand grinding machines, for instance by means of eccentric grinders with dust suctions lies in the fact that the coatings of the rotor blades to be ground are designed very viscoplastic and thus the grinding discs clog very fast.
- With one grinding disc only a little surface can be ground and then this grinding disc has to be exchanged by a new grinding disc. This can be done very fast by hand for hand grinding machines. Up to now there are high changing rates so that grinding robots could not be used economically. With a grinding disc—instead of a suction device—only about 0.5 m2-1.5 m2 of the viscoplastic coating of a rotor blade can be usually ground. But the surface of a wind energy wing of about 60 m to about 80 m wing length is 160 m2 to 300 m2, so that per rotor blade and per grinding iteration about 300-600 grinding discs have to be used. Usually, there are 3-4 grinding iterations per rotor blade.
- The viscoplastic coatings of the rotor blades are used, because rotor blades move with speeds of up to 300 km/h and they are not allowed to be damaged, when for instance hail stones dash against them. In the documents DE 298 05 833 U1, DE 199 29 386 A and DE 297 09 342 U1 coating systems for rotor blades are described.
- The enormous dimensions of rotor blades and the problems that come up during the grinding of the viscoplastic coating did not allow an automization of the grinding tasks up to now. The cost for the grinding tasks may be 30% and more of the manufacturing costs of a rotor blade.
- Thus, it is the problem of the present invention to solve the above mentioned problems and to optimize the grinding process for rotor blades of wind energy systems and to design it more cost effective.
- The above mentioned problem is solved by a grinding device for machine-based grinding of rotor blades for wind energy systems according to
patent claim 1. - In particular the above mentioned problems are solved by a grinding device for machine-based grinding of rotor blades for wind energy systems, comprising at least one industrial robot and a grinding unit that is guided by the industrial robot, wherein the grinding unit comprises a grinding means and a cleaning device that cleans the grinding means at its grinding surface.
- By using a grinding unit that comprises a grinding means that is cleaned at the grinding surface, an industrial robot that guids a grinding unit can be used in a grinding device in an advantageous manner. This was not possible for conventional grinding means, since a use of a robot was uneconomical because of the fast clogging of the grinding means and the high exchange rates of the grinding means. Now, the lifetime of the grinding means is raised 10-100 times by the cleaning device, so that none or only very few tool exchanges are necessary for the grinding of the surface of a rotor blade and an industrial robot can be now used economically for the grinding of rotor blades.
- Preferably, the cleaning device cleans the grinding surface of the grinding means either from time to time or continuously during the grinding. The grinding surface can—if necessary—be cleaned from time to time, for example depending on the degree of clogging of the grinding surface, by bringing the grinding surface after a specific grinding time into contact with a cleaning device. Alternatively, the cleaning device is in contact with a part of the grinding surface during the grinding and cleans it continuously during the grinding.
- Preferably, the cleaning device cleans the grinding surface by means of a nozzle for blowing on of pressurized air and/or a device for the suchtion of grinding dust and/or a brush for brushing the grinding surface. These three measures, lead either on their own or in any combination with each other to the fact that also the abrasion of viscoplastic coatings is removed nearly completely from the grinding surface of the grinding means and cannot adhere there and cannot clog the grinding surface. By the active cleaning of the cleaning surface, the life time of the grinding means is increased but also the quality of the grinding task.
- During the blowing of pressurized air by means of a nozzle, adhering grinding particles are loosened, these particles are removed actively from the grinding surface by the suction of grinding dust and it is possible by means of a brush to remove even strongly adhering grinding dust on the grinding surface or larger sticky adhesions safely. Such a grinding device can be used for a discontinuous as well as for continuous cleaning of the grinding surface of the grinding means.
- In a preferred embodiment, the grinding device comprises furthermore a drive unit for moving the industrial robot in the direction of the longitudinal axis L of a rotor blade. By doing so, the industrial robot can move along the rotor blade and grind the entire surface of the rotor blade.
- In a preferred embodiment the grinding unit comprises a cylinder grinding unit with a grinding sleeve. A grinding sleeve comprises a comparatively large grinding surface that can be cleaned in its region that is currently not in contact with the rotor blade. The cylinder grinding units are furthermore very compact and can be moved very well with an industrial robot in order to grind the surface of the rotor blade as desired.
- In a preferred embodiment the cylinder grinding unit comprises a rigid suction drum and elastic, pneumatically expandable clamping elements that are arranged at the barrel of the suction drum wherein the grinding sleeve is fixed to the clamping elements at the suction drum by the application of pressure. It is possible by such an arrangement of the drum grinding unit, to fix the grinding sleeve very simple and fast at the suction drum so that a tool exchange—that means the exchange of the grinding sleeve—can be carried out very easy and fast.
- Furthermore the elastic, pneumatically expandable clamping elements have the advantage that the grinding sleeve can adapt itself in some degree to the surface of the rotor blade and compensates smaller inconsistencies of the positioning of the grinding device.
- Preferably, the suction drum comprises suction openings at the barrel and air permitting spaces are present between the clamping elements and the grinding sleeve comprises perforation openings arranged essentially over its entire surface in order to be able to suck grinding dust from the grinding surface through the perforation openings and through the air permitting spaces and through the suction openings. With such a construction of the drum grinding unit it is possible on the one hand to carry out the above mentioned simple pneumatic clamping of the grinding sleeve to a rigid suction drum and on the other hand to suck grinding dust from the grinding surface through the clamping elements, the suction drum and through the grinding sleeve. By doing so, the dust removal can be carried out from the grinding surface over the entire surface, whereby a clogging of the grinding surface is furthermore minimized and a nearly dustless grinding becomes possible.
- In a preferred embodiment, the grinding sleeve comprises an air- and particle-flow-permitting layer, in particular a fleece layer, through which suction air and grinding dust are able to flow transversely behind the grinding surface from the perforation openings to the air permitting spaces. By the fleece layer, through which the suction air and the grinding dust can flow transversely behind the surface, perforation openings can be arranged over the entire surface of the grinding surface of the grinding sleeve, so that the way of the grinding dust from its generation at the grinding surface to the perforation opening at which it is sucked away is very short. According to this the air- and particle-flow-permitting layer behind the grinding surface allows a dust suction over the entire surface and permits a clogging of the grinding sleeve. Thus, this dust transport is carried out over the entire surface and independently from the arrangement of the air permitting spaces that are formed by the elastic, pneumatically expandable elements.
- Preferably, the grinding unit comprises several drum grinding units, that each can be individually brought into contact with the surface of the rotor blade. By such an arrangement, for instance in form of a drum grinding unit revolver, grinding sleeves that are presently not in contact with the rotor blade can be replaced or cleaned without significantly enlarging the overall grinding time for the rotor blade. It is also possible to use on the single drum units grinding sleeves with different graining or dust drums and to use them very fast.
- Preferably, a cleaning unit cleans one of the drum grinding units which is not in contact with the surface of the rotor blade.
- In a further preferred embodiment, the grinding unit comprises a belt grinding unit with a circulating grinding belt. A circulating grinding belt is only in contact with the rotor blade with a part of its grinding surface and the part of the circulating grinding belt that is not in contact with the rotor blade can move along a cleaning device, which carries out a cleaning of the grinding surface. According to this, this embodiment is also appropriate very well for a continuous cleaning of the grinding surface during the operation.
- Preferably, the grinding belt is a perforated grinding belt that comprises perforation openings arranged essentially over its entire surface. The generated grinding dust can be sucked though this perforation openings on the shortest-possible way behind the grinding surface so that a clogging of the grinding belt is avoided and a nearly dustless grinding is possible.
- In a further preferred embodiment, the grinding device further comprises a dust removing unit with a circulating dust belt or a dust sleeve that can be guided by the industrial robot along at least one surface of the rotor blade, in order to remove dust mechanically from the surface of the rotor blade. By the use of the device according to the invention it is not only possible to grind the surface of a rotor blade automatically but it is also possible to remove dust from the ground surface completely by means of a circulating dust belt or a dust sleeve. So it is possible to carry out the application of a further lacquer layer directly afterwards. In an advantageous manner, therefore the already present grinding unit can be used as dust removing unit so that herein only a little additional effort has to be spent. An automized dedusting of the grinding surface is significantly faster executable than manual dedusting by means of towels or similar means.
- In a preferred embodiment, the industrial robot comprises pressure sensors at at least one robot arm or at the head for controlling the contact pressure of the grinding unit onto the rotor blade. By means of these pressure sensors it is ensured, that the robot arm applies the necessary grinding pressure and the necessary and precisely defined pressure for cleaning the surface of the rotor blade respectively. Therefore a very homogenous grinding- and cleaning-result is achieved.
- Preferably, the industrial robot is also used for lacquering the rotor blades. By doing so the investment costs of the entire system is reduced to a minimum, wherein in one system lacquering of a rotor blade as well as the grinding and the dedusting of the rotor blade respectively is carried out with the same industrial robot that has only to exchange the necessary tools between the single process steps. Also such an exchange can be carried out automatically. According to this the entire coating processes, including grinding and dedusting of a rotor blade is reduced to a fraction of time, compared with conventional systems in which it has to be ground manually and often also to be lacquered manually. According to this the manufacturing times as well as the manufacturing costs are reduced by the grinding device according to the invention.
- Further preferred embodiments of the invention result from the sub claims.
- In the following, preferred embodiments of the invention are described with reference to the accompanying figures. In which shows:
-
FIG. 1 : A first preferred embodiment of a grinding device for machine-based grinding of rotor blades for wind energy systems in a front view; -
FIG. 2 : The grinding device ofFIG. 1 in a top view; -
FIG. 3 : A drum grinding unit of the grinding device according toFIG. 1 in a cross sectional view from the side; -
FIG. 4 : A detail of a drum grinding device ofFIG. 3 in a cross sectional view from the side; -
FIG. 5 : The drum grinding device ofFIG. 3 in an cross sectional view from the from; -
FIG. 6 : A second embodiment of a grinding device for machine based grinding of rotor blades for wind energy systems in a front view; -
FIG. 7 : A grinding device according toFIG. 6 with an alternative guiding of the industrial robot at a wall in a top view; and -
FIG. 8 : A front view of a further preferred embodiment of a grinding device for a machine based grinding of rotor blades for wind energy systems with a belt grinding unit in a front view; - In the following preferred embodiments of the invention are described with reference to the figures. Single features of the herein described embodiments can be combined with other embodiments of the invention.
-
FIGS. 1 and 2 show a front view and a top view of a grindingdevice 1 for machine-based grinding ofrotor blades 100. InFIG. 1 anindustrial robot 30 is arranged on the right hand side of therotor blade 100 at thewall 60 of a building, wherein it is possible to move theindustrial robot 30 in the longitudinal direction. Theindustrial robot 30 can move by means of anundercarriage 32 at thewall 60 along a longitudinal axis L of therotor blade 100 at wall tracks 42. Theindustrial robot 30 is only shown in a symbolic manner and can be every industrial robot that is appropriate for the task that is described in the following. As shown, theindustrial robot 30 comprises anundercarriage 32, adrive motor 40, afirst arm 34, that is attached to theundercarriage 32 in a hinged manner, asecond arm 36 that is attached to thefirst arm 34 in a hinged manner as well as ahead 38, that is attached to the second arm in a hinged manner Depending on the construction type of theindustrial robot 30 further swiveling- or rotating-axes can be foreseen. All axes of theindustrial robot 30 are driven in a common manner by a motor and are controlled by means of a NC-control by means of a program. - At the
head 38 of the industrial robot 30 a grinding unit in form of adrum grinding unit 10 is attached, that can be guided NC-controlled by theindustrial robot 30 along thesurface 102 of therotor blade 100, in order to grind the surface. By means of theindustrial robot 30 it is thus possible to grind at least one side of thesurface 102 of therotor blade 100 in a machine-based manner For the other side of the rotor blade 100 a secondindustrial robot 30 with a grindingunit - Alternatively, the
rotor blade 100 can be also supported rotatably around its longitudinal axis, so that the side to be ground can be rotated in the direction of theindustrial robot 30. - The
drum grinding unit 10 is shown in the following in theFIGS. 3 , 4 and 5 in detail.FIG. 3 shows a cross section through a preferreddrum grinding unit 10. Thedrum grinding unit 10 comprises arigid suction drum 15 that is equipped withsuction openings 16 around its circumference. Elastic and pneumaticallyextendable clamping elements 17 are arranged around the barrel of therigid drum 15 that consists preferably of a light metal. Theelastic clamping elements 17 consist preferably of a polymer material and are supported by an inlet forpressurized air 18 with clamping air. The clampingelements 17 are connected amongst each other pneumatically viaducts 19, so that they generate between themselvesair permitting spaces 11, through which the dust can be sucked into thesuction drum 15. The clampingelements 17 are preferably realized in form of shallow torus-shaped rings or as single pillows that are arbitrarily shaped. - A grinding means in form of a grinding
sleeve 12 is slided onto to thesuction drum 15 with the clampingelements 17 that are arranged at the barrel and is fixed to thesuction drum 15 by an application of pressure onto the clampingelement 17. Herein the clampingelement 17 expand by inducing of clampingair 18 and fix the grindingsleeve 12 from inside onto thesuction drum 15. It is especially simple by this pneumatic way of fixation to clamp the grindingsleeve 12 onto thesuction drum 15 and to exchange the grindingsleeve 12 after the expiration of its lifetime. The grindingsleeve 12 consists preferably of a widegrinding belt 66 that is coated with grinding particles and is made of a tissue that is glued together to a cylinder-shaped sleeve. - The
drum grinding unit 10 is preferably equipped with adust suction device 14 that allows sucking the generated grinding dust through the grindingsleeve 12 during the grinding. Therefore, the grindingsleeve 12 preferably comprises over its entiresurface peroration openings 62 that expand at least through the grindingbelt layer 66 so that grinding dust can be sucked from the grindingsurface 64 through theperforation openings 62 and through the air-permittingspaces 11 between the clampingelements 17 and through thesuction openings 16 into thesuction drum 15. From thesuction drum 15 the suction air is sucked together with grinding particles through asuction air connection 14 into a suction system (similar to a vacuum cleaner). - A particular effective dust suction is achieved when the grinding
sleeve 12 comprises in addition on its inner side an air- and particle-flow-permittinglayer 13, in particular a fleece layer, through which the sucked air and the grinding dust is able to flow transversally behind the grindingsurface 64 from theperforation openings 62 to the air-permittingspaces 11. This is exemplarily shown by thearrow 68 inFIG. 4 . Thus, the size and the arrangement of theperforation openings 62 of the grindingsleeve 12 can be chosen according to the generated grinding dust and has not to be adapted to the arrangement of the air-permittingspace 11 between the clampingelements 17. Preferably, theperforation openings 62 comprise a diameter of about 1 mm-6 mm and are spaced apart from each other in a distance of about 10 mm-50 mm and are distributes essentially homogenously over the entire surface of the grindingsleeve 12. According to this, a nearly complete suction off of the grinding dust can be carried out so that also for this reason a clogging of the grindingsurface 64 of the grindingsleeve 12 is avoided and only little dust is dispensed to the environment. - The
drum grinding unit 10 comprises furthermore a drive motor (not shown) that rotatably drives thesuction drum 15 with the grindingsleeve 12 around its rotation axis in order to grind thesurface 102 by that. - The
industrial robot 30 comprises preferably in itshead 38 or in itsarms 34, 36 a pressure sensor (not shown) in order to control the contact pressure of the grindingunit 10 onto therotor blade 100. - As shown in
FIG. 5 , thedrum grinding unit 10 comprises furthermore acleaning device 20. Thecleaning device 20 comprises abrush 22 for brushing the grindingsurface 64 of the grindingsleeve 12. Furthermore, thecleaning device 20 comprises anozzle 24 that can be used for blowing pressurized air onto thesurface 64 of the grindingsleeve 12. In addition thecleaning device 20 comprises a surroundinghood 28 that is connected to asuction element 26, in order to suck grinding dust that was detached by thebrush 22 and thenozzle 24. Thesuction element 26 can be connected to the suction element of thesuction drum 15. - The
cleaning device 20 detaches in an effective manner at the grindingsurface 64 of the grindingsleeve 12 adhering grinding dust that cannot be removed by the common suction element. This is in particular decisive for an effective use of the grindingdevice 1 according to the invention, since anindustrial robot 30 can be only used in a reasonable manner for grinding ofrotor blade 100, when the life time of the grinding means 12, 52 is so high, that a significant surface of therotor blades 100 can be ground without having to exchange the grinding means 12, 52. By means of thecleaning device 20 it is possible, also to remove firmly adhering or sticky grinding dust of viscoplastic coatings of arotor blade 100 from the grindingsurface 64 of a grindingsleeve 12 or the later described grindingbelt 52. - The
FIGS. 6 and 7 show a further embodiment of a grindingdevice 1 with anindustrial robot 30. InFIG. 6 the industrial robot is guided via anundercarriage 32 at floor tracks 44 on thefloor 61 of a system in a longitudinally moveable mannerFIG. 7 shows an alternative embodiment, wherein theindustrial robot 30 is guided via aundercarriage 32 at wall tracks 42 at thewall 60 of a building. The grindingdevice 1 of theFIGS. 5 and 6 differs from the embodiment according toFIGS. 1 and 2 therein, that at thehead 38 of the industrial robot 30 a4-fold grinding unit 70 is attached, that comprises threedrum grinding units 10 like these ofFIGS. 3-5 , as well as one dust removing unit in form of a cleaningdrum 72. The4-fold grinding unit 70 can—similar to a tool revolver—be moved around an angle of 90° each so that either a newdrum grinding unit 10 or the cleaningdrum 72 can be used at therotor blade 100. - The cleaning
drum 72 is similar to thedrum grinding unit 10 in its construction, but comprises instead of a grindingsleeve 12, a cleaning sleeve made of a soft, dust attracting and air-permitting tissue- or fleece-material. By means of the dust removing unit in form of a cleaningdrum 72 thesurface 102 of therotor blade 100 can be cleaned mechanically after the grinding process of remaining dust, so that it can be coated again directly afterwards. - In the embodiment that is shown in
FIGS. 6 and 7 the grindingdevices 10 and the cleaningdrum 72 respectively are not provided each with anown cleaning device 20, but there is onecommon cleaning device 20 for all fourunits cleaning device 20 is fixed to thehead 38 at a fixed position, for instance in the position ofFIG. 6 . For the discontinuous cleaning, thedrum grinding unit 10 and the cleaningdrum 72 each are pivoted to thecleaning device 20 and is cleaned there. Thus, a cleaning of one of thedrum grinding units 10 and the cleaningdrum 72 respectively is possible when at the same time anotherunit rotor blade 100. -
FIG. 8 shows a further embodiment of the grindingdevice 1 for machine-based grinding ofrotor blades 100 for wind energy systems. In this embodiment of the grindingdevice 1, theindustrial robot 30 guides abelt grinding unit 50 along thesurface 102 of the rotor blade in order to grind it. Thebelt grinding unit 50 comprises aframe 51, at which guide rolls 54 are rotatably supported, which guide a grindingbelt 52 continuously. Atension roll 56 tightens the grindingbelt 52. One of the guide rolls 54 is preferably driven by an electric motor, in order to circulate the grindingbelt 52. The grindingbelt 52 is pressed by means ofpressure elements 58 homogenously onto thesurface 102 of therotor blade 100 so that a homogenous grinding pressure is ensured. Thepressure elements 58 comprise furthermore asuction element 59, so that the grinding dust can be sucked directly during grinding. Therefore the grindingbelt 52 is preferably perforated at its entire surface like the above described grindingsleeve 12, so that the grinding dust can be removed on the shortest possible way from the grindingsurface 53 and a nearly dust-free grinding becomes possible. A significant advantage of thebelt grinding unit 50 lies in the fact that during the grinding only a part of the grindingbelt 52 is in grinding contact with thesurface 102 of therotor blade 100. Thus it is possible, to execute a cleaning of the areas, that are currently not in contact with thesurface 102 by thecleaning device 20. Thecleaning device 20 comprises like in the above described embodiments anozzle 24 for blowing of pressurized air onto the grinding surface in order to remove adhering grinding dust. Furthermore, thecleaning device 20 comprises abrush 22, in order to remove stronger adhering grinding dust from the grinding surface of the grindingbelt 52. The removed grinding dust is sucked off by asuction element 26. The grindingdevice 20 is surrounded by ahood 28, so that no dust can be dispersed to the environment. By means of thecleaning device 20 it is possible to clean the grindingbelt 52 continuously during the operation at its grinding surface, so that grinding dust cannot adhere and it cannot come to a clogging of the grindingbelt 52. This significantly increases the lifetime of the grindingbelt 52, so that it is possible, to grind thecomplete rotor blade 100 with only one grinding belt completely. - Another advantage of the
belt grinding unit 50 also compared to drum grinding units lies in the fact that its grinding performance is adaptable by a corresponding dimensioning of the grinding means surface. By the choice of the grinding means surface that is determined by the length and the width of the grindingbelt 52 the grinding performance can be adjusted according to the rotor blade to be ground so that none or at the most only few exchanges of the grindingbelt 52 are necessary per grinding iteration. - Like in the above mentioned embodiments, the
industrial robot 30 can be guided by means of adrive unit wall 60 or also at thefloor 61 and can move all in all along the longitudinal direction L at therotor blade 100. InFIG. 9 both alternatives of thedrive unit industrial robot 30 can be equipped at one of itsarms head 38 with pressure sensors in order to adjust the contact pressure of thebelt grinding unit 50 onto thesurface 102 exactly. - By means of the above described embodiments it is possible for the first time to use
industrial robots 30 economically for the grinding ofrotor blades 100 of wind energy systems. Preferably, theseindustrial robots 30 can also execute further functions like for instance the dedusting of therotor blade 100 and the lacquering and coating of therotor blade 100 respectively. - When a
belt grinding unit 50 is used for dedusting of therotor blades 100 thebelt grinding unit 50 can be equipped with a dust belt instead of the grindingbelt 52, wherein the dust belt consists of an air-permitting tissue- or fleece-material. This is guided similarly to the grindingbelt 52 along thesurface 102 of therotor blade 100 and picks up there the adhering grinding dust mechanically and cleans thesurface 102 so that it can be lacquered and coated respectively directly afterwards. - For this lacquer process the
industrial robot 30 that is used for grinding and dedusting respectively can be also used. Thus, it is possible to carry out in one single system with the sameindustrial robot 30 the entire coating process, which consists of several lacquer-, grinding- and cleaning-processes. Manual work like for instance the manual grinding or a manual cleaning is omitted completely. Thus the manufacturing time for the rotor blade of wind energy systems and according to this also the manufacturing costs are reduced. Furthermore, by the cleaning of the grinding means high savings concerning grinding means are achieved, that also reduce the manufacturing costs.
Claims (15)
1. Grinding device (1) for machine-based grinding of rotor blades (100) for wind energy systems, comprising:
a. at least one industrial robot (30); and
b. a grinding unit (10, 50, 70) that is guided by the industrial robot (30); wherein
c. the grinding unit (10, 50, 70) comprises a grinding means (12, 52) and a cleaning device (20) that cleans the grinding means (12, 52) at its grinding surface (64, 53).
2. Grinding device according to claim 1 , wherein the cleaning device (20) cleans the grinding surface (64, 53) of the grinding means (12, 52) either
a. from time to time in a cleaning process; or
b. continuously during the grinding.
3. Grinding device according to claim 1 , wherein the cleaning device (20) cleans the grinding surface (64, 53) by means of:
a. a nozzle (24) for blowing on of pressurized air; and/or
b. a device (26) for the suction of grinding dust; and/or
c. a brush (22) for brushing the grinding surface (64, 53).
4. Grinding device according to claim 1 , further comprising a drive unit (32, 32′) for moving the industrial robot (30) in a direction (L) of the longitudinal axis of a rotor blade (100).
5. Grinding device according to claim 1 , wherein the grinding device (10, 70) comprises a drum grinding unit (10) with a grinding sleeve (12).
6. Grinding device according to claim 5 , wherein the drum grinding unit (10) comprises:
a. a rigid suction drum (15); and
b. elastic, pneumatically extendable clamping elements (17), that are arranged at the barrel of the suction drum (15), wherein
c. the grinding sleeve (12) is fixed at the suction drum (15) by the application of pressure onto the clamping elements (17).
7. Grinding device according to claim 6 , wherein
a. the suction drum (15) comprises suction openings (16) at the barrel;
b. air-permitting spaces (11) are present between the clamping elements (17); and
c. the grinding sleeve (12) comprises perforation openings (62) arranged essentially over its entire surface;
so that grinding dust can be sucked from the grinding surface (64) through the perforation openings (62), the air-permitting spaces (11) and through the suction openings (16).
8. Grinding device according to claim 7 , wherein the grinding sleeve (12) comprises an air- and particle-flow-permitting-layer (13), preferably a fleece-layer (13), through which suction air and grinding dust can flow transversally behind the grinding surface (64) from the perforation openings (62) to the air-permitting spaces (11).
9. Grinding device according to claim 5 , wherein the grinding unit (70) comprises several drum grinding units (10) that each can be individually brought into contact with the surface (102) of the rotor blade (100).
10. Grinding device according to claim 9 , wherein the grinding unit (20) can clean one of the drum grinding units (10) that is not in contact with the surface of the rotor blade (100).
11. Grinding device according to claim 1 , wherein the grinding unit (50) comprises a belt grinding unit (50) with a circulating grinding belt (52).
12. Grinding device according to claim 11 , wherein the grinding belt (52) is a perforated grinding belt, that comprises perforation openings arranged essentially over its entire surface in order to suck dust through the grinding belt (52).
13. Grinding device according to claim 12 , further comprising a dust removal unit (72) with
a. a circulating dust belt; or
b. a dust sleeve (74);
that can be guided by the industrial robot (30) at at least one surface (102) of a rotor blade (100) in order to clean the surface (102) of the rotor blade (100) from dust mechanically.
14. Grinding device according to claim 1 , wherein the industrial robot (30) comprises pressure sensors at at least one robot arm (34, 36) or at the head (38), for controlling the contact pressure of the grinding unit (10, 50, 70) or the dust removal unit (72) onto the rotor blade (100).
15. Grinding device according to claim 1 , wherein the industrial robot (30) is also used for coating or lacquering the rotor blade (100).
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10193782.9 | 2010-12-06 | ||
EP20100193782 EP2460624A1 (en) | 2010-12-06 | 2010-12-06 | Grinding device for mechanical grinding of rotor blades for wind power systems |
PCT/EP2011/071656 WO2012076418A1 (en) | 2010-12-06 | 2011-12-02 | Grinding device for mechanically grinding rotor blades for wind power plants |
Publications (1)
Publication Number | Publication Date |
---|---|
US20120322349A1 true US20120322349A1 (en) | 2012-12-20 |
Family
ID=44123179
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/580,362 Abandoned US20120322349A1 (en) | 2010-12-06 | 2011-12-02 | Grinding device for machine based grinding of rotor blades for wind energy systems |
Country Status (4)
Country | Link |
---|---|
US (1) | US20120322349A1 (en) |
EP (1) | EP2460624A1 (en) |
CN (1) | CN103249523A (en) |
WO (1) | WO2012076418A1 (en) |
Cited By (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120318190A1 (en) * | 2010-08-27 | 2012-12-20 | Joest Peter | Grinding device for machine based grinding of rotor blades for wind energy systems |
US20140213160A1 (en) * | 2013-01-30 | 2014-07-31 | James Herbert Page | Apparatus for sharpening blades |
JP2015120225A (en) * | 2013-12-24 | 2015-07-02 | 川崎重工業株式会社 | Polishing dust collection system |
WO2017058864A1 (en) * | 2015-09-28 | 2017-04-06 | Saint-Gobain Abrasives, Inc. | Method and system for removing material from a workpiece |
US20170173759A1 (en) * | 2015-12-21 | 2017-06-22 | General Electric Company | Surface treatment of turbomachinery |
US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
US9879536B2 (en) | 2015-12-21 | 2018-01-30 | General Electric Company | Surface treatment of turbomachinery |
US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
US20180333790A1 (en) * | 2017-05-16 | 2018-11-22 | URBAN Machinery Corporation | Finishing device |
US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
CN109129119A (en) * | 2018-10-19 | 2019-01-04 | 常州市新创智能科技有限公司 | A kind of movable type blade adaptive robot polishing system and control method |
US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
CN110405559A (en) * | 2019-08-09 | 2019-11-05 | 珠海心怡科技有限公司 | A kind of metope intelligence sanding and polishing machine in robot |
US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
US10610963B2 (en) | 2017-05-17 | 2020-04-07 | General Electric Company | Surface treatment of turbomachinery |
US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
US10688619B2 (en) * | 2015-08-12 | 2020-06-23 | Klingspor A/S | Abrasion arrangement for sanding head |
US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US20200254582A1 (en) * | 2017-03-08 | 2020-08-13 | Todd Austin | Jig for sharpening mower blades |
US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
WO2022053119A1 (en) * | 2020-09-10 | 2022-03-17 | Enabl A/S | Method and an apparatus for surface treatment of an elongated structure e.g. a wind turbine blade |
EP3854522A4 (en) * | 2019-12-14 | 2022-08-10 | Shanghai Hangyi Hi Tech Development Research Institute Co., Ltd. | Flexible automatic grinding device and grinding method for aircraft repairing composite material |
US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102729124B (en) * | 2012-07-09 | 2014-06-18 | 重庆大学 | Abrasive belt grinding device applicable to inner and outer cambered surfaces of blades of aerospace blisk |
DE102013210582A1 (en) * | 2012-10-12 | 2014-04-17 | Wobben Properties Gmbh | Method for automated surface treatment of a profiled large component, a wind energy plant, processing device and processing system |
US9089949B2 (en) * | 2012-12-04 | 2015-07-28 | General Electric Company | Automated polishing systems and methods |
DE102013100754A1 (en) * | 2013-01-25 | 2014-07-31 | Hauni Maschinenbau Ag | Device and method for grinding at least one arranged on a cutterhead and circumferentially driven cutting knife |
US9272382B2 (en) * | 2013-10-08 | 2016-03-01 | The Boeing Company | Automated sanding system |
CN105290925B (en) * | 2014-09-17 | 2019-07-19 | 电子科技大学 | Roll adjustment paddle type facing sand band grinding attachment and its processing method based on industrial robot |
CN105150055B (en) * | 2015-08-27 | 2017-10-10 | 哈尔滨商业大学 | A kind of robot belt grinding machine for large flat class workpiece |
CN105150060B (en) * | 2015-08-27 | 2017-10-10 | 哈尔滨商业大学 | A kind of robot automatically grinding device for large-scale workpiece |
CN107303647B (en) * | 2016-04-25 | 2023-08-29 | 绵阳市川星锅厂 | Automatic pot grinding machine |
CN106078422B (en) * | 2016-06-30 | 2017-12-08 | 江苏智光创业投资有限公司 | A kind of blade burnishing device based on pneumatic control |
FR3054158B1 (en) * | 2016-07-21 | 2019-06-28 | Comau France | MACHINE-TOOL MACHINING |
CN106239313A (en) * | 2016-08-29 | 2016-12-21 | 苏州市诚品精密机械有限公司 | A kind of grinding of arcwall face workpiece |
CN106425790B (en) * | 2016-12-14 | 2018-12-04 | 广州中国科学院先进技术研究所 | A kind of die casting multirobot collaboration grinding device and method |
CN109333995B (en) * | 2018-10-12 | 2021-07-06 | 内蒙古工业大学 | Wind turbine blade coating maintenance robot and maintenance method thereof |
WO2020152186A1 (en) * | 2019-01-23 | 2020-07-30 | Ferrobotics Compliant Robot Technology Gmbh | Robot-assisted grinding device having an integrated maintenance unit |
DE102019101579A1 (en) * | 2019-01-23 | 2020-08-06 | Ferrobotics Compliant Robot Technology Gmbh | ROBOT-BASED GRINDING DEVICE WITH INTEGRATED MAINTENANCE UNIT |
CN113182981A (en) * | 2021-05-12 | 2021-07-30 | 浙江元鼎船舶设备有限公司 | Device for producing ship propeller |
EP4091803A1 (en) * | 2021-05-21 | 2022-11-23 | Siemens Gamesa Renewable Energy A/S | Method for manufacturing of a wind turbine blade component and wind turbine root |
CN113290464A (en) * | 2021-05-28 | 2021-08-24 | 上海扩博智能技术有限公司 | Polishing robot for fan blade maintenance |
CN114789385A (en) * | 2022-04-21 | 2022-07-26 | 海安亦奇家具有限公司 | Furniture processing dust collection device that polishes |
CN116141153B (en) * | 2023-04-19 | 2023-06-27 | 宜宾职业技术学院 | Abrasive belt polishing and grinding robot |
Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2437850A (en) * | 1947-06-13 | 1948-03-16 | William O Dennis | Grinding apparatus |
US2589620A (en) * | 1947-05-03 | 1952-03-18 | Thompson Grinder Co | Apparatus for cleaning, dressing, and grinding wheels |
US3848374A (en) * | 1971-12-28 | 1974-11-19 | Meinan Machinery Works | Sanding drum structure in a drum sander |
US4031669A (en) * | 1974-11-19 | 1977-06-28 | Tahara-Shoyei Engineering Co., Ltd. | Automatic profiling machine |
JPS59205264A (en) * | 1983-05-04 | 1984-11-20 | Hitachi Ltd | Automatic water turbine guide vane grinder |
JPS61257754A (en) * | 1985-05-10 | 1986-11-15 | Toshiba Corp | Three-dimensional curved face polishing controller |
US4753048A (en) * | 1986-03-20 | 1988-06-28 | Massachusetts Institute Of Technology | Method of for grinding |
US4768311A (en) * | 1987-03-20 | 1988-09-06 | Tennant Company | Floor preparation machine and method |
US5245792A (en) * | 1990-10-25 | 1993-09-21 | Maschinenfabrik Liechti & Co. Ag | Machining center for grinding workpieces with complex shaped surfaces |
US5497061A (en) * | 1993-03-31 | 1996-03-05 | Hitachi, Ltd. | Method of controlling robot's compliance |
US20020016144A1 (en) * | 2000-08-01 | 2002-02-07 | Peter Jost | Abrasive belt for a belt grinding machine |
US20020072297A1 (en) * | 1999-12-08 | 2002-06-13 | Steven Kennerknecht | Automated method and apparatus for aircraft surface finishing |
US6524173B1 (en) * | 1998-09-22 | 2003-02-25 | Marc O. Nelson | Surface cleaning apparatus |
US20100071209A1 (en) * | 2006-12-22 | 2010-03-25 | Vestas Wind Systems A/S | Surface Finishing of Rotor Blades for Wind Turbine |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0577162A (en) * | 1991-09-21 | 1993-03-30 | Ngk Insulators Ltd | Cleaning method for grinding wheel for dry-machining of ceramic molded body |
DE29709342U1 (en) | 1997-05-28 | 1997-07-31 | Holger Mueller Fa | Rotor for a wind turbine |
DE29803362U1 (en) * | 1998-02-26 | 1998-05-14 | Festo Ag & Co | Grinding roller for rotary operation |
DE29805833U1 (en) | 1998-03-31 | 1998-10-08 | Holger Mueller Fa | Formation of the surface of a rotor blade of a wind turbine |
DE29822003U1 (en) | 1998-12-09 | 1999-04-01 | Schreiber Heinrich | Concrete vibrator for rotor blades on wind power plants |
JP2001170864A (en) * | 1999-12-17 | 2001-06-26 | Ricoh Co Ltd | Grinding device |
DE20013377U1 (en) * | 2000-08-01 | 2000-10-05 | Joest Peter | Sanding belt for a belt sanding machine |
EP2422929B2 (en) * | 2010-08-27 | 2017-03-01 | Jöst GmbH | Grinding device for mechanical grinding of rotor blades for wind power systems |
-
2010
- 2010-12-06 EP EP20100193782 patent/EP2460624A1/en not_active Ceased
-
2011
- 2011-12-02 CN CN201180058860.5A patent/CN103249523A/en active Pending
- 2011-12-02 WO PCT/EP2011/071656 patent/WO2012076418A1/en active Application Filing
- 2011-12-02 US US13/580,362 patent/US20120322349A1/en not_active Abandoned
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2589620A (en) * | 1947-05-03 | 1952-03-18 | Thompson Grinder Co | Apparatus for cleaning, dressing, and grinding wheels |
US2437850A (en) * | 1947-06-13 | 1948-03-16 | William O Dennis | Grinding apparatus |
US3848374A (en) * | 1971-12-28 | 1974-11-19 | Meinan Machinery Works | Sanding drum structure in a drum sander |
US4031669A (en) * | 1974-11-19 | 1977-06-28 | Tahara-Shoyei Engineering Co., Ltd. | Automatic profiling machine |
JPS59205264A (en) * | 1983-05-04 | 1984-11-20 | Hitachi Ltd | Automatic water turbine guide vane grinder |
JPS61257754A (en) * | 1985-05-10 | 1986-11-15 | Toshiba Corp | Three-dimensional curved face polishing controller |
US4753048A (en) * | 1986-03-20 | 1988-06-28 | Massachusetts Institute Of Technology | Method of for grinding |
US4768311A (en) * | 1987-03-20 | 1988-09-06 | Tennant Company | Floor preparation machine and method |
US5245792A (en) * | 1990-10-25 | 1993-09-21 | Maschinenfabrik Liechti & Co. Ag | Machining center for grinding workpieces with complex shaped surfaces |
US5497061A (en) * | 1993-03-31 | 1996-03-05 | Hitachi, Ltd. | Method of controlling robot's compliance |
US6524173B1 (en) * | 1998-09-22 | 2003-02-25 | Marc O. Nelson | Surface cleaning apparatus |
US20020072297A1 (en) * | 1999-12-08 | 2002-06-13 | Steven Kennerknecht | Automated method and apparatus for aircraft surface finishing |
US20020016144A1 (en) * | 2000-08-01 | 2002-02-07 | Peter Jost | Abrasive belt for a belt grinding machine |
US20100071209A1 (en) * | 2006-12-22 | 2010-03-25 | Vestas Wind Systems A/S | Surface Finishing of Rotor Blades for Wind Turbine |
Cited By (47)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8900037B2 (en) * | 2010-08-27 | 2014-12-02 | Jöst Gmbh | Grinding device for machine based grinding of rotor blades for wind energy systems |
US20120318190A1 (en) * | 2010-08-27 | 2012-12-20 | Joest Peter | Grinding device for machine based grinding of rotor blades for wind energy systems |
US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
US20140213160A1 (en) * | 2013-01-30 | 2014-07-31 | James Herbert Page | Apparatus for sharpening blades |
US9102031B2 (en) * | 2013-01-30 | 2015-08-11 | James Herbert Page | Apparatus for sharpening blades |
US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
JP2015120225A (en) * | 2013-12-24 | 2015-07-02 | 川崎重工業株式会社 | Polishing dust collection system |
US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
US10688619B2 (en) * | 2015-08-12 | 2020-06-23 | Klingspor A/S | Abrasion arrangement for sanding head |
US11712142B2 (en) | 2015-09-03 | 2023-08-01 | Aktiebolaget Electrolux | System of robotic cleaning devices |
US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
WO2017058864A1 (en) * | 2015-09-28 | 2017-04-06 | Saint-Gobain Abrasives, Inc. | Method and system for removing material from a workpiece |
US11298791B2 (en) | 2015-09-28 | 2022-04-12 | Saint-Gobain Abrasives, Inc. | Method and system for removing material from a workpiece |
TWI633968B (en) * | 2015-09-28 | 2018-09-01 | 聖高拜磨料有限公司 | Article for removing material from a workpiece |
US20170173759A1 (en) * | 2015-12-21 | 2017-06-22 | General Electric Company | Surface treatment of turbomachinery |
CN106903575A (en) * | 2015-12-21 | 2017-06-30 | 通用电气公司 | The surface treatment of turbomachinery |
US10384326B2 (en) * | 2015-12-21 | 2019-08-20 | General Electric Company | Surface treatment of turbomachinery |
US11506058B2 (en) | 2015-12-21 | 2022-11-22 | General Electric Company | Turbomachine component with surface repair |
US9879536B2 (en) | 2015-12-21 | 2018-01-30 | General Electric Company | Surface treatment of turbomachinery |
US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
US20200254582A1 (en) * | 2017-03-08 | 2020-08-13 | Todd Austin | Jig for sharpening mower blades |
US10766081B2 (en) * | 2017-05-16 | 2020-09-08 | URBAN Machinery Corporation | Finishing device |
US20180333790A1 (en) * | 2017-05-16 | 2018-11-22 | URBAN Machinery Corporation | Finishing device |
US10610963B2 (en) | 2017-05-17 | 2020-04-07 | General Electric Company | Surface treatment of turbomachinery |
US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
CN109129119A (en) * | 2018-10-19 | 2019-01-04 | 常州市新创智能科技有限公司 | A kind of movable type blade adaptive robot polishing system and control method |
CN110405559A (en) * | 2019-08-09 | 2019-11-05 | 珠海心怡科技有限公司 | A kind of metope intelligence sanding and polishing machine in robot |
EP3854522A4 (en) * | 2019-12-14 | 2022-08-10 | Shanghai Hangyi Hi Tech Development Research Institute Co., Ltd. | Flexible automatic grinding device and grinding method for aircraft repairing composite material |
WO2022053119A1 (en) * | 2020-09-10 | 2022-03-17 | Enabl A/S | Method and an apparatus for surface treatment of an elongated structure e.g. a wind turbine blade |
Also Published As
Publication number | Publication date |
---|---|
EP2460624A1 (en) | 2012-06-06 |
CN103249523A (en) | 2013-08-14 |
WO2012076418A1 (en) | 2012-06-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20120322349A1 (en) | Grinding device for machine based grinding of rotor blades for wind energy systems | |
US8900037B2 (en) | Grinding device for machine based grinding of rotor blades for wind energy systems | |
US10974287B2 (en) | Cable cleaning and rolling system | |
WO2019119523A1 (en) | Deburring machine | |
US20190321866A1 (en) | Roller-type wheel flange surface powder removing device | |
EP2206581B1 (en) | Techniques for debris reduction when performing edge deletion on coated articles having temporary protective coatings applied thereto | |
GB2551565B (en) | A UAV apparatus for surface treatment | |
JP2020530249A (en) | Robot solar panel cleaning system | |
CN105834139A (en) | Automatic cleaning, spraying protection and drying machining equipment for thermal insulation composite board | |
EP2236245A2 (en) | Equipment and method for cleaning polishing cloth | |
EP3120971B1 (en) | Device and method for removing a plastic film layer from a glass panel | |
US20180169833A1 (en) | System and method for internal air blasting of an enclosed space with an automated apparatus | |
EP3479979A1 (en) | Machine and method for the treatment of a base article of the ceramic processing industry | |
KR20180069925A (en) | Method of polishing plate-shaped body | |
JPH10249296A (en) | Self-propelled polishing sweeper | |
DK180592B1 (en) | Method and an apparatus for surface treatment of an elongated structure e.g. a wind turbine blade | |
CN215470313U (en) | Steel construction surface rust cleaning device | |
CN113477447B (en) | Semi-closed space coating equipment for building industrialization | |
KR102546562B1 (en) | Apparatus for removal of paint or rust for bridge | |
KR20200008249A (en) | Blast machine traveling device | |
CN216830385U (en) | Metal work piece sandblast preprocessing device with spray dust removal function | |
WO2022063369A1 (en) | Method and an apparatus for surface treatment of an elongated structure, e.g. a wind turbine blade | |
KR20190124873A (en) | Air blast machine | |
GB2228186A (en) | Floor cleaning apparatus | |
JP2017135962A (en) | Solar light panel maintenance device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: JOST GMBH, GERMANY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:JOST, PETER;REEL/FRAME:028823/0720 Effective date: 20120816 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |