CN111531413A - Wind power blade multi-robot collaborative polishing system and method - Google Patents
Wind power blade multi-robot collaborative polishing system and method Download PDFInfo
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- CN111531413A CN111531413A CN202010391166.6A CN202010391166A CN111531413A CN 111531413 A CN111531413 A CN 111531413A CN 202010391166 A CN202010391166 A CN 202010391166A CN 111531413 A CN111531413 A CN 111531413A
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- 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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- 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
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Abstract
The invention provides a wind power blade multi-robot collaborative polishing system, which comprises: the robot system comprises a robot moving unit, a plurality of robot polishing units, a robot control cabinet, a blade tool unit and a system control cabinet; the robot moving unit comprises two parallel robot horizontal guide rails and AGV carrying platforms arranged at the front end and the rear end of the robot horizontal guide rails; the middle of the two horizontal robot guide rails is used for accommodating a blade to be polished; the robot polishing units are arranged on two robot horizontal guide rails on the left side and the right side of the blade to be polished in pairs, and the AGV carrying platforms at the front end and the rear end of each robot horizontal guide rail are respectively provided with one robot polishing unit; the robot polishing unit comprises a robot, a robot control cabinet, a polishing head and a visual detection unit; the blade tooling unit is used for loading the blade to be polished and can drive the blade to turn over at a set angle. The automatic grinding machine has the advantages of high automation degree, good grinding consistency and high efficiency.
Description
Technical Field
The invention relates to the technical field of wind power blade machining equipment, in particular to a multi-robot collaborative polishing system and method for a wind power blade.
Background
With the continuous development of the intelligent manufacturing industry, the robot machining technology is correspondingly developed, and robots replace manpower to become the trend of machining large-scale complex curved surface parts in the future. The wind power blade is a typical large-scale complex curved surface part as a core component of a wind power generation set, and the manufacturing level of the wind power blade represents the core competitiveness of the national intelligent manufacturing industry. Most of wind power blades are made of composite materials difficult to machine, the surfaces of the wind power blades are complex three-dimensional curved surfaces, the machining precision requirement is high, the machining difficulty is high, the manufacturing cost is high, and the period is long. The grinding process is the last process of the material reduction process of the wind power blade, and the processing quality of the grinding process directly influences the product quality of the wind power blade. At present, the polishing of domestic wind power blades still mainly depends on manual work, but manual polishing is limited by worker self working experience, the amount of labor requirement is large, the processing efficiency is low, the production line dust concentration is large, the pollution is serious, the processing consistency is poor, moreover, the dust generated by polishing composite materials is large in harm to human bodies, the problem of labor shortage is serious, and the production line scheme of automatic polishing is urgently needed.
Although there are some commercial robotic polishing systems in industrial applications, they are directed to small workpieces. For the polishing operation of large-scale workpieces such as wind-power blades, due to the problems of large processing range, high processing precision requirement, complex and changeable processing curved surface, large deflection deformation of blade tips in the processing process and the like, a mature wind-power blade surface robot automatic polishing system solution is not available so far.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides the multi-robot collaborative grinding system and the method for the wind power blade, has the characteristics of high automation degree, good grinding consistency, high efficiency, flexible processing, safety and stability, and improves the surface quality and the processing efficiency of the blade. The technical scheme adopted by the invention is as follows:
the embodiment of the invention provides a wind power blade multi-robot collaborative grinding system, which comprises: the robot system comprises a robot moving unit, a plurality of robot polishing units, a robot control cabinet, a blade tool unit and a system control cabinet;
the robot moving unit comprises two parallel robot horizontal guide rails and AGV carrying platforms arranged at the front end and the rear end of the robot horizontal guide rails; the robot horizontal guide rail and the AGV carrying platform are respectively in communication connection with a system control cabinet; the system control cabinet can control the starting, stopping and rotating speed of a servo motor of the robot horizontal guide rail and control the AGV carrying platform to move; the middle of the two horizontal robot guide rails is used for accommodating a blade to be polished;
the robot polishing units are arranged on two robot horizontal guide rails on the left side and the right side of the blade to be polished in pairs, and the AGV carrying platforms at the front end and the rear end of each robot horizontal guide rail are respectively provided with one robot polishing unit;
the robot polishing unit comprises a robot, a robot control cabinet, a polishing head and a visual detection unit; the robot is connected with and controlled by a robot control cabinet, and the robot control cabinet is in communication connection with a system control cabinet; the robot is provided with a visual detection unit, and the polishing head is arranged on a mechanical arm of the robot;
the blade tooling unit is used for loading a blade to be polished and can drive the blade to turn over at a set angle.
Further, according to the machining range of the robot in the robot polishing unit, dividing the blade to be polished into a plurality of horizontal machining stations and angle machining stations through path planning software; then planning a polishing path; sending a control instruction to enable the horizontal guide rail of the robot to drive the polishing unit of the robot to reciprocate, and controlling the robot to drive the polishing head to polish the blades according to the polishing path; in the polishing process, the polishing heads of the robot polishing units arranged in pairs on the left side and the right side of the blade are ensured to simultaneously polish and leave the surface of the blade;
when polishing is started, under the control of a system control cabinet, the robot horizontal guide rail drives the corresponding robot polishing unit to move to reach a corresponding initial horizontal processing station, the AGV carrying platform drives the corresponding robot polishing unit to move to reach the corresponding initial horizontal processing station, the robot polishing unit is processed in a substation mode, and when polishing of a polishing area of one horizontal processing station is completed and all polishing heads are separated from contact with the blades, the robot horizontal guide rail and the AGV carrying platform drive the corresponding robot polishing unit to move to the next horizontal processing station and continue polishing;
when the machining range of the robot polishing unit cannot reach the maximum range of the width direction of the blade, the required turning angle and the required turning frequency of the blade are determined according to the machining range of the robot polishing unit, and after all horizontal machining stations of the initial angle are machined, the angle of the blade is adjusted to perform a new round of substation type machining.
Further, the blade tool unit comprises an active tool unit and a passive tool unit, wherein the active tool unit is controlled by the system control cabinet and can drive the blade to turn over, and the passive tool unit plays a bearing role.
Furthermore, the active tool clamps the root of the blade, and the passive tool is arranged in the middle of the blade.
Further, the visual inspection unit employs a scanning gauge for scanning the blade surface.
Furthermore, the robot is also provided with a force control device.
The embodiment of the invention also provides a wind power blade multi-robot collaborative grinding method, which comprises the following steps:
step S1, determining the size of a required processing surface according to the blade CAD model, selecting the model of the robot, and planning a grinding path according to the required processing surface and the processing range of the grinding unit of the robot;
and step S2, the robot moving unit is controlled to drive the robot polishing unit to move, the blade tooling unit is controlled to drive the blade to turn over, different polishing areas of different stations of the blade are polished, and polishing of the polishing areas of all stations of the blade is completed according to the planned polishing path.
Further, step S1 specifically includes:
s101, selecting a robot model according to the size of a CAD model machining surface of a blade;
step S102, determining the machining range of the robot polishing unit according to the model of the robot;
step S103, determining the number of required robot grinding units and horizontal machining stations according to the length of the blade CAD model;
step S104, determining the turning angle and the turning times required by blade processing according to the width of the blade;
step S105, planning a grinding path in path planning software;
step S106, performing machining track simulation in simulation software;
and S107, judging whether the layout of the robot polishing units in the wind power blade multi-robot collaborative polishing system is reasonable and whether interference and missed polishing exist or not through simulation, and planning a reasonable polishing path.
And step S2, the robot moving unit is controlled to drive the robot polishing unit to move, the blade tooling unit is controlled to drive the blade to turn over, different polishing areas of different stations of the blade are polished, and polishing of the polishing areas of all stations of the blade is completed according to the planned polishing path.
Further, step S2 specifically includes:
step S201, scanning the blade to be polished in a segmented mode through a visual detection unit;
step S202, reconstructing the actually scanned model curved surface and matching the actually scanned model curved surface with a theoretical model;
step S203, calibrating a blade workpiece coordinate system and a polishing head tool coordinate system;
step S204, determining a horizontal machining station and an angle machining station required by blade machining;
step S205, clamping the blade at an initial angle machining station A;
step S206, adjusting the robot moving unit to drive the robot polishing unit to enter an initial horizontal machining station N; the robot moving unit comprises a robot horizontal guide rail and an AGV carrying platform;
step S207, a robot polishing unit polishes a polishing area corresponding to the initial horizontal machining station N;
step S208, after the polishing of the polishing area corresponding to the initial horizontal machining station N is finished, controlling the robot moving unit to drive the robot polishing unit to enter a horizontal machining station N +1 and polishing the corresponding polishing area;
step S209, repeatedly adjusting the position of the robot polishing unit to finish polishing all polishing areas of the blades under the initial angle processing station A;
step S210, judging whether the surface of the blade under the initial angle machining station A is polished in place, if so, finishing polishing the blade at the angle machining station, and otherwise, repeatedly polishing the polishing areas corresponding to the horizontal machining stations under the angle machining station;
step S211, turning the blade by an angle, and entering an angle processing station A + 1;
step S212, adjusting the robot moving unit to drive the robot polishing unit to an initial horizontal processing station N below the angle processing station, and polishing a corresponding polishing area;
step S213, after the polishing of the polishing area corresponding to the initial horizontal machining station N is finished, controlling the robot moving unit to drive the robot polishing unit to enter a horizontal machining station N +1 and polishing the corresponding polishing area;
step S214, repeatedly adjusting the position of the robot polishing unit to finish polishing all polishing areas of the blades under the angle machining station;
step S215, judging whether the surface of the blade under the angle machining station is polished in place, if so, finishing polishing the blade at the angle machining station, and otherwise, repeatedly polishing the polishing areas corresponding to the horizontal machining stations under the angle machining station;
and S216, judging whether the surfaces of the blades under the machining stations with all angles are polished in place, if so, finishing polishing, and if not, returning to the S206 until the surfaces of the blades under the machining stations with all angles are polished in place.
The invention has the advantages that:
1) the robots of the polishing units of the robots arranged in pairs work in a coordinated manner, so that the polishing heads are guaranteed to polish and leave the surfaces of the blades simultaneously in the polishing process, vibration is effectively avoided, the bending deformation of the blades is reduced, and the surface consistency and the machining efficiency of the blades are improved.
2) The blade of different length different models of adaptation, the system flexibility is good.
3) The scheme that the robot horizontal guide rail and the blade tool unit drive the blade to overturn greatly meets the requirement of a machining range, the machining range is wide, and the machining efficiency is high.
4) The automation degree is high, and the system is highly integrated.
Drawings
Fig. 1 is a schematic structural component diagram of a collaborative polishing system according to an embodiment of the present invention.
Fig. 2 is a flowchart of planning a polishing path in the coordinated polishing method according to the embodiment of the present invention.
FIG. 3 is a flow chart of a blade grinding process in the coordinated grinding method according to the embodiment of the invention.
FIG. 4 is a schematic view of a blade dividing horizontal and angular processing stations in an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following specific figures and examples.
As shown in fig. 1, a wind turbine blade multi-robot collaborative grinding system provided in an embodiment of the present invention includes: the robot system comprises a robot moving unit 1, a plurality of robot polishing units 2, a blade tooling unit 3 and a system control cabinet (not shown in the figure);
the robot moving unit 1 comprises two parallel robot horizontal guide rails 101 and AGV carrying platforms 102 arranged at the front and rear ends of the robot horizontal guide rails 101; the robot horizontal guide rail 101 and the AGV carrying platform 102 are respectively in communication connection with a system control cabinet; the system control cabinet can control the starting, stopping and rotating speed of a servo motor of the robot horizontal guide rail 101 and control the AGV carrying platform 102 to move; the middle of the two robot horizontal guide rails 101 is used for accommodating the blade 4 to be polished;
the length of the robot horizontal guide rail 101 is the same as the maximum model length of the blade, so that the wind power blade multi-robot collaborative polishing system can polish the whole processing area of the blade;
the robot grinding units 2 are arranged on two robot horizontal guide rails 101 on the left side and the right side of the blade 4 to be ground in pairs, and the AGV carrying platforms 102 on the front end and the rear end of each robot horizontal guide rail 101 are respectively provided with one robot grinding unit 2; the number of the robot polishing units 2 can be flexibly increased or decreased according to the blade model; the root and the head of the blade 4 are not in the processing range of the robot grinding unit 2 arranged on the two robot horizontal guide rails 101, so that the AGV carrying platform 102 is adopted to move and carry the robot grinding unit 2 to grind the two ends of the blade;
the robot polishing unit 2 comprises a robot 201, a robot control cabinet 202, a polishing head 203, a visual detection unit and a force control device; the robot 201 is connected with and controlled by a robot control cabinet 202, and the robot control cabinet 202 is in communication connection with a system control cabinet; a visual detection unit and a force control device are arranged on the robot 201, and the polishing head 203 is arranged on a mechanical arm of the robot 201; the visual detection unit can adopt a scanning measuring instrument and is used for scanning the surface of the blade; a robot control and driving system is arranged in the robot control cabinet 202;
the blade tooling unit 3 is used for loading a blade 4 to be polished and can drive the blade 4 to turn over at a set angle; the blade tool unit 3 comprises an active tool unit and a passive tool unit, wherein the active tool unit is controlled by a system control cabinet and can drive the blade 4 to overturn, and the passive tool unit plays a bearing role; in the embodiment, the active tool clamps the root of the blade 4, and the passive tool can be arranged in the middle of the blade 4; the blade tool units not only improve the blade clamping rigidity, but also can realize the adaptation of blades with various types and different lengths by changing the number and the installation positions of the blade tool units;
according to the machining range of the robot in the robot polishing unit 2, dividing the blade 4 to be polished into a plurality of horizontal machining stations and angle machining stations through path planning software; then planning a polishing path; sending a control instruction to enable the horizontal guide rail 101 of the robot to drive the polishing unit 2 of the robot to reciprocate, and controlling the robot to drive the polishing head to polish the blades according to the polishing path; in the grinding process, the grinding heads of the robot grinding units 2 arranged in pairs on the left side and the right side of the blade are guaranteed to simultaneously grind and leave the surface of the blade, so that the grinding pressures on the two sides of the blade are basically offset, the deformation of the blade is effectively reduced, and the surface quality and the processing efficiency of the blade are improved;
when polishing is started, under the control of a system control cabinet, the robot horizontal guide rail drives the corresponding robot polishing unit to move to reach a corresponding initial horizontal processing station, the AGV carrying platform drives the corresponding robot polishing unit to move to reach the corresponding initial horizontal processing station, the robot polishing unit is processed in a substation mode, and when polishing of a polishing area of one horizontal processing station is completed and all polishing heads are separated from contact with the blades, the robot horizontal guide rail and the AGV carrying platform drive the corresponding robot polishing unit to move to the next horizontal processing station and continue polishing;
when the machining range of the robot polishing unit cannot reach the maximum range of the width direction of the blade, the required turning angle and the required turning frequency of the blade are determined according to the machining range of the robot polishing unit, and after all horizontal machining stations of the initial angle are machined, the angle of the blade is adjusted to perform a new round of substation type machining.
The embodiment of the invention provides a wind power blade multi-robot collaborative grinding method which comprises the following steps:
step S1, determining the size of a required processing surface according to the blade CAD model, selecting the model of the robot, and planning a grinding path according to the required processing surface and the processing range of the grinding unit of the robot;
the method specifically comprises the following steps:
s101, selecting a robot model according to the size of a CAD model machining surface of a blade;
step S102, determining the machining range of the robot polishing unit according to the model of the robot;
step S103, determining the number of required robot grinding units and horizontal machining stations according to the length of the blade CAD model;
step S104, determining the turning angle and the turning times required by blade processing according to the width of the blade;
step S105, planning a grinding path in path planning software;
step S106, performing machining track simulation in simulation software;
and S107, judging whether the layout of the robot polishing units in the wind power blade multi-robot collaborative polishing system is reasonable and whether interference and missed polishing exist or not through simulation, and planning a reasonable polishing path.
Step S2, the robot moving unit is controlled to drive the robot polishing unit to move, the blade tooling unit is controlled to drive the blade to turn over, different polishing areas of different stations of the blade are polished, and polishing of the polishing areas of all stations of the blade is completed according to the planned polishing path;
the method specifically comprises the following steps:
step S201, scanning the blade to be polished in a segmented mode through a visual detection unit;
step S202, reconstructing the actually scanned model curved surface and matching the actually scanned model curved surface with a theoretical model;
step S203, calibrating a blade workpiece coordinate system and a polishing head tool coordinate system;
step S204, determining a horizontal machining station and an angle machining station required by blade machining;
step S205, clamping the blade at an initial angle machining station A;
step S206, adjusting the robot moving unit to drive the robot polishing unit to enter an initial horizontal machining station N; the robot moving unit comprises a robot horizontal guide rail and an AGV carrying platform;
step S207, a robot polishing unit polishes a polishing area corresponding to the initial horizontal machining station N;
step S208, after the polishing of the polishing area corresponding to the initial horizontal machining station N is finished, controlling the robot moving unit to drive the robot polishing unit to enter a horizontal machining station N +1 and polishing the corresponding polishing area;
step S209, repeatedly adjusting the position of the robot polishing unit to finish polishing all polishing areas of the blades under the initial angle processing station A;
step S210, judging whether the surface of the blade under the initial angle machining station A is polished in place, if so, finishing polishing the blade at the angle machining station, and otherwise, repeatedly polishing the polishing areas corresponding to the horizontal machining stations under the angle machining station;
step S211, turning the blade by an angle, and entering an angle processing station A + 1;
step S212, adjusting the robot moving unit to drive the robot polishing unit to an initial horizontal processing station N below the angle processing station, and polishing a corresponding polishing area;
step S213, after the polishing of the polishing area corresponding to the initial horizontal machining station N is finished, controlling the robot moving unit to drive the robot polishing unit to enter a horizontal machining station N +1 and polishing the corresponding polishing area;
step S214, repeatedly adjusting the position of the robot polishing unit to finish polishing all polishing areas of the blades under the angle machining station;
step S215, judging whether the surface of the blade under the angle machining station is polished in place, if so, finishing polishing the blade at the angle machining station, and otherwise, repeatedly polishing the polishing areas corresponding to the horizontal machining stations under the angle machining station;
and S216, judging whether the surfaces of the blades under the machining stations with all angles are polished in place, if so, finishing polishing, and if not, returning to the S206 until the surfaces of the blades under the machining stations with all angles are polished in place.
Before grinding, an example of dividing the horizontal processing station and the angle processing station of the blade is described with reference to fig. 4; in fig. 4, the length of the wind-power blade multi-robot collaborative grinding system and the robot models and number are determined according to specific blade models; dividing a horizontal processing station N and an angle processing station A according to the processing range of a robot on a robot grinding unit, wherein the horizontal processing station N comprises robot horizontal guide rail stations N1 and N2 and AGV carrying platform stations N1 and N2; according to the divided different processing stations, the processing flow is reasonably carried out, the polishing path is reasonably planned, and the robot processing of all polishing areas of the blade is realized.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a wind-powered electricity generation blade multi-robot system of polishing in coordination which characterized in that includes: the robot grinding machine comprises a robot moving unit (1), a plurality of robot grinding units (2), a robot control cabinet (3), a blade tool unit (3) and a system control cabinet;
the robot moving unit (1) comprises two parallel robot horizontal guide rails (101) and AGV carrying platforms (102) arranged at the front end and the rear end of each robot horizontal guide rail (101); the robot horizontal guide rail (101) and the AGV carrying platform (102) are respectively in communication connection with a system control cabinet; the system control cabinet can control the starting, stopping and rotating speed of a servo motor of the robot horizontal guide rail (101) and control the AGV carrying platform (102) to move; the middle of the two horizontal robot guide rails (101) is used for accommodating a blade (4) to be polished;
the robot grinding units (2) are arranged on two robot horizontal guide rails (101) on the left side and the right side of the blade (4) to be ground in pairs, and the AGV carrying platforms (102) at the front end and the rear end of each robot horizontal guide rail (101) are respectively provided with one robot grinding unit (2);
the robot polishing unit (2) comprises a robot (201), a robot control cabinet (202), a polishing head (203) and a vision detection unit; the robot (201) is connected with and controlled by a robot control cabinet (202), and the robot control cabinet (202) is in communication connection with a system control cabinet; a visual detection unit is arranged on the robot (201), and a polishing head (203) is arranged on a mechanical arm of the robot (201);
the blade tooling unit (3) is used for loading a blade (4) to be polished and can drive the blade (4) to turn over at a set angle.
2. The wind turbine blade multi-robot collaborative sanding system of claim 1,
according to the machining range of the robot in the robot polishing unit (2), dividing the blade (4) to be polished into a plurality of horizontal machining stations and angle machining stations through path planning software; then planning a polishing path; sending a control instruction to enable the horizontal guide rail (101) of the robot to drive the polishing unit (2) of the robot to reciprocate, and controlling the robot to drive the polishing head to polish the blades according to a polishing path; in the polishing process, the polishing heads of the robot polishing units (2) arranged in pairs on the left side and the right side of the blade are ensured to simultaneously polish and leave the surface of the blade;
when polishing is started, under the control of a system control cabinet, the robot horizontal guide rail drives the corresponding robot polishing unit to move to reach a corresponding initial horizontal processing station, the AGV carrying platform drives the corresponding robot polishing unit to move to reach the corresponding initial horizontal processing station, the robot polishing unit is processed in a substation mode, and when polishing of a polishing area of one horizontal processing station is completed and all polishing heads are separated from contact with the blades, the robot horizontal guide rail and the AGV carrying platform drive the corresponding robot polishing unit to move to the next horizontal processing station and continue polishing;
when the machining range of the robot polishing unit cannot reach the maximum range of the width direction of the blade, the required turning angle and the required turning frequency of the blade are determined according to the machining range of the robot polishing unit, and after all horizontal machining stations of the initial angle are machined, the angle of the blade is adjusted to perform a new round of substation type machining.
3. The wind turbine blade multi-robot collaborative sanding system of claim 1,
the blade tool unit (3) comprises an active tool unit and a passive tool unit, wherein the active tool unit is controlled by a system control cabinet and can drive the blade (4) to overturn, and the passive tool unit plays a bearing role.
4. The wind turbine blade multi-robot collaborative sanding system of claim 3,
the active tool clamps the root of the blade (4), and the passive tool is arranged in the middle of the blade (4).
5. The wind turbine blade multi-robot collaborative sanding system of claim 1,
the visual inspection unit employs a scanning gauge for scanning the blade surface.
6. The wind turbine blade multi-robot collaborative sanding system of claim 1,
the robot (201) is also provided with a force control device.
7. A wind power blade multi-robot collaborative grinding method is characterized by comprising the following steps:
step S1, determining the size of a required processing surface according to the blade CAD model, selecting the model of the robot, and planning a grinding path according to the required processing surface and the processing range of the grinding unit of the robot;
and step S2, the robot moving unit is controlled to drive the robot polishing unit to move, the blade tooling unit is controlled to drive the blade to turn over, different polishing areas of different stations of the blade are polished, and polishing of the polishing areas of all stations of the blade is completed according to the planned polishing path.
8. The wind turbine blade multi-robot collaborative grinding method according to claim 7,
step S1 specifically includes:
s101, selecting a robot model according to the size of a CAD model machining surface of a blade;
step S102, determining the machining range of the robot polishing unit according to the model of the robot;
step S103, determining the number of required robot grinding units and horizontal machining stations according to the length of the blade CAD model;
step S104, determining the turning angle and the turning times required by blade processing according to the width of the blade;
step S105, planning a grinding path in path planning software;
step S106, performing machining track simulation in simulation software;
and S107, judging whether the layout of the robot polishing units in the wind power blade multi-robot collaborative polishing system is reasonable and whether interference and missed polishing exist or not through simulation, and planning a reasonable polishing path.
And step S2, the robot moving unit is controlled to drive the robot polishing unit to move, the blade tooling unit is controlled to drive the blade to turn over, different polishing areas of different stations of the blade are polished, and polishing of the polishing areas of all stations of the blade is completed according to the planned polishing path.
9. The wind turbine blade multi-robot collaborative grinding method according to claim 7,
step S2 specifically includes:
step S201, scanning the blade to be polished in a segmented mode through a visual detection unit;
step S202, reconstructing the actually scanned model curved surface and matching the actually scanned model curved surface with a theoretical model;
step S203, calibrating a blade workpiece coordinate system and a polishing head tool coordinate system;
step S204, determining a horizontal machining station and an angle machining station required by blade machining;
step S205, clamping the blade at an initial angle machining station A;
step S206, adjusting the robot moving unit to drive the robot polishing unit to enter an initial horizontal machining station N; the robot moving unit comprises a robot horizontal guide rail and an AGV carrying platform;
step S207, a robot polishing unit polishes a polishing area corresponding to the initial horizontal machining station N;
step S208, after the polishing of the polishing area corresponding to the initial horizontal machining station N is finished, controlling the robot moving unit to drive the robot polishing unit to enter a horizontal machining station N +1 and polishing the corresponding polishing area;
step S209, repeatedly adjusting the position of the robot polishing unit to finish polishing all polishing areas of the blades under the initial angle processing station A;
step S210, judging whether the surface of the blade under the initial angle machining station A is polished in place, if so, finishing polishing the blade at the angle machining station, and otherwise, repeatedly polishing the polishing areas corresponding to the horizontal machining stations under the angle machining station;
step S211, turning the blade by an angle, and entering an angle processing station A + 1;
step S212, adjusting the robot moving unit to drive the robot polishing unit to an initial horizontal processing station N below the angle processing station, and polishing a corresponding polishing area;
step S213, after the polishing of the polishing area corresponding to the initial horizontal machining station N is finished, controlling the robot moving unit to drive the robot polishing unit to enter a horizontal machining station N +1 and polishing the corresponding polishing area;
step S214, repeatedly adjusting the position of the robot polishing unit to finish polishing all polishing areas of the blades under the angle machining station;
step S215, judging whether the surface of the blade under the angle machining station is polished in place, if so, finishing polishing the blade at the angle machining station, and otherwise, repeatedly polishing the polishing areas corresponding to the horizontal machining stations under the angle machining station;
and S216, judging whether the surfaces of the blades under the machining stations with all angles are polished in place, if so, finishing polishing, and if not, returning to the S206 until the surfaces of the blades under the machining stations with all angles are polished in place.
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| CN113211249A (en) * | 2021-04-21 | 2021-08-06 | 湖南益象智能装备股份有限公司 | Blade root matched surface cutting polisher |
| CN113370035A (en) * | 2021-05-24 | 2021-09-10 | 广东中发罗庚智能装备制造有限公司 | Robot burnishing and polishing device |
| CN113427323A (en) * | 2021-05-27 | 2021-09-24 | 中材科技（邯郸）风电叶片有限公司 | Method for linkage control of automatic grinding of wind power blade and synchronous turning of blade |
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| CN113211249A (en) * | 2021-04-21 | 2021-08-06 | 湖南益象智能装备股份有限公司 | Blade root matched surface cutting polisher |
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| CN114633178A (en) * | 2022-03-22 | 2022-06-17 | 锐依德(上海)机器人科技有限公司 | Wind-powered electricity generation blade multi-robot is polished roller coating operation assembly line in coordination |
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