CN114102390A - Automatic grinding system and grinding method for wind power hub - Google Patents
Automatic grinding system and grinding method for wind power hub Download PDFInfo
- Publication number
- CN114102390A CN114102390A CN202111375875.6A CN202111375875A CN114102390A CN 114102390 A CN114102390 A CN 114102390A CN 202111375875 A CN202111375875 A CN 202111375875A CN 114102390 A CN114102390 A CN 114102390A
- Authority
- CN
- China
- Prior art keywords
- wind power
- robot
- power hub
- module
- polishing
- 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.)
- Withdrawn
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
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
Abstract
The invention discloses an automatic grinding system for a wind power hub, which comprises a lifting frame, a rotary workbench, a tool magazine and a robot grinding arm, wherein the rotary workbench is used for placing the wind power hub, the automatic grinding system also comprises a scanning recognition device and a scanning recognition control server, the scanning recognition device and a constant force floating device are arranged on the robot grinding arm, the robot grinding arm is connected with a servo lifting frame in a sliding mode through a servo walking driving device, and the walking driving device is used for driving the robot grinding arm to move up and down along the lifting frame. The intelligent polishing system can enable the polishing arm of the robot to be adaptive to the workpiece to intelligently generate polishing tracks, control polishing precision and effectively overcome the defects of difficult polishing, low efficiency and poor precision of incoming materials of multi-curved-surface large-scale workpieces such as wind power hubs and the like.
Description
Technical Field
The invention relates to the technical field of wind power hub polishing equipment, in particular to an automatic polishing system and a polishing method for a wind power hub.
Background
In recent years, the wind power industry in China is rapidly developed, and China becomes the country with the largest global wind power generation scale and the fastest growth. However, the equipment manufacturing industry in the wind power industry still develops slowly, the grinding, cleaning and derusting processes of parts such as fan hubs and rotating shafts in equipment workshops still stay in manual grinding for a long time, the efficiency is low, the manual operation differentiation is large, the labor cost is high, and the workshop dust easily causes lung diseases to workers. Therefore, the efficiency and the precision of grinding the wind power casting are improved, and an automatic and intelligent machining operation mode becomes an inevitable trend of the wind power industry.
Disclosure of Invention
The invention aims to provide an automatic grinding system and a grinding method for a wind power hub.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an automatic grinding system for a wind power hub comprises a lifting frame, a rotary workbench, a tool magazine and a robot grinding arm, wherein the rotary workbench is used for placing the wind power hub, the automatic grinding system further comprises a scanning recognition device and a recognition control server, the scanning recognition device is installed on the robot grinding arm, the robot grinding arm is connected with the lifting frame in a sliding mode through a walking driving device, and the walking driving device is used for driving the robot grinding arm to move up and down along the lifting frame;
the scanning and identifying device is used for scanning and identifying the 3D image on the surface of the wind power hub and sending the 3D image to the identification control server;
the recognition control server is used for receiving the image of the surface of the wind power hub, modeling a multi-surface image of the wind power hub, constructing a polishing track route on the modeling, and simultaneously sending control movement parameters of the track route to the robot polishing arm, the rotary workbench and the walking driving device;
the robot polishing arm, the rotary workbench and the walking driving device move according to the control moving parameters, so that the polishing head of the robot polishing arm polishes the wind power wheel hub along the track route.
Preferably, the recognition control server comprises a data receiving module, a modeling module, a storage module, a comparison module, an identification module and a track generation module;
the data receiving module is used for identifying and controlling data transceiving work among the server, the robot polishing arm, the rotary workbench and the walking driving device;
the modeling module is used for modeling according to the multi-surface image of the wind power hub to build a three-dimensional model of the hub to be polished;
the storage module is used for storing the finished product rust-free wind power hub three-dimensional model;
the comparison module is used for comparing and overlapping the three-dimensional model of the hub to be polished with the three-dimensional model of the finished rustless wind power hub;
the identification module is used for carrying out rust body identification on the part, with inconsistent colors, of the three-dimensional model of the hub to be polished and the finished rustless wind power hub, which is overlapped in a contrast manner, the rust body part is identified through dense coordinate points, and the distance between every two adjacent coordinate points is smaller than the diameter of a polishing head of a polishing arm of the robot;
the track generation module is used for generating track routes connected among the rust body identification parts, and track route data are sent to the robot polishing arm, the rotary workbench and the walking driving device through the data receiving and sending module;
the data receiving module, the modeling module, the storage module, the comparison module, the identification module and the track generation module are all connected with the control module.
Preferably, the crane comprises a vertical frame, a bottom supporting seat is fixedly installed at the bottom of the vertical frame, a toothed plate is fixedly installed on the front side surface of the vertical frame, a sliding groove opening is vertically formed in the middle of the front side surface of the vertical plate, a counterweight device is installed at the top of the vertical plate, and the counterweight device is connected with the walking driving device.
Preferably, the walking driving device comprises a servo motor, a walking gear and a hanging rack, the robot polishing arm is fixedly connected with the hanging rack through the hanging rack, a rotating seat is fixedly mounted between the hanging rack and the robot polishing arm and used for controlling the rotation of the robot polishing arm, the servo motor is fixedly mounted on the upper portion of the hanging rack, the walking gear of the servo motor is meshed with a toothed plate, the middle portion of the walking gear is connected with a sliding groove opening in a sliding mode through a pin shaft, and the servo system guarantees the moving precision and the moving efficiency of the system.
Preferably, the counterweight device comprises a chain wheel, a chain and a counterweight block, the chain wheel is movably mounted at the top of the vertical frame, the chain is wound on the chain wheel, two ends of the chain are respectively fixedly connected with the hanging frame and the counterweight block, and the counterweight block is arranged inside the vertical frame in a sliding manner, so that the purposes of energy conservation and efficiency improvement are achieved.
Preferably, the polishing head of the robot polishing arm is provided with a constant-force floating device, so that polishing efficiency and precision are guaranteed.
Preferably, the proximity switch and the hydraulic buffer are fixedly installed at the bottom of the hanger, and the cushion pad is fixedly installed on the upper surface of the bottom support seat at a position below the hydraulic buffer, so that the system safety is enhanced.
Preferably, the scanning recognition device comprises a laser ranging sensor and a laser 3D intelligent camera, and the modeling precision is guaranteed.
The grinding method of the automatic grinding system for the wind power hub comprises the following steps:
s1, scanning and identifying the image of the surface of the wind power hub by the scanning and identifying device, and sending the image to an identification control server;
s2, the recognition control server carries out modeling according to the multi-surface image of the wind power hub to build a three-dimensional model of the hub to be polished;
s3, the recognition server compares the three-dimensional model of the hub to be polished with the three-dimensional model of the finished rustless wind power hub to identify the overlapped part with inconsistent color, and generates a track route;
and S4, the robot polishing arm, the rotary workbench and the walking driving device act according to the track route, so that the polishing head of the robot polishing arm polishes the rust body part.
Preferably, the trajectory route in step S3 is a trajectory route connecting between rust body identification parts.
Compared with the prior art, the invention has the advantages that:
the polishing system can enable the robot polishing arm to automatically plan a track route to polish the wind power hub multi-curved surface according to the identification of the supplied materials, can precisely and efficiently polish rust body parts, replaces manual polishing with the robot, reduces the workload of operators in severe environments, improves the efficiency, saves the cost and gradually reduces the risk of lung diseases of the operators.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of an automatic grinding system for a wind turbine hub according to the present invention;
FIG. 2 is a frame diagram of an automatic grinding system for a wind turbine hub according to the present invention;
FIG. 3 is a block diagram of the crane and robotic arm of the present invention;
fig. 4 is an enlarged schematic view of the structure at a in fig. 3.
In the figure: 1 lifting frame, 11 vertical frames, 12 bottom supporting seats, 13 buffer pads, 14 sliding plates, 2 rotating tables, 3 tool magazines, 4 robot polishing arms, 41 lifting frames, 42 rotating seats, 43 transverse force floating devices, 44 proximity switches, 45 hydraulic buffers, 5 scanning recognition devices, 6 walking driving devices, 61 servo motors, 62 walking gears, 63 hanging frames, 64 toothed plates, 65 sliding groove openings, 7 counterweight devices, 71 chain wheels, 72 chains and 73 configuration blocks.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
Example one
Referring to fig. 1 and 2, the invention provides an automatic grinding system for a wind power hub, which comprises a lifting frame 1, a rotary workbench 2, a tool magazine 3 and a robot grinding arm 4, wherein the tool magazine 3 is used for placing a plurality of grinding heads, so that the grinding heads can be conveniently replaced by the robot grinding arm 4, the rotary workbench 2 is used for placing the wind power hub, the rotary workbench 2 is used for rotating the wind power hub, so that the grinding work is convenient, the robot grinding arm 4 is a telescopic robot arm in the prior art, the wind power hub polishing device is provided with a polishing head and used for polishing the wind power hub, and further comprises a scanning recognition device 5 and a recognition control server, wherein the scanning recognition device 5 is installed on a robot polishing arm 4, the robot polishing arm 4 is in sliding connection with a lifting frame 1 through a walking driving device 6, and the walking driving device 6 is used for driving the robot polishing arm 4 to move up and down along the lifting frame 1, so that the wind power hub can be polished at different height positions conveniently;
the scanning and identifying device 5 is used for scanning and identifying a 3D image of the surface of the wind power hub and sending the 3D image to the identifying control server, the scanning and identifying device 5 comprises a laser ranging sensor and a laser 3D intelligent camera, and the scanning and identifying device 5 can simultaneously obtain the distance from the surface of the wind power hub to a polishing head so as to facilitate more accurate polishing of the polishing head;
the recognition control server is used for receiving the image of the surface of the wind power hub, modeling a multi-surface image of the wind power hub, constructing a polishing track route on the modeling, and simultaneously sending control movement parameters of the track route to the robot polishing arm 4, the rotary workbench 2 and the walking driving device 6;
arm 4 is polished to the robot, swivel work head 2 and walking drive arrangement 6 move according to control movement parameter, make the polishing head of arm 4 is polished wind-powered electricity generation wheel hub along the orbit route to the robot, wind-powered electricity generation wheel hub generally divide into three main polished surface, arm 4 is polished to the robot removes to suitable high position through walking drive arrangement 6 according to the orbit route, the polishing head of arm 4 is polished the wind-powered electricity generation wheel hub of this face this moment, after all orbit routes of this face are polished, swivel work head 2 is rotatory 120 this moment, arm 4 is polished then this face of wind-powered electricity generation wheel hub according to the orbit route to the robot, until all faces of wind-powered electricity generation wheel hoop are all polished and are accomplished.
Example two
In this embodiment, the recognition control server includes a data receiving module, a modeling module, a storage module, a comparison module, an identification module, and a trajectory generation module;
the data receiving module is used for identifying data receiving and sending work between the control server and the robot polishing arm 4 and between the rotary workbench 2 and the walking driving device 6, the data receiving and sending work of the data receiving module can be transmitted in a wireless or wired mode, when the data receiving and sending work is transmitted in a wireless mode, the walking driving device 6, the rotary workbench 2 and the mechanical polishing arm 4 are only provided with wireless communication modules, the wireless communication modules can receive track route data sent by the identification control server, the walking driving device 6, the action mechanisms in the rotary workbench 2 and the mechanical polishing arm 4 act according to the track route data, the action operation can be controlled through a PLC (programmable logic controller), firstly, data parameters corresponding to actions are set in the PLC, after the track route data are received, different track route data correspond to different data parameters, and the walking driving device 6 is controlled through the data parameters, The actions of the rotary worktable 2 and the mechanical grinding arm 4;
the modeling module carries out modeling according to the multi-surface image of the wind power hub to build a three-dimensional model of the hub to be polished;
the storage module stores a finished product rust-free wind power hub three-dimensional model, and the finished product rust-free wind power hub three-dimensional model is matched according to the hub three-dimensional model to be polished and is input in advance;
the comparison module compares and overlaps the three-dimensional model of the hub to be polished with the three-dimensional model of the finished rustless wind power hub, and the three-dimensional model of the finished rustless wind power hub and the three-dimensional model of the hub to be polished are matched with each other, have the same size and only have color differences;
the identification module is used for identifying a rust body of the three-dimensional model of the hub to be polished and a finished rustless wind power hub three-dimensional model by comparing the overlapped color inconsistent parts, the rust body is brown, so that the rust body can be rapidly identified, the rust body part is identified through dense coordinate points, the distance between the adjacent coordinate points is smaller than the diameter of a polishing head of the robot polishing arm 4, and the rust body can be polished more accurately;
the track generation module is used for generating track routes connected among the rust body identification parts, the polishing head can move along the track routes, the time of passing through the part without the rust body can be reduced, the polishing time is shortened, the polishing efficiency is improved, and track route data are sent to the robot polishing arm 4, the rotary workbench 2 and the walking driving device 6 through the data receiving and sending module;
the data receiving module, the modeling module, the storage module, the comparison module, the identification module and the track generation module are all connected with the control module, and the control module is used for organizing and connecting the data receiving module, the modeling module, the storage module, the comparison module, the identification module and the track generation module.
EXAMPLE III
Referring to fig. 3, in this embodiment, the lifting frame 1 includes a vertical frame 11, a bottom supporting seat 12 is fixedly installed at the bottom of the vertical frame 11, a toothed plate 65 is fixedly installed on the front side surface of the vertical frame 11, a sliding groove opening 65 is vertically formed in the middle of the front side surface of the vertical plate 11, a counterweight device 7 is installed at the top of the vertical plate 11, and the counterweight device 7 is connected with the walking driving device 6.
Referring to fig. 4, in this embodiment, the travel driving device 6 includes a servo motor 61, a travel gear 62 and a hanging rack 63, the robot arm 4 of polishing passes through hanging rack 41 and hanging rack 63 fixed connection, fixed mounting has a rotating seat 42 between hanging rack 41 and the robot arm 4 of polishing, rotating seat 42 is used for controlling the rotation of robot arm 4 of polishing, servo motor 61 fixed mounting is on hanging rack 63 upper portion, the travel gear 62 and the pinion rack 64 of servo motor 61 mesh, the middle part of travel gear 62 passes through round pin axle and spout mouth 65 sliding connection, avoid the travel gear 62 to move from side to side, drive travel gear 62 through servo motor 61 and rotate, can control the lift of hanging and adding 63, thereby control the lift of robot arm 4 of polishing.
In this embodiment, the counterweight device 7 includes a chain wheel 71, a chain 72 and a counterweight 73, the chain wheel 71 is movably mounted at the top of the vertical frame 11, the chain 72 is wound on the chain wheel 71, two ends of the chain 72 are respectively fixedly connected with the hanging frame 63 and the counterweight 73, the counterweight 73 is slidably arranged inside the vertical frame 11, when the hanging frame 63 goes up and down, the chain wheel 71 can also rotate, so as to drive the counterweight 73 to go up and down, and the counterweight 73 plays a role in stabilizing the hanging frame 63.
In this embodiment, the constant force floating device 43 is installed on the polishing head of the robot polishing arm 4, and the constant force floating device 43 is a device for ensuring that the polishing head can stably polish in the prior art, so that the polishing head can be always in constant force contact with the surface of the wind power hub in a horizontal state.
Example four
In this embodiment, gallows 41 bottom fixed mounting has proximity switch 44 and hydraulic buffer 45, and proximity switch 44 can real-time detection gallows 41's high position to can calculate the high position of the head of polishing, guarantee that the head of polishing can be accurate polish to sign coordinate point, bottom sprag seat 12 upper surface has blotter 13 at position fixed mounting below hydraulic buffer 45, avoids gallows 41 to collide bottom sprag seat 12, reduces the damage.
The grinding method of the automatic grinding system for the wind power hub comprises the following steps:
s1, the scanning recognition device 5 scans and recognizes the image of the surface of the wind power hub and sends the image to a recognition control server;
s2, the recognition control server carries out modeling according to the multi-surface image of the wind power hub to build a three-dimensional model of the hub to be polished;
s3, the recognition server compares the three-dimensional model of the hub to be polished with the three-dimensional model of the finished rustless wind power hub to identify the overlapped part with inconsistent color, and generates a track route;
s4, the robot polishing arm 4, the rotary workbench 2 and the walking drive device 6 act according to the track route, the track route is connected among the rust body identification parts, and the polishing head of the robot polishing arm 4 polishes the rust body part.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, various changes or modifications may be made by the patentees within the scope of the appended claims, and within the scope of the invention, as long as they do not exceed the scope of the invention described in the claims.
Claims (10)
1. The utility model provides an automatic system of polishing of wind-powered electricity generation wheel hub, includes crane, swivel work head, tool magazine and robot arm of polishing, and swivel work head is used for placing wind-powered electricity generation wheel hub, its characterized in that: the robot polishing device comprises a robot polishing arm, a lifting frame and a scanning recognition device, wherein the robot polishing arm is connected with the lifting frame in a sliding mode through a walking driving device;
the scanning and identifying device is used for scanning and identifying the 3D image on the surface of the wind power hub and sending the 3D image to the identification control server;
the recognition control server is used for receiving the image of the surface of the wind power hub, modeling the multidimensional image of the wind power hub, automatically recognizing and constructing a grinding track route of the production robot on the modeling, and simultaneously sending control movement parameters of the track route to the grinding arm of the robot, the rotary workbench and the walking driving device;
the robot polishing arm, the rotary workbench and the walking driving device move according to the control moving parameters, so that the polishing head of the robot polishing arm polishes the wind power wheel hub along the track route.
2. The automatic grinding system for the wind power hub according to claim 1, wherein: the identification control server comprises a data receiving module, a modeling module, a storage module, a comparison module, an identification module and a track generation module;
the data receiving module is used for identifying and controlling data transceiving work among the server, the robot polishing arm, the rotary workbench and the walking driving device;
the modeling module is used for modeling according to the multi-surface image of the wind power hub to build a three-dimensional model of the hub to be polished;
the storage module is used for storing the finished product rust-free wind power hub three-dimensional model;
the comparison module is used for comparing and overlapping the three-dimensional model of the hub to be polished with the three-dimensional model of the finished rustless wind power hub;
the identification module is used for carrying out rust body identification on the part, with inconsistent colors, of the three-dimensional model of the hub to be polished and the finished rustless wind power hub, which is overlapped in a contrast manner, the rust body part is identified through dense coordinate points, and the distance between every two adjacent coordinate points is smaller than the diameter of a polishing head of a polishing arm of the robot;
the track generation module is used for generating track routes connected among the rust body identification parts, and track route data are sent to the robot polishing arm, the rotary workbench and the walking driving device through the data receiving and sending module;
the data receiving module, the modeling module, the storage module, the comparison module, the identification module and the track generation module are all connected with the control module.
3. The automatic grinding system for the wind power hub according to claim 1, wherein: the lifting frame comprises a vertical frame, a bottom supporting seat is fixedly mounted at the bottom of the vertical frame, a toothed plate is fixedly mounted on the front side surface of the vertical frame, a sliding groove opening is vertically formed in the middle of the front side surface of the vertical plate, a counterweight device is mounted at the top of the vertical plate, and the counterweight device is connected with the walking driving device.
4. The automatic grinding system for the wind power hub according to claim 1, wherein: the robot polishing arm comprises a hanger and a hanger fixed connection, a rotating seat is fixedly mounted between the hanger and the robot polishing arm and used for controlling the rotation of the robot polishing arm, the servo motor is fixedly mounted on the upper portion of the hanger, the walking gear of the servo motor is meshed with a toothed plate, and the middle of the walking gear is connected with a sliding groove opening in a sliding mode through a pin shaft.
5. The automatic grinding system for the wind power hub according to claim 3, wherein: the counterweight device comprises a chain wheel, a chain and a counterweight block, wherein the chain wheel is movably mounted at the top of the vertical frame, the chain is wound on the chain wheel, two ends of the chain are respectively fixedly connected with the hanging frame and the counterweight block, and the counterweight block is arranged in the vertical frame in a sliding manner.
6. The automatic grinding system for the wind power hub according to claim 1, wherein: the polishing head of the robot polishing arm is provided with the constant-force floating device, so that the polishing efficiency and precision of the robot polishing arm are guaranteed.
7. The automatic grinding system for the wind power hub according to claim 4, wherein: the hanger is characterized in that a proximity switch and a hydraulic buffer are fixedly mounted at the bottom of the hanger, and a cushion pad is fixedly mounted on the upper surface of the bottom support seat at the position below the hydraulic buffer.
8. The automatic grinding system for the wind power hub according to claim 1, wherein: the scanning recognition device 5 comprises a laser ranging sensor and a laser line scanning 3D camera.
9. The grinding method of the automatic grinding system for the wind power hub according to any one of claims 1 to 8, characterized by comprising the following steps:
s1, scanning and identifying the image of the surface of the wind power hub by the scanning and identifying device, and sending the image to an identification control server;
s2, the recognition control server carries out modeling according to the multi-surface image of the wind power hub to build a three-dimensional model of the hub to be polished;
s3, the recognition server compares the three-dimensional model of the hub to be polished with the three-dimensional model of the finished rustless wind power hub to identify the overlapped part with inconsistent color, and generates a track route;
and S4, the robot polishing arm, the rotary workbench and the walking driving device act according to the track route, so that the polishing head of the robot polishing arm polishes the rust body part.
10. The grinding method of the automatic grinding system for the wind power hub according to claim 9, wherein the grinding method comprises the following steps: the trace route in step S3 is a trace route connecting between the rust body identification parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111375875.6A CN114102390A (en) | 2021-11-19 | 2021-11-19 | Automatic grinding system and grinding method for wind power hub |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111375875.6A CN114102390A (en) | 2021-11-19 | 2021-11-19 | Automatic grinding system and grinding method for wind power hub |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114102390A true CN114102390A (en) | 2022-03-01 |
Family
ID=80398019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111375875.6A Withdrawn CN114102390A (en) | 2021-11-19 | 2021-11-19 | Automatic grinding system and grinding method for wind power hub |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114102390A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714248A (en) * | 2022-04-11 | 2022-07-08 | 上海楷砂磨机器人科技有限公司 | Self-adaptive polishing head capable of polishing large composite material workpiece |
-
2021
- 2021-11-19 CN CN202111375875.6A patent/CN114102390A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714248A (en) * | 2022-04-11 | 2022-07-08 | 上海楷砂磨机器人科技有限公司 | Self-adaptive polishing head capable of polishing large composite material workpiece |
| CN114714248B (en) * | 2022-04-11 | 2023-06-16 | 上海楷砂磨机器人科技有限公司 | Self-adaptive polishing head capable of polishing large composite material workpiece |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111408998B (en) | Device and method for automatically polishing polygonal workpiece with high precision | |
| JP3192699U (en) | Processing apparatus using moving carriage device and moving carriage apparatus | |
| CN103072135A (en) | Automatic production line mechanical arm | |
| CN108973478B (en) | Large-scale stone carving robot assembly and stone carving method thereof | |
| CN108620974B (en) | Multistation wheel burring equipment | |
| CN103465475A (en) | Calculus 3D (three Dimensional) constructing method and device | |
| CN205074904U (en) | Solid of revolution polishing production line | |
| CN111318928A (en) | Hub polishing device based on three-dimensional scanner and operation method thereof | |
| CN204935335U (en) | Multi-station disc type novel dishware workpiece numerical-controlled polishing machine | |
| CN114102390A (en) | Automatic grinding system and grinding method for wind power hub | |
| CN217342644U (en) | Device for cleaning side plate of tire mold by gantry laser | |
| CN210061131U (en) | Intelligent detection balance crane mechanical arm device | |
| CN215393675U (en) | Flexible automatic installation production line for steel wire thread insert | |
| CN108188801A (en) | A kind of automatic tool changer process equipment | |
| CN210677198U (en) | Numerical control gear grinding machine | |
| CN107263248A (en) | It is a kind of be used for produce VR glasses can remote monitoring lens automatic polishing machine | |
| CN202114593U (en) | Triaxial numerical-control curve and curved surface grinder | |
| CN110935895A (en) | Automatic feeding and discharging unit of lathe | |
| CN111451876A (en) | Automatic casting mechanical arm grinding machine | |
| CN207841026U (en) | Polishing machine | |
| CN216730952U (en) | Automatic grinding system for wind power hub | |
| CN210209398U (en) | Turning and polishing integrated machine for numerical control machining | |
| CN212977897U (en) | Walking type thin-wall component grinding and polishing equipment | |
| CN211920057U (en) | Transfer material taking equipment | |
| CN113523785A (en) | Flexible automatic installation production line for steel wire thread insert |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220301 |
|
| WW01 | Invention patent application withdrawn after publication |