CN208215039U - The big blade robot polishing system of wind-powered electricity generation - Google Patents
The big blade robot polishing system of wind-powered electricity generation Download PDFInfo
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- CN208215039U CN208215039U CN201820410658.3U CN201820410658U CN208215039U CN 208215039 U CN208215039 U CN 208215039U CN 201820410658 U CN201820410658 U CN 201820410658U CN 208215039 U CN208215039 U CN 208215039U
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- robot
- blade
- control module
- sanding unit
- grinding head
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Abstract
The utility model provides a kind of big blade robot polishing system of wind-powered electricity generation, comprising: robot sanding unit, robot control module, linear guide, sliding platform, blade frock, tooling control module, host computer；The linear guide is laid in the two sides of blade to be polished along length of blade direction to be polished；Each linear guide is for carrying one or more sliding platforms；Each robot sanding unit is fixed on a corresponding sliding platform, and sliding platform is used to go to the region of polishing required for blade with mobile robot sanding unit；Robot sanding unit is controlled by robot control module；Blade frock is able to drive blade overturning for clamping blade to be polished；Blade frock is controlled by tooling control module；Host computer is separately connected robot control module and tooling control module, and robot control module connects robot sanding unit, and tooling control module connects blade frock.The system has many advantages, such as grinding efficiency height, and processing can be effectively absorbed to dust.
Description
Technical field
The utility model relates to a kind of big blade polishing technical field of wind-powered electricity generation, especially a kind of big blade of 2mw or more wind-powered electricity generation
Robot polishing system.
Background technique
One of key core functional component as wind power generating set, the production efficiency and quality of wind electricity blade determine
The efficiency of generating set and service life, the manufacture level of wind electricity blade also represent the manufacturing core competitiveness of country.State at present
Interior wind electricity blade polishing operation property belongs to labor-intensive, and work quality places one's entire reliance upon the working condition and skilled journey of employee
Degree；Manual polishing leads to low efficiency, and environmental pollution is big, and employee protects difficulty big；Polishing operation cost occupies entire blade production
The large percentage of cost has unpredictability to the injury of personnel, and risk is high.Currently, the country has individual enterprises to complete machine
The example of device people's automatically grinding, but working efficiency is low, takes up an area empty space requirement height for big blade, it is endless that surface has polishing
Kind, the unsharp problem of control logic, so far polishing quality not yet fully meets actual production requirement.
Summary of the invention
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of big blade robot of wind-powered electricity generation
The advantages that polishing system has high degree of automation, and grinding efficiency is high, and processing can be effectively absorbed to dust.The utility model
The technical solution adopted is that:
A kind of big blade robot polishing system of wind-powered electricity generation, comprising: robot sanding unit, robot control module, straight line
Guide rail, sliding platform, blade frock, tooling control module, host computer；
The linear guide is laid in the two sides of blade to be polished along length of blade direction to be polished；Each linear guide is used
In the one or more sliding platforms of carrying；
Each robot sanding unit is fixed on a corresponding sliding platform, and sliding platform is used for band mobile robot and beats
Mill unit goes to the region polished required for blade；Robot sanding unit is controlled by robot control module；
Blade frock is able to drive blade overturning for clamping blade to be polished；Blade frock is controlled by tooling control
Module；
Host computer is separately connected robot control module and tooling control module, and robot control module connects robot and beats
Unit is ground, tooling control module connects blade frock.
Further, robot sanding unit includes industrial robot, grinding head, deduster；
Robot control module connect with industrial robot, grinding head and the deduster in robot sanding unit, output
The mobile control signal, grinding head signal, deduster start stop signal of robot, control industrial robot are executed according to scheduled track
Operation controls starting, stopping and the revolving speed of motor in grinding head, controls the start and stop in deduster dust catcher, meanwhile, robot control
Molding block receives the feedback signal and alarm error signal of industrial robot, grinding head and deduster, and is sent to host computer.
It further, further include rangefinder, constant force device in robot sanding unit；Robot control module and robot
Rangefinder, constant force device connection in sanding unit.
Further, the big blade robot polishing system of the wind-powered electricity generation further includes being arranged in same linear guide
Anticollision induction system between each sliding platform.
Further, blade frock further includes brake self-locking device and flip angle measuring device.
Further, grinding head uses semi-enclosed grinding head, has a dust gathering arrester, dust gathering arrester is in grinding head work side
To opening；The deduster connects the dust gathering arrester of grinding head by pipeline.
Utility model has the advantages that
1) high degree of automation makes multiple industrial robots by host computer while cooperateing with polishing operation.
2) it realizes every industrial robot working region immobilization, guarantees that each industrial robot and grinding head polishing blade are mutual
It does not interfere mutually, and is completed at the same time polishing operation.
3) grinding efficiency is greatly improved.
4) grinding head and blade form closed envelope chamber in real time in bruting process, create a subnormal ambient for deduster, whole
A bruting process has carried out effective processing to dust.
Detailed description of the invention
Fig. 1 is the structure composition schematic diagram of the utility model.
Fig. 2 is the connection schematic diagram of the utility model.
Specific embodiment
Below with reference to specific drawings and examples, the utility model is described in further detail.
As shown in Figure 1, the big blade robot polishing system of a kind of wind-powered electricity generation provided by the utility model, comprising: robot is beaten
Grind unit 1, robot control module 2, linear guide 3, sliding platform 4, blade frock 5, tooling control module 6, host computer 7；
The linear guide 3 is laid in the two sides of blade 8 to be polished along 8 length direction of blade to be polished；Each straight line is led
Rail 3 is for carrying one or more sliding platforms 4；A sliding platform 4 is only depicted in Fig. 1, is usually arranged in linear guide 3
Multiple sliding platforms and robot sanding unit；
Each robot sanding unit 1 is fixed on a corresponding sliding platform 4, and sliding platform 4 can be with mobile robot
Sanding unit 1 goes to the region polished required for blade；Robot sanding unit 1 is controlled by robot control module 2；
Robot sanding unit 1 includes industrial robot 101, grinding head 102, rangefinder 103, constant force device 104, dedusting
Device 105, wherein grinding head 102 uses semi-enclosed grinding head, has a dust gathering arrester, and dust gathering arrester is opened in grinding head operative orientation
Mouthful；The deduster 105 connects the dust gathering arrester of grinding head 102；
Blade frock 5 is able to drive the overturning of blade 8 for clamping blade 8 to be polished；Blade frock 5 is controlled by tooling
Control module 6；
As shown in Fig. 2, host computer 7 is separately connected robot control module 2 and tooling control module 6, robot controls mould
Block 2 connects robot sanding unit 1, and tooling control module 6 connects blade frock 5；
Robot control module 2 connect with industrial robot, grinding head and the deduster in robot sanding unit 1, defeated
The mobile control signal, grinding head signal, deduster start stop signal of robot out, control industrial robot are held according to scheduled track
Row operation, controls starting, stopping and the revolving speed of motor in grinding head, controls the start and stop in deduster dust catcher, meanwhile, robot
Control module 2 receives the feedback signal and alarm error signal of industrial robot, grinding head and deduster, and is sent to upper
Machine 7；Industrial robot 101 is operated according to the instruction execution robot motion that robot control module 2 provides, and drives grinding head
It polishes on blade 8 work；
Robot control module 2 connect with rangefinder 103, the constant force device 104 in robot sanding unit 1；The perseverance
Power device 104 is according to the contact condition of force feedback real-time ensuring grinding head 102 and blade 8；The rangefinder 103 is according to measurement number
According to feedback blade at a distance from grinding head, real-time monitoring is carried out, prevents during blade polishing because blade error causes greatly
Grinding head idle running；
Tooling control module 6 is connected with blade frock 5, controls blade frock 5 and blade 8 rotates；Blade frock 5 and blade
8 are connected, and band movable vane piece is rotated synchronously with blade frock；
Host computer 7 is connected with robot control module 2 and tooling control module 6, reads real time data, the work of rangefinder
The signal of 2 Real-time Feedback of working state signal and robot control module of control module 6 is filled, is finally executed by host computer final
Work order controls the normal operation of entire polishing system；
More preferably, it when a linear guide 3 is equipped with multiple sliding platforms 4, is respectively slided in same linear guide
Anticollision induction system is equipped between platform, the sliding platform 4 is controlled between sliding platform by anticollision induction system
Safe distance, prevent sliding platform from colliding；
More preferably, the blade frock 5 further includes brake self-locking device and flip angle measuring device, the blade frock
Certain deformable blade, the moment of flexure that the variation of blade center of gravity can generate can be generated after 5 rotations, the brake self-locking device can prevent leaf
Piece overturns the moment of flexure generated and blade is caused to continue to rotate；The flip angle measuring device energy precise measurement blade frock rotation
Angle；Tooling control module 6 is transferred to by signal.
The utility model passes through the type face variation tendency of emulated robot effective exercise and blade, divides multistation real in blade
Injection mill processing, passes through the angle of overturning required for each station of kinematic calculation simulation calculation；The robot sanding unit
Subregion polishing is carried out in same linear guide, each robot sanding unit is gone out according to blade polishing areal calculation
Workload and the movement travel in linear guide, robot sanding unit working time under same station keep phase
Together, it starts simultaneously at while terminating；When ensuring that blade enters next station, each robot sanding unit is started simultaneously at.
Deduster 105 is connected with semitight grinding head 102 by pipeline, and deduster is when blade is started to work, by machine
Device people control module 2 exports the enabled instruction of deduster, and robot control module 2 exports grinding head job instruction and contacts blade
Start to polish, the deduster all siphons away the dust that polishing generates by air draught operation from pipeline, and the semitight is beaten
Bistrique 102 and blade surface form a closed envelope chamber, and dust is prevented to be splashed to outside envelope chamber and be discharged in air.
Claims (6)
1. a kind of big blade robot polishing system of wind-powered electricity generation characterized by comprising robot sanding unit (1), robot control
Molding block (2), linear guide (3), sliding platform (4), blade frock (5), tooling control module (6), host computer (7)；
The linear guide (3) is laid in the two sides of blade to be polished (8) along blade to be polished (8) length direction；Each straight line
Guide rail (3) is for carrying one or more sliding platforms (4)；
Each robot sanding unit (1) is fixed on a corresponding sliding platform (4), and sliding platform (4) is used for band motivation
Device people sanding unit (1) goes to the region polished required for blade；Robot sanding unit (1) is controlled by robot control module
(2)；
Blade frock (5) is able to drive blade (8) overturning for clamping blade to be polished (8)；Blade frock (5) is controlled by
Tooling control module (6)；
Host computer (7) is separately connected robot control module (2) and tooling control module (6), robot control module (2) connection
Robot sanding unit (1), tooling control module (6) connect blade frock (5).
2. the big blade robot polishing system of wind-powered electricity generation as described in claim 1, which is characterized in that
Robot sanding unit (1) includes industrial robot (101), grinding head (102), deduster (105)；
Robot control module (2) connect with industrial robot, grinding head and the deduster in robot sanding unit (1), defeated
The mobile control signal, grinding head signal, deduster start stop signal of robot out, control industrial robot are held according to scheduled track
Row operation, controls starting, stopping and the revolving speed of motor in grinding head, controls the start and stop in deduster dust catcher, meanwhile, robot
Control module (2) receives the feedback signal and alarm error signal of industrial robot, grinding head and deduster, and is sent to
Position machine (7).
3. the big blade robot polishing system of wind-powered electricity generation as described in claim 1, which is characterized in that
It further include rangefinder (103), constant force device (104) in robot sanding unit (1)；Robot control module (2) and machine
Rangefinder (103), constant force device (104) connection in device people sanding unit (1).
4. the big blade robot polishing system of wind-powered electricity generation as described in claim 1, which is characterized in that
It further include the anticollision induction system being arranged on same linear guide (3) between each sliding platform (4).
5. the big blade robot polishing system of wind-powered electricity generation as described in claim 1, which is characterized in that
Blade frock (5) further includes brake self-locking device and flip angle measuring device.
6. the big blade robot polishing system of wind-powered electricity generation as described in claim 1, which is characterized in that
Grinding head (102) uses semi-enclosed grinding head, has a dust gathering arrester, and dust gathering arrester is open in grinding head operative orientation；
The dust gathering arrester that the deduster (105) passes through pipeline connection grinding head (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820410658.3U CN208215039U (en) | 2018-03-26 | 2018-03-26 | The big blade robot polishing system of wind-powered electricity generation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820410658.3U CN208215039U (en) | 2018-03-26 | 2018-03-26 | The big blade robot polishing system of wind-powered electricity generation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208215039U true CN208215039U (en) | 2018-12-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820410658.3U Active CN208215039U (en) | 2018-03-26 | 2018-03-26 | The big blade robot polishing system of wind-powered electricity generation |
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| Country | Link |
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| CN (1) | CN208215039U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664313A (en) * | 2019-01-18 | 2019-04-23 | 北京轩宇智能科技有限公司 | The control system and polishing process of automatically grinding machine people applied to fan blade |
| CN111515083A (en) * | 2020-04-30 | 2020-08-11 | 中山大学 | Robot system for removing glue on surface of wind power blade |
-
2018
- 2018-03-26 CN CN201820410658.3U patent/CN208215039U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664313A (en) * | 2019-01-18 | 2019-04-23 | 北京轩宇智能科技有限公司 | The control system and polishing process of automatically grinding machine people applied to fan blade |
| CN111515083A (en) * | 2020-04-30 | 2020-08-11 | 中山大学 | Robot system for removing glue on surface of wind power blade |
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| CP01 | Change in the name or title of a patent holder |
Address after: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee after: Wuxi CRRC times Intelligent Equipment Research Institute Co.,Ltd. Address before: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee before: WUXI CRRC TIMES INTELLIGENT EQUIPMENT CO.,LTD. |
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| CP01 | Change in the name or title of a patent holder |