CN216860343U - Automatic cutting and polishing integrated robot for wind power blade flash - Google Patents

Abstract

The utility model relates to an automatic cutting and polishing integrated robot for a wind power blade flash, which comprises a robot body, wherein the robot body is provided with a walking device, a visual detection device, a moving device and a control device; the visual detection device is used for acquiring the flash contour image of the wind power blade and sending the flash contour image to the control device; the control device is used for generating a cutting path space curve and a grinding path space curve according to the wind power blade flash contour image and sending the cutting path space curve and the grinding path space curve to the mobile device; the moving device is provided with an end effector which is adapted to the cutter and the sander and used for moving the end effector to one side of the flash of the wind power blade to perform cutting or sanding actions according to the cutting path space curve or the sanding path space curve; the walking device is connected with the control device and used for driving the robot body to walk around the wind power blade. The automatic cutting and polishing device has the functions of automatic cutting and automatic polishing, the processing process does not need excessive manual control, and the generated dust is collected by the dust collector, so that the environment protection of the processing site and the health of workers are ensured.

Description

Automatic cutting and polishing integrated robot for wind power blade flash

Technical Field

The utility model relates to the technical field of robots, in particular to an automatic cutting and polishing integrated robot for burrs of a wind power blade.

Background

The economy in the world is developed at a high speed nowadays, and the energy demand is increased year by year. Wind power generation technology is receiving increasing attention from countries around the world as one of clean energy. The performance of the wind driven generator blade, which is a key component of the wind driven generator, determines the service life of the wind driven generator.

The production process of the large-scale wind power blade comprises vacuum infusion, curing and demolding, surface treatment, putty repairing and curing, putty polishing and dust removal, primer spraying and defect repairing and finish spraying. Wherein, the flash is generated in the process of die assembly, and the main components are glass fiber cloth (glass fiber) and structural adhesive (epoxy resin). After the blade is demoulded, the flash is required to be cut and polished to meet the requirement of subsequent painting. The common length of the wind power blade is 20-90m, the longest wind power blade reaches 160m at present, the height difference of the flash can reach 2.3m when the blade is horizontally placed, the length of the flash is long, and the height change is large. The flash grinding can generate a large amount of dust, and the harm to the health of workers can be caused after the dust is sucked.

At present, the trimming cutting and polishing usually depend on manual work, the efficiency is low, the quality is unstable, and the generated dust seriously influences the body health of workers.

Therefore, it is necessary to research and develop an automatic cutting and polishing integrated robot for the flash of the wind power blade so as to perfect the intelligent production process of the wind power blade and improve the working efficiency and the processing quality.

SUMMERY OF THE UTILITY MODEL

Aiming at the technical problems in the prior art, the utility model aims to: the utility model provides a wind-powered electricity generation blade overlap automatic cutout integration robot of polishing has automatic cutout and automatic polishing function, has promoted work efficiency and processingquality.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the automatic cutting and polishing integrated robot for the flashes of the wind power blade comprises a robot body, wherein the robot body is provided with a walking device, a visual detection device, a moving device and a control device;

the visual detection device is used for acquiring a flash contour image of the wind power blade and sending the flash contour image to the control device;

the control device is used for generating a cutting path space curve and a grinding path space curve according to the wind power blade flash contour image and sending the cutting path space curve and the grinding path space curve to the mobile device;

the moving device is provided with an end effector which is adapted to the cutter and the sander and used for moving the end effector to one side of the flash of the wind power blade to perform cutting or sanding actions according to the cutting path space curve or the sanding path space curve;

the walking device is connected with the control device and used for driving the robot body to walk around the wind power blade.

Further, a constant force floating device is arranged on the moving device and connected with the end effector.

Further, the moving device comprises a first lifting device arranged on the walking device and a five-freedom-degree grinding workbench arranged on the first lifting device, and the constant-force floating device is arranged on the five-freedom-degree grinding workbench.

Further, the five-degree-of-freedom grinding workbench comprises a second lifting device arranged on the first lifting device, a left-right moving device arranged on the second lifting device, a front-back moving device arranged on the left-right moving device and a double-shaft rotating device arranged at the tail end of the front-back moving device, wherein the constant-force floating device is arranged on the double-shaft rotating device.

Further, the second lifting device comprises a lifting servo motor arranged on the first lifting device and a screw rod lifter connected to the lifting servo motor, and the screw rod lifter is connected with the left-right moving device.

Further, the left-right moving device comprises a slider type linear sliding table connected with the lead screw lifter, a linear guide rail positioned on one side of the slider type linear sliding table and a slider connected to the linear guide rail in a sliding manner, the slider type linear sliding table is connected to the slider and used for driving the slider to move left and right on the linear guide rail, and the slider is connected with the front-back moving device.

Furthermore, the front-back moving device comprises a shaft rod type linear sliding table, a dovetail groove guide rail and a front extension arm, wherein the shaft rod type linear sliding table and the dovetail groove guide rail are arranged on the sliding block, the front extension arm is connected to the dovetail groove guide rail in a sliding mode, the shaft rod type linear sliding table is connected to the front extension arm and used for driving the front extension arm to move back and forth on the dovetail groove guide rail, and the front extension arm is connected with the double-shaft rotating device.

Further, biax slewer is including connecting in the first unipolar slewer of protracting arm and connecting in the second unipolar slewer of first unipolar slewer, and constant force floating installation connects in second unipolar slewer, and first unipolar slewer and second unipolar slewer's pivot mutually perpendicular.

Furthermore, a dust hood is arranged above the end effector and is connected with the air pipe to the dust collector.

Further, the control device comprises a visual detection processor and an electric control machine, the visual detection processor is respectively connected with the visual detection device and the electric control machine, and the electric control machine is connected with the walking device.

The cutting and polishing method of the automatic cutting and polishing integrated robot for the flashes of the wind power blade comprises the following steps of controlling a walking device to drive a robot body to walk around the wind power blade;

acquiring a flash contour image of a wind power blade;

generating a cutting path space curve and a grinding path space curve according to the flash contour image of the wind power blade;

and sending the cutting path space curve and the grinding path space curve to a mobile device so that the mobile device moves the end effector to one side of the flash of the wind power blade for cutting or grinding according to the cutting path space curve or the grinding path space curve.

Further, the wind power blade flash contour image is collected by the visual detection device and is sent to the control device.

Furthermore, when the end effector is moved, the spatial coarse positioning is quickly completed through the first lifting device, and the fine positioning is realized through the five-degree-of-freedom polishing workbench. Before the end effector and the grinding flange to be cut are far away from each other, if the end effector is directly moved by the five-degree-of-freedom grinding workbench, the moving speed is low, and the moving time is long. The utility model adopts sectional positioning, firstly, the coarse positioning device (first lifting device) is used for quickly lifting in the vertical direction, so that the five-freedom-degree grinding workbench is quickly lifted to the position near the grinding flange to be cut, and the space coarse positioning is completed in a short time; then, the fine positioning device (five-freedom-degree grinding workbench) performs actions such as front and back, left and right, up and down, rotation and the like according to actual conditions so as to press close to the grinding flashes to be cut, so that space fine positioning is realized, the structure has higher rigidity, the positioning time is saved, the motion planning is simpler, and the cost is lower.

Further, the cutting process is performed in segments, the cutting path space curve comprising a plurality of segments of the cutting path. When the flashes of one section of blade are cut or polished, the walking device drives the robot to move to the next section for cutting.

Furthermore, a tool retracting path is arranged at the tail end of each section of cutting path in the cutting path space curve, so that after the cutting of the section of flash is finished, the cutting tool retracts according to the tool retracting path. After the walking device drives the robot to move to the next section, the cutting tool is restarted to cut the next section of the flash, and the tool is prevented from interfering when the next section of the flash is cut.

Or the cutting and polishing processes are carried out continuously, the walking device moves forwards, and the end effector carries out cutting or polishing actions synchronously.

Further, after the cutting work is completed, the walking device drives the robot to return to the cutting starting point to start the grinding work.

Further, when the robot returns to the cutting starting point, through the feedback of the visual detection device, the moving device automatically adjusts to the position suitable for polishing the wind power blade flash, and manual adjustment is not needed.

In general, the present invention has the following advantages:

1. the robot has enough rigidity in structure and can meet the requirements of cutting and grinding at the same time; the tail end actuating mechanism can be replaced, the cutting piece can be replaced to finish the cutting of the flash of the wind power blade, and the gauze wheel can be replaced to finish the polishing of the flash allowance of the wind power blade. Therefore, one robot integrates the functions of flash cutting and flash allowance polishing, automatic flash cutting and polishing can be completed without combining a plurality of machines, and accordingly the factory application automation cost is reduced.

2. The system is provided with a vision module, can automatically identify the flash, analyze a space curve for cutting the flash of the wind power blade, analyze a space curve for polishing the flash of the wind power blade, detect whether the polishing result meets the process requirement and determine whether to polish again; the multi-axis polishing robot structure is provided, a polishing path can be planned according to the space curve identified by the vision module, and polishing actions can be completed; the tail end of the polishing robot is provided with a constant-force axial floating device, so that constant-force polishing can be kept, and the polishing effect can be ensured; the AGV dolly has the ability of automatic ability removal walking, and the robot can automatic cutting or polish multistage overlap and accomplish until whole blade is polished. Compared with other equipment, the automatic cutting and polishing machine can automatically cut and polish without manually observing a processing object, has higher automation degree and reduces labor cost.

3. According to the robot, on a grinding executing mechanism, aiming at the flash appearance generated after the wind power blade is assembled, a scissor type lifting platform is adopted as rough positioning in height, a stay wire encoder is used as feedback control lifting height of a lifting platform, a five-freedom-degree grinding workbench composed of a three-axis rectangular coordinate movement mechanism and a tail-end double-shaft rotation mechanism is carried on the scissor type lifting platform, a lead screw lifter is adopted as a fine lifting device, a dovetail groove guide rail is adopted to be matched with a front extending arm, the scheme is used for finishing a grinding action scheme relative to a mechanical arm, the robot has higher rigidity, the motion planning is simpler, and the cost is lower.

4. Carry on this terminal angle mill of robot and have the suction hood and connect trachea to industry dust arrester, can absorb the overlap cutting and polish the dust that produces to avoid factory worker to inhale the dust of polishing for a long time, cause the threat to healthy.

Drawings

Fig. 1 is a schematic perspective view of the present embodiment.

Fig. 2 is a schematic side view of the present embodiment.

Fig. 3 is a schematic plane structure diagram of a five-degree-of-freedom grinding workbench.

Fig. 4 is a schematic structural diagram of the second lifting device.

Fig. 5 is a schematic perspective view of a five-degree-of-freedom grinding table.

Fig. 6 is a schematic view of an application scenario of the present embodiment.

Fig. 7 is a flowchart of the operation of the present embodiment.

Reference numerals:

1-a robot body, 11-a chassis, 12-a steering wheel and 13-a magnetic navigation detection device;

2 a-air compressor, 2 b-dust collector;

3 a-an electric control machine and 3 b-a visual detection processor;

4-visual inspection device, 41-camera support, 42-3D camera;

5-five-degree-of-freedom polishing workbench, 51-a second lifting device, 511-a lifting plane mounting plate, 512-a lifting servo motor, 513-a screw rod lifter, 514-a commutator, 516-a coupler and 517-a connecting rod;

52-left-right moving device, 521-linear guide rail, 522-sliding block, 523-sliding block type linear sliding table and 524-left-right moving platform;

53-fore-and-aft movement device, 531-shaft rod type linear sliding table, 532-shaft rod sliding table fixing piece, 533-dovetail groove guide rail and 534-forward arm;

54-double-shaft rotating device, 541 a-first single-shaft rotating device, 541 b-second single-shaft rotating device, 542-double-shaft rotating square tube connecting piece and 543-constant force floating square tube connecting piece;

6-dust collection cover, 61-dust collection cover head, 611-dust collection plastic cover and 612-dust collection brush;

7-a constant force floating device;

8-grinding device, 81-angle grinder, 82-cutter or grinder, 83-angle grinder connection;

9-a first lifting device, 91-a lower base, 94-a hydraulic pump, 92-a fork frame, 93-a working plane and 95-a stay wire encoder;

the method comprises the following steps of A-automatically cutting and polishing the flash of the wind power blade by an integrated robot, B-magnetic stripe and C-wind power blade.

Detailed Description

The present invention will be described in further detail below.

As shown in fig. 1-5, the automatic cutting and polishing integrated robot a for the flash of the wind power blade comprises a robot body 1, wherein the robot body 1 is provided with a walking device, a visual detection device 4, a moving device and a control device;

the visual detection device 4 is used for acquiring a flash contour image of the wind power blade C and sending the flash contour image to the control device;

the control device is used for generating a cutting path space curve and a grinding path space curve according to the C flash contour image of the wind power blade and sending the cutting path space curve and the grinding path space curve to the mobile device;

the moving device is provided with an end effector which is adapted to the cutter and the sander and used for moving the end effector to one side of the flash of the wind power blade C to perform cutting or sanding actions according to the cutting path space curve or the sanding path space curve;

the walking device is connected with the control device and used for driving the robot body 1 to walk around the wind power blade C.

The automatic cutting and polishing integrated robot A for the wind power blade flashes has the functions of automatic cutting and automatic polishing, is higher in efficiency than manual cutting and polishing, stable in processing quality, free of excessive manual control in the processing process, and free of influence on the health of workers due to dust generated in the processing process.

Specifically, the wind power blade flash automatic cutting and polishing integrated robot A comprises a robot body 1, a first lifting device 9 and a dust collector 2b which are installed on the robot body 1, a visual detection device 4 and a five-freedom-degree polishing workbench 5 which are installed on the first lifting device 9, a constant force floating device 7 which is installed at the tail end of the five-freedom-degree polishing workbench 5, a polishing device 8 which is connected with the constant force floating device 7, and a dust hood 6 which is installed on the polishing device 8 and is connected with the dust collector 2 b.

The robot body 1 is also provided with an air compressor 2a connected to a dust collector 2b, an electric controller 3a and a visual detection processor 3 b.

Running gear is the AGV dolly, and the AGV dolly includes that the steering wheel 12 of chassis 11, the 11 lower extremes in chassis setting, the inside magnetic navigation detection device 13 that carries on in chassis 11, and magnetic navigation detection device 13 is connected with electric control machine 3a for control steering wheel 12 action, make robot 1 can remove along the magnetic stripe B that ground was laid.

The moving device comprises a coarse positioning device and a coarse positioning device, and the purposes of quick positioning and accurate positioning are achieved through the cooperation of the coarse positioning device and the fine positioning device, and the moving device specifically comprises a first lifting device 9 arranged on the walking device and a five-degree-of-freedom polishing workbench 5 arranged on the first lifting device 9.

The coarse positioning device is used for moving the five-freedom-degree grinding workbench 5 to a position slightly lower than the flange to finish cutting and grinding. The first lifting and positioning of the first lifting device 9 is manually set, in the subsequent segmented processing, the space information record of the last section of the flash is used as feedback through the visual detection device 4 and the five-freedom-degree grinding workbench 5, and according to the continuous characteristic of the flash, the first lifting device 9 automatically moves the five-freedom-degree grinding workbench 5 to a position slightly lower than the flash of the blade, so that the five-freedom-degree grinding workbench 5 can smoothly finish cutting or grinding the flash of the section of the flash.

The fine positioning device is used for performing fine positioning after coarse positioning is completed. When the flash processing of the section begins, the first lifting device 9 is kept still, and the spatial movement of the polishing action is completed by the five-degree-of-freedom polishing workbench 5. The first lifting device 9 may be a hydraulic telescopic cylinder or other various prior arts, and in this embodiment is preferably a scissor lift platform, which includes a lower base 91, a hydraulic pump 94 on the lower base 91, a fork 92 on the lower base 91, and a working plane 93 on the fork 92. The first lifting device 9 is further provided with a pull encoder 95 located above the lower base 91. The pull encoder 95 is connected to the electric controller 3a for feeding back the real-time lifting height of the first lifting device 9, so as to control the height of the first lifting device 9.

The cutting or grinding process is preferably performed in a segmented manner, for example, after each cutting or grinding of 1 m of the burr, the AGV carriage moves forward 1 m to continue the next cutting or grinding.

Before cutting or polishing this section of overlap, first elevating gear 9 rises to the overlap and locates slightly lower, and in-process of cutting or polishing this section of overlap, first elevating gear 9 keeps the rigidity.

The visual inspection device 4 is composed of a 3D camera 42 and a camera holder 41. The 3D camera 42 can photograph the flashes to be cut to generate flash point cloud data, and send the flash point cloud data to the visual inspection processor 3b for processing, so as to analyze a spatial curve for cutting the flashes of the wind turbine blade C; shooting and processing the cut flashes which are not polished yet, and analyzing a space curve for polishing the flashes of the wind power blade C; whether the grinding result meets the requirements of the process or not can be detected, and whether the grinding needs to be carried out again or not can be determined.

The five-degree-of-freedom grinding workbench 5 comprises a second lifting device 51 arranged on a working plane 93 of the first lifting device 9, a left-right moving device 52 arranged on the second lifting device 51, a front-back moving device 53 arranged on the left-right moving device 52, and a double-shaft rotating device 54 arranged at the tail end of the front-back moving device 53. The five-freedom-degree grinding workbench 5 is provided with three moving pairs of lifting, front-back and left-right movement and a double-shaft rotary revolute pair at the tail end, and driving motors with five degrees of freedom are provided with rotary encoders and can feed back position information of an end effector to the electric controller 3a in real time. And each joint stroke design aims at the distribution condition of C flash of the large-scale wind power blade and is suitable for cutting and polishing most of C flash of the large-scale wind power blade. When the section of the flash is polished and cut, the first lifting device 9 is kept fixed, and the spatial movement of the polishing action is completed by the five-degree-of-freedom polishing workbench 5.

The second lifting device 51 comprises a lifting plane mounting plate 511 mounted above the working plane 93 of the first lifting device 9, a lifting servo motor 512 mounted at the rear end of the lifting plane mounting plate 511, four linkage screw lifters 513 mounted at the front ends of the lifting servo motor 512 and distributed at four corners of a rectangle, a commutator 514 mounted in the middle of the lifting plane mounting plate 511, a connecting rod 517 for connecting the servo motor 512 and the screw lifters 513 and the commutator 514 to transmit power, a coupler 516 for connecting the connecting rod 517 with the servo motor 512, the screw lifters 513 and the commutator 514, and a lifting moving plane 518 connected to the upper end of the screw lifters 513. The lifting servo motor 512 is connected with the electric controller 3a, and when the lifting servo motor 512 is started, the middle commutator 514 is driven, and power is transmitted to the four screw rod lifters 513, so that the lifting moving plane 518 is driven to stably ascend or descend. The screw rod lifter 513 is of a worm gear type and has the advantages of large load and stable motion.

The left-right moving device 52 is installed on the lifting moving plane 518, and includes a slider type linear sliding table 523 installed transversely in the middle of the lifting moving plane 518, linear guide rails 521 installed symmetrically on both sides of the slider type linear sliding table 523, a slider 522 slidably connected to the linear guide rails 521, and a left-right moving platform 524 connecting the slider 522 and the slider type linear sliding table 523. The slider type linear sliding table 523 is connected to the electric controller 3a, and drives the left-right moving platform 524 to move left and right after being started.

The forward-backward moving device 53 includes a shaft rod type linear sliding table 531 installed at the rear end of the left-right moving platform 524, a shaft rod type linear sliding table fixing member 532 for fixing the shaft rod type linear sliding table 531, a dovetail groove guide rail 533 installed at the front end of the left-right moving platform 524, and a forward arm 534 cooperatively connected to the dovetail groove guide rail 533. The shaft rod type linear sliding table 531 is connected to the electric controller 3a, and drives the forward arm 534 to move forward and backward after being started. The dovetail groove guide rail 533 and the forward extending arm 534 serve as a forward-backward moving pair, and have the advantages of high torsional strength and large load, and the requirements of the dead weight and the load of the end cutting and polishing device 8 are completely met.

The double-shaft swiveling device 54 includes two single-shaft swiveling devices, and specifically includes a first single-shaft swiveling device 541a installed at the front end of the forward arm 534, a double-shaft swiveling square pipe connecting piece 542 for connecting the two single-shaft swiveling devices, a second single-shaft swiveling device 541b connected to the double-shaft swiveling square pipe connecting piece 542, and a constant-force floating square pipe connecting piece 543 for connecting the constant-force floating device 7. First single-axis slewer 541a and second single-axis slewer 541b are both motor-driven hollow rotary platforms employing crossed ball bearings, have the characteristic of high rigidity, and are all capable of completing 360-degree slews.

The constant force floating device 7 is connected to the constant force floating square tube connecting piece 543. Can provide stable power of polishing when the overlap surplus of polishing, be favorable to guaranteeing the quality of polishing.

The sharpening unit 8 includes an angle grinder attachment 83, an angle grinder 81, and a cutter or sander 82 mounted on the angle grinder 81. The end effector for installing the cutter or the sander 82 is preferably an angle grinder 81, has good adaptability, can replace cutters such as cutting sheets and the like or sanders such as a gauze wheel and the like, and meets the requirements of a robot for finishing a burr cutting task and a burr allowance grinding task.

The grinding device 8 is provided with a dust suction cover 6 (dust suction device), and the dust suction cover 6 comprises a dust suction cover head 61 and a dust suction air pipe 62 which are arranged on an angle grinder 81. The dust collection cover head 61 includes a dust collection plastic cover 611 and a dust collection brush 612. The dust hood 6 is connected with the dust collector 2b through the dust collection air pipe 62, the dust collector 2b is connected with the electric controller 3a, grinding dust can be absorbed when burrs are cut and ground, and the influence of the dust on a processing site on the health of workers is avoided.

The cutting and polishing method of the automatic cutting and polishing integrated robot A for the flash of the wind power blade comprises the following steps,

controlling the walking device to drive the robot body 1 to walk around the wind power blade C;

acquiring a flash contour image of a wind power blade C;

generating a cutting path space curve and a grinding path space curve according to the C flash contour image of the wind power blade;

and sending the cutting path space curve and the grinding path space curve to a mobile device so that the mobile device moves the end effector to one side of the flash of the wind power blade C for cutting or grinding according to the cutting path space curve or the grinding path space curve.

Fig. 6 shows a scene in which the robot a for automatically cutting and polishing the flash of the wind power blade is used for cutting the flash, and the robot a for automatically cutting and polishing the flash of the wind power blade uses the magnetic stripe B as a track to perform segmented fixed-point cutting around the wind power blade C with the flash of the blade to be cut.

The specific working process is as follows:

before the work begins, the magnetic strips B are laid on the ground according to the appearance of the wind power blade C, and the wind power blade C is conveyed to the position where the magnetic strips B are laid to be fixed. And then, a cutter is arranged on the angle grinder 81 at the tail end of the constant force floating device 7, the cutter is moved to the position of the starting point of the magnetic stripe B, the height of the flash of the wind power blade C is judged manually, the first lifting device 9 is controlled manually to be lifted to the position close to the flash, and the preparation in the early stage of work is made.

When the work is started, the visual detection device 4 scans the fins to be cut, and then generates a cutting path space curve through the visual detection processor 3b and sends the cutting path space curve to the electric control machine 3 a. And then the electric controller 3a controls the hydraulic pump 94 to work according to the cutting path space curve, takes the stay wire encoder 95 as feedback, automatically controls the first lifting device 9 to lift to a position with a slightly lower flange, automatically plans a motion track, controls the five-freedom-degree grinding workbench 5 to finish cutting, and at the moment, the constant-force floating device 7 and the dust collector 2b are both opened to collect cutting dust. And when the motor driving the cutting action finishes moving, the flash cutting action of the section is finished. After the cutting of the burrs of the blade C is finished, the electric controller 3a controls the walking device to move, the robot moves to the position of the burrs to be cut to continue the cutting of the next blade until the cutting task of the burrs of the blade C is completely finished.

When the previous section of the fins are cut or polished, the robot records the fin space information (the visual detection device 4 and the five-degree-of-freedom polishing workbench 5 record the fin information of the previous section at this time), and meanwhile, because the fins of the wind power blade C are continuous, when the next section of the fins are cut or polished, the robot can automatically adjust the first lifting device 9 to lift to a proper position without manual adjustment.

After the burr cutting task is completed, the robot moves to the starting point of the magnetic stripe B and the sander is replaced on the angle grinder 81. At this time, the robot electric controller 3a records the height of the flash, and automatically controls the first lifting device 9 to lift to the vicinity of the flash. The vision detection device 4 scans the to-be-polished flash, generates a polishing path space curve through the vision detection processor 3b and sends the polishing path space curve to the electric control machine 3 a. And then the electric controller 3a automatically controls the first lifting device 9 to lift to a position where the flash is slightly lower according to the space curve of the polishing path, automatically plans a motion track, controls the five-freedom-degree polishing workbench 5 to finish polishing action, and at the moment, the constant-force floating device 7 and the dust collector 2b are both opened to collect polishing dust. And after polishing, the polishing quality is detected by the visual detection device 4, and after the polishing quality is detected to be qualified, the next section of polishing is carried out.

After the trimming of the blade C is finished, the robot body 1 moves to the next section to be trimmed and continues to polish the next section until the trimming of the blade C is completely finished. Similarly, at this time, as the fins of the wind power blade C are continuous, the robot records the fin space information, and the robot automatically adjusts the first lifting device 9 to lift to a proper position. Therefore, the trimming cutting and polishing work of the wind power blade C can be completed.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (10)

1. Wind-powered electricity generation blade overlap automatic cutout integration robot of polishing, its characterized in that: the robot comprises a robot body, wherein the robot body is provided with a walking device, a visual detection device, a moving device and a control device;

the visual detection device is used for acquiring the flash contour image of the wind power blade and sending the flash contour image to the control device;

the control device is used for generating a cutting path space curve and a grinding path space curve according to the wind power blade flash contour image and sending the cutting path space curve and the grinding path space curve to the moving device;

the moving device is provided with an end effector which is adapted to the cutter and the sander and used for moving the end effector to one side of the flash of the wind power blade to perform cutting or sanding actions according to the cutting path space curve or the sanding path space curve;

the walking device is connected with the control device and used for driving the robot body to walk around the wind power blade.

2. The wind power blade flash automatic cutting and grinding integrated robot according to claim 1, characterized in that: the moving device is provided with a constant force floating device, and the constant force floating device is connected with the end effector.

3. The wind power blade flash automatic cutting and grinding integrated robot according to claim 2, characterized in that: the moving device comprises a first lifting device arranged on the walking device and a five-freedom-degree grinding workbench arranged on the first lifting device, and the constant-force floating device is arranged on the five-freedom-degree grinding workbench.

4. The automatic cutting and grinding integrated robot for the flash of the wind power blade as claimed in claim 3, wherein: the five-degree-of-freedom polishing workbench comprises a second lifting device arranged on the first lifting device, a left-right moving device arranged on the second lifting device, a front-back moving device arranged on the left-right moving device and a double-shaft rotating device arranged at the tail end of the front-back moving device, wherein the constant-force floating device is arranged on the double-shaft rotating device.

5. The automatic cutting and grinding integrated robot for the flash of the wind power blade as claimed in claim 4, wherein: the second lifting device comprises a lifting servo motor arranged on the first lifting device and a screw rod lifter connected to the lifting servo motor, and the screw rod lifter is connected with the left-right moving device.

6. The automatic cutting and grinding integrated robot for the flash of the wind power blade as claimed in claim 5, wherein: the left and right moving device comprises a sliding block type linear sliding table connected with the lead screw lifter, a linear guide rail positioned on one side of the sliding block type linear sliding table and a sliding block connected with the linear guide rail, the sliding block type linear sliding table is connected with the sliding block and used for driving the sliding block to move left and right on the linear guide rail, and the sliding block is connected with the front and back moving device.

7. The wind power blade flash automatic cutting and grinding integrated robot according to claim 6, characterized in that: the front-back moving device comprises a shaft rod type linear sliding table, a dovetail groove guide rail and a front extending arm, wherein the shaft rod type linear sliding table and the dovetail groove guide rail are arranged on a sliding block, the front extending arm is connected with the dovetail groove guide rail in a sliding mode, the shaft rod type linear sliding table is connected with the front extending arm and used for driving the front extending arm to move back and forth on the dovetail groove guide rail, and the front extending arm is connected with the double-shaft rotating device.

8. The wind power blade flash automatic cutting and grinding integrated robot according to claim 7, characterized in that: the double-shaft rotating device comprises a first single-shaft rotating device connected to the front extending arm and a second single-shaft rotating device connected to the first single-shaft rotating device, the constant-force floating device is connected to the second single-shaft rotating device, and rotating shafts of the first single-shaft rotating device and the second single-shaft rotating device are perpendicular to each other.

9. The automatic cutting and grinding integrated robot for the flash of the wind power blade as claimed in claim 1, wherein: a dust suction device is arranged above the end effector.

10. The automatic cutting and grinding integrated robot for the flash of the wind power blade as claimed in claim 1, wherein: the control device comprises a visual detection processor and an electric control machine, the visual detection processor is respectively connected with the visual detection device and the electric control machine, and the electric control machine is connected with the walking device.

Images