DK181353B1 - Wind turbine blade grinding control method based on a robot - Google Patents

Wind turbine blade grinding control method based on a robot Download PDF

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Publication number
DK181353B1
DK181353B1 DKPA202170393A DKPA202170393A DK181353B1 DK 181353 B1 DK181353 B1 DK 181353B1 DK PA202170393 A DKPA202170393 A DK PA202170393A DK PA202170393 A DKPA202170393 A DK PA202170393A DK 181353 B1 DK181353 B1 DK 181353B1
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DK
Denmark
Prior art keywords
grinding
grinding head
robot
blade
main control
Prior art date
Application number
DKPA202170393A
Other languages
Danish (da)
Inventor
Wang Shangyi
Shi Jieming
Original Assignee
Hedrich Xiamen Vacuum Equipment Mfg Co Ltd
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Application filed by Hedrich Xiamen Vacuum Equipment Mfg Co Ltd filed Critical Hedrich Xiamen Vacuum Equipment Mfg Co Ltd
Publication of DK202170393A1 publication Critical patent/DK202170393A1/en
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Publication of DK181353B1 publication Critical patent/DK181353B1/en

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • 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
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • 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
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor 
    • F03D1/06—Rotors
    • F03D1/065—Rotors characterised by their construction elements
    • F03D1/0675—Rotors characterised by their construction elements of the blades
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Laser Beam Processing (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

This invention provides a wind turbine blade grinding control method based on KUKA robot, which includes the KUKA robot, a main control cabinet, and an Autonomous Guided Vehicle (AGV) trolley. The KUKA robot and the main control cabinet are arranged on the AGV trolley. A grinding head is arranged on the KUKA robot, laser distance measuring sensors are arranged on the grinding head, the laser distance measuring sensors communicate with a main control module in the main control cabinet, the main control cabinet is connected with a KUKA robot control system and an AGV trolley control system, the laser distance measuring sensors serve to adjust the attitude position between the grinding head and the blade grinding area, and detect the range of a grinding area to realize the automatic blade grinding of wind turbine blades. The wind turbine blade grinding control method based on KUKA robot does not require manual operation, thereby increasing work efficiency and improving the quality of grinding.

Description

1 DK 181353 B1
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a field of wind turbine blade processing technology, and more specifically relates to wind turbine blade grinding control method based on a robot. 2. Description of the Related Art
In the production of wind turbine blades for wind turbines, the surface of the blades requires grinding process, which is now generally done manually. The main disadvantages of manual grinding are: huge dust pollution (which is adverse to workers’ health and environment), low efficiency and inconsistent grinding quality. If a blade is 70 meters long as an example, it will take at least 3 hours to complete the polishing by 6 workers continuously, which is a considerable time. In wind turbine development so far, the progress of blade grinding equipment is still relatively slow due to the large shape and weight, irregular shape (the shape is a complex surface) and certain flexibility of wind turbine blades, it is inconvenient to handle and difficult to accurately repeat positioning. These characteristics are not conducive to the design of an equipment to adapt to this kind of repeated grinding work. At present most turbine blade manufacturers are still using manual grinding, and while some manufacturers use industrial robots for this grinding process, but the working position of general robots is relatively fixed, and multiple robots need to be set up in the same grinding production line, or the robot has a fixed moving track,
2 DK 181353 B1 and the working range 1s limited.
US 2015/0283665 A1 describes a method for automated surface treatment of in particular a rotor blade of a wind turbine with a treatment device comprising a robotic system having a control system and a treatment tool.
CN 109794830 A relates to an automatic polishing workstation for a fan blade and an implementation method thereof, belonging to the field of a grinding robot.
CN 109176240 A provides automatic grinding equipment for the tip part of a wind power blade.
SUMMARY OF THE INVENTION
"The definition of the term robot is defined as follows: The robot, such as a
KUKA robot, is an automated device which can perform high accurate motion and positioning within a specified space range. It comprises two major parts: a manipulator (also called as robot arm) and a control system. A tool is mounted on the end flange of the robot arm. The motion of the manipulator is controlled by a control system through running a software program. The robot can work coordinately with external devices (such as a PLC) through communication."
An objective of the present invention is to provide a wind turbine blade grinding control method based on a robot, ensuring to grind wind turbine blade
3 DK 181353 B1 in a smooth, secure, and unattended manner. KUKA is a world leading manufacturer in industrial robots. The robot is an automated device which can perform high accurate motion and positioning within a specified space range. It comprises two major parts: a manipulator (also called as robot arm) and a control system. A tool is mounted on the end flange of the robot arm. The motion of the manipulator is controlled by a control system through running a software program. The robot can work coordinately with external devices (such as a PLC) through communication.
To achieve the foregoing objective, a wind turbine blade grinding control method based on a robot, a main control cabinet, and an AGV trolley, the robot and the main control cabinet are arranged on the AGV trolley, a grinding head is arranged on the robot, laser distance measuring sensors are arranged on top edge position, bottom edge position, left edge position and right edge position of the grinding head, and the laser distance measuring sensors connected with a main control module in the main control cabinet, and the main control cabinet is connected with a control system of the robot and a control system of the AGV trolley, wherein the method includes: (a) moving the robot through the AGV trolley to a preset starting position, and the grinding head is parallel with an edge of the AGV trolley; (b) detecting signals indicative of distances between the grinding head and the surface area to be grinded of the blade by the laser distance measuring sensors, transmitting the signals to the main control cabinet for signal analysis and processing, and further transmitting the processed signals to the control system of the AGV trolley through wired or wireless communication, to move the AGV
4 DK 181353 B1 trolley for the AGV trolley to be parallel to the surface area to be grinded of the blade and keep a preset distance from the surface area to be grinded of the blade;
(c) raising the grinding head to a highest position of blade grinding, detecting the distance between the grinding head and the surface area to be grinded through the laser distance measuring sensor on the top edge of the grinding head, and when the detected distance exceeds a normal value, it is determined that the grinding head has reached the top boundary of the blade, and the grinding head stops rising, or when a vertical coordinate Z of the robot exceeds a preset maximum grinding height, stopping ascending the grinding head, if the grinding head beyond the top boundary is detected, the grinding head automatically goes back down, so that the grinding head is completely back to the boundary range; (d) moving the grinding head close to the blade to a preset distance, and detecting the distances by the laser distance measuring sensors on the top edge, the bottom edge, the left edge, and the right edge of the grinding head, the grinding head is controlled by the robot to make the distance between the top, bottom, left and right blades the same, and the grinding head is aligned with the blade surface;
(e) moving the grinding head vertically downward along the surface of the — blade and keep the distance between the grinding head and the blade at the preset grinding distance, the grinding head is started to start grinding downwards, wherein the grinding process, the laser distance measuring sensors detect the distances between the grinding head and the blade surface in real time, and the main control cabinet and the robot control system automatically calculate the
DK 181353 B1 grinding attitude of the robot according to the distance between the grinding head and the blade measured by the laser distance measuring sensor, and automatically correct it to ensure that the grinding head always maintains a stable distance from the blade surface and is aligned with the blade surface; 5 (f) checking whether the grinding area is completed, wherein if the vertical coordinate Z of the grinding head position is less than a preset minimum grinding height of the surface area to be grinded, or the data of the laser distance measuring sensors exceeds the normal range, determining that the surface area to be grinded is completely grinded, then the grinding of the area is completed and proceed to the step (g), if not, resuming the step (e); (g) returning the robot to the preset starting position, and again activating the AGV trolley to move to a next surface area to be grinded of the blade and repeating steps (b) to (f); and (h) when an accumulated grinding length has reached a set value or the number of grinding positions has reached the predetermined value or the blade boundary is detected by the laser distance measuring sensor on the side of the grinding head, the grinding is completed.
Preferably, the grinding head includes a driving motor, a roller and multiple grinding strips, wherein the driving motor drives the roller to rotate, and the — multiple grinding strips are arranged on the roller.
Preferably, in the step (g), when the AGV trolley moves at a constant speed along a blade length direction, by controlling a movement time of this AGV trolley, a distance that the AGV trolley moves is controllable.
Preferably, the multiple grinding strips are provided with quartz particles .
6 DK 181353 B1
Preferably, the laser distance measuring sensors are arranged on centers of the top edge position, bottom edge position, left edge position and right edge position of the grinding head.
Preferably, in the step (e), RSI software for the robot is used to calculate the attitude position of the robot, and to adjust the attitude position of the grinding head on a real-time basis.
Preferably, the main control module in the main control cabinet is a PLC.
In contrast to conventional grinding method for wind turbine blade, the present invention has the following advantages: 1. A high level of automation, ease of use and convenience. 2. The quality of grinding is stable and consistent. 3. High efficiency with significant labor cost reduction, and a smaller and more flexible work area.
Other objectives, advantages and novel features of the invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a perspective view of a wind turbine blade grinding control device based on a robot in accordance with the present invention;
Figure 2 is a perspective view showing a grinding head of the wind turbine blade grinding control device based on a robot in accordance with the present invention;
Figure 3 is a flowchart of a wind turbine blade grinding control method based on a robot in accordance with the present invention;
7 DK 181353 B1 wherein, 1-arobot; 2-main control cabinet; 3-AGV trolley; 4-grinding head; 401-laser distance measuring sensor; 402-roller; 403-grinding strip.
DETAILED DESCRIPTION OF THE INVENTION
The present invention is further described in detail in the combination of the following embodiment and the accompanying drawings.
As shown in FIGS. 1 through 3, a wind turbine blade grinding system includes a robot 1, a main control cabinet 2, and an AGV (Automated Guided
Vehicle) trolley 3. The robot 1 and the main control cabinet 2 are arranged on the
AGV trolley 3. A grinding head 4 is arranged on the robot 1, laser distance measuring sensors 401 are arranged on the grinding head 4. Laser distance measuring sensors 401 are arranged on top edge position, bottom edge position, left edge position and right edge position of the grinding head 4, for example, at centers of the edge positions, and the laser distance measuring sensors connected with a main control module in the main control cabinet 2. In one embodiment, the main control module is a PLC (Programmable Logic Controller) and can monitor and adjust the attitude position of the grinding head 4. The main control cabinet is connected with a control system of the robot 1 and a control system of the AGV trolley 3, which is used for integrated coordinated control of the whole machine, wherein the method includes:
Step 1(S1): moving the robot 1 to the preset starting position through AGV trolley 3. The grinding head 4 is parallel to an edge of AGV trolley 3, laser distance measuring sensors 401 are facing the blade, and the grinding head 4 is in the initial standard working attitude at this time; The purpose of setting the initial standard working attitude of grinding head 4 is to ensure that the trolley
8 DK 181353 B1 moves along the blade length direction and will not collide with the blade; It is convenient to detect the distance between the grinding head and the blade;
Prepare for the next step;
Step 2(S2): The multiple laser distance measuring sensors 401 detect signals indicative of distances between a surface area to be grinded of the blade and the grinding head 4, and transmits the signals to the main control module of the main control cabinet 2 for signal analysis and processing, and further transmits the processed signals to the control system of the AGV trolley 3 through wired or wireless communication, to move AGV trolley 3 for the AGV trolley 3 to be parallel to the surface area to be grinded of the blade and keep a preset distance from surface area to be grinded of the blade.
Before starting the grinding process, the distance between the AGV trolley 3 and blade must be determined, and if the distance is unreasonable, corrections are automatically made to ensure that a distance between the robot 1 and the blade is within an accepted distance range. If the robot 1 is too close to the blade, the robot 1 may collide with the blade, and if the robot 1 is too far from the blade, the grinding head 4 will not properly engage with the surface area to be grinded.
The PLC of the main control cabinet 2 detects the distance and a degree of parallelism between the grinding head 4 and the surface area to be grinded, and if the distance and the degree of parallelism are exceeded their accepted ranges, the AGV trolley 3 is controlled to move and rotate to adjust the distance and the degree of parallelism as follows. If the laser distance measuring sensors 401 on the left and right surfaces of the grinding head 4 detect the distances within their accepted ranges, the AGV trolley 3 does not need to be adjusted; if the distance
9 DK 181353 B1 detected by laser distance measuring sensor 401 on the left surface of the grinding head 4 is greater than the distance detected by the laser distance measuring sensor 401 on the right surface of the grinding head 4, and the deviation value exceeds the allowable value, the PLC controls the AGV trolley 3 to rotate clockwise until the distances detected from the laser distance measuring sensors 401 on the left and the right surfaces of the grinding head 4 are the same; on the contrary, rotate counter clockwise until the distance is the same; After adjusting the parallelism, if the distance between the left or right sensor and the blade is too large (greater than the top limit setting value), AGV trolley 3 moves to the blade until the distance is less than the setting value; and if the distance to the blade detected by the laser distance measuring sensor 401 on the left or right surface of the grinding head 4 is less than a lower limit set value, the AGV trolley 3 is moved away from the blade until the distance is greater than the set value. In this way the distance and the degree of parallelism between the AGV trolley 3 and the blade are controlled within normal ranges, thereby ensuring that the grinding head 4 correctly engages with the surface area to be grinded. If the distance is too far, the grinding head 4 fails to be in touch with the surface area to be grinded, and if too close, AGV trolley 3 may collide with the surface area to be grinded. Using the data from the distance measuring — sensor of the grinding head 4, the distance and the degree of parallelism between the trolley and the blades are automatically corrected, without the need for manual adjustment of the trolley, which is efficient and simplifies the operation, and prevents manual forgetting and is safer.
Step 3(S3): The grinding process normally goes from top to bottom, from
10 DK 181353 B1 the highest point to the lowest point vertically. A grinding height can also be set specifically with highest and lowest positions on the surface area to be grinded being set in the meantime. The grinding head 4 is ascended to the highest position of blade grinding, and when the distance from the blade detected by the laser distance measuring sensor 401 on the top surface of the grinding head 4 exceeds a normal value , it is determined that the grinding head 4 has reached the top boundary of the blade, and the grinding head 4 stops rising, or when a vertical coordinate Z of robot 1 exceeds a preset maximum grinding height, the grinding head 4 stops ascending. If the grinding head 4 beyond the top boundary is detected, the grinding head 4 automatically goes back down, so that the grinding head is completely back to the boundary range. The laser distance measuring sensors 401 are used to find the highest position of the surface area to be grinded.
Step 4(S4): The grinding head 4 is moved closed to a preset distance from the blade, and detecting the distances by the laser distance measuring sensors 401 on the top edge, the bottom edge, the left edge, and the right edge of the grinding head 4, the grinding head 4 is controlled by robot 1 to make the distance between the top, bottom, left and right blades the same(or the deviation of the distances is very small), and the grinding head 4 is aligned with the blade surface.
Step 5(S5): Moving the grinding head 4 vertically downward along the surface of the blade to keep the distance between the grinding head 4 and the blade at the preset grinding distance, the grinding head is started to start grinding downwards. During the grinding process, the laser distance measuring sensors 401 are continuously monitoring the distances between the surface area of the blade and the grinding head 4 on a real-time basis. The main control cabinet 2
11 DK 181353 B1 and the robot control systems (RSI : Robot Sensor Interface) automatically calculate the grinding attitude of the robot 1 according to the distance between the grinding head 4 and the blade measured by the laser distance measuring sensors 401, and automatically correct it to ensure that the grinding head 4 always maintains a stable distance from the blade surface and is aligned with the blade surface. Before the grinding process starts, the grinding head 4 should keep a sufficient distance away from the surface of the blade (approximately Smm) to allow the grinding strips 403 on the grinding head 4 to engage correctly with the surface area to be grinded. Because the grinding head 4 is close to the blade after the attitude adjustment, and the grinding speed is controlled, smooth and precise grinding can be secured throughout the grinding process without collision between the grinding head 4 and the blade.
Step 6(S6): Checking whether the grinding area is completed; If the vertical coordinate Z of the grinding head 4 is less than the lowest position of the surface area to be grinded, or if the signals from laser distance measuring sensors 401 exceed a normal operating range, then the surface area to be grinded of the blade is determined to be completed and proceed to step 7, and if not completed, then resume the step 5. Two conditions can be used to determine if the grinded area is complete. Firstly, if the grinding head 4 reaches the bottom end of the surface — area to be grinded, secondly if the grinding head 4 reaches the lowest position of the surface area to be grinded, thereby ensuring reliability, flexibility and safety in grinding.
Step 7(S7): the robot 1 is controlled to return to the initial preset starting position and the AGV trolley 3 is again activated to move to a next surface area
12 DK 181353 B1 to be grinded of the blade and the steps 2 through 6 are repeated. The AGV trolley 3 is controlled to move a distance forward or backward according to preset direction and distance and the grinding head 4 continuously grinds the blade. The precision of positioning the AGV trolley 3 repeatedly is extremely accurate (generally around 5 mm, which accuracy meets the requirements of grinding positioning), the moving distance of the trolley is controlled by a timing method when the speed of the trolley remains unchanged. Start the trolley forward command and delay the disconnection. The longer the delay, the longer the distance the trolley travels; The same delay, the same distance for small advancement. Therefore, by controlling the movement time of the AGV trolley 3, the distance of the AGV trolley 3 is moved can be controlled. The grinding head 4 can always return to a preset fixed position to start the grinding process to ensure reliability and safety, and no manual operation is required to move the
AGV trolley 3 and the robot 1. The wind turbine blade grinding system moves automatically and with precision to a next surface area to be grinded of the blade, to form a continuous and automated grinding process.
Step 8(S8): Finishing the grinding if anyone of the following three conditions are satisfied. The three conditions are if the accumulated grinding length has reached a preset value (length of the blade) or if a count of the surface areas to be grinded has reached another configured value (the number of the grinded surface areas divided according to the length of the blade) or if laser distance measuring sensors 401 on the grinding head 4 detect the boundary of the blade. The former two of the above conditions can be set manually while the last condition is determined automatically without any inputs, to end the grinding
13 DK 181353 B1 process automatically, allowing for ease of use and increased safety.
The grinding head 4 comprises a driving motor, a roller 402 and multiple grinding strips 403. The multiple grinding strips 403 are provided with quartz particles. The driving motor drives the roller 402 to rotate. The multiple grinding strips 403 are arranged on the roller 402. In the steps detailed above, the preset distance between the blade and the grinding head 4 on the robot 1 and the AGV trolley 3 should be set by taking the actual sizes of the grinding strips 403 and the roller 402 as a whole into account, to avoid damage to the blade as a result of grinding incorrect area or grinding too much of the blade.
In Step 7, the AGV trolley 3 moves at the constant speed along the length of the blade, and the movement distance of the AGV trolley 3 is controlled by setting the movement time of the AGV trolley 3, so as to ensure the accuracy of the AGV trolley 3 moving to the required area.

Claims (7)

DK 181353 B1 14 PatentkravDK 181353 B1 14 Patent claim 1. En styringsmetode til slibning af vindmøllevinger baseret på en robot, hvor robotten er en automatiseret enhed, der kan udføre bevægelse og positionering inden for et specificeret rumområde med høj nøjagtighed, robotten — omfatter to hoveddele: en manipulator og et styresystem, et værktøj er monteret på robotarmens endeflange, manipulatorens bevægelse er styret af et styresystem ved at køre et softwareprogram, robotten kan arbejde koordineret med eksterne enheder ved hjælp af kommunikation, hvilket omfatter en robot, et hovedstyreskab og en AGV-vogn, robotten og hovedstyreskabet er anbragt på AGV-vognen, et slibehoved er anbragt på robotten, laserafstandsmålesensorer er anbragt på øverste kantposition, nederste kantposition, venstre kantposition og højre kantposition af slibehovedet, og laserafstandsmålesensorerne er forbundet med et hovedstyremodul i hovedstyreskabet, og hovedstyreskabet er forbundet med et styresystem for robotten og et styresystem for AGV-vognen, hvor fremgangsmåden omfatter: (a) flytning af robotten, ved hjælp af AGV-vognen, til en forudindstillet startposition, og slibehovedet er parallelt med en kant af AGV-vognen; (b) detektering af signaler, der indikerer afstande mellem slibehovedet og overfladearealet af vingen, fra laserafstandsmålesensorerne, transmittering af signalerne til hovedstyreskabet til signalanalyse og behandling, og videre transmittering af styresignalerne til styresystemet for AGV-vognen, ved hjælp af kablet eller trådløs kommunikation, for at flytte AGV-vognen, så AGV-vognen er parallel med og holder en forudindstillet afstand til det overfladeareal der skal slibes på vingen;1. A control method for grinding wind turbine blades based on a robot, where the robot is an automated device that can perform movement and positioning within a specified space area with high accuracy, the robot — includes two main parts: a manipulator and a control system, a tool is mounted on the end flange of the robot arm, the movement of the manipulator is controlled by a control system by running a software program, the robot can work in coordination with external devices by means of communication, which includes a robot, a main control cabinet and an AGV carriage, the robot and the main control cabinet are placed on the AGV -carriage, a grinding head is placed on the robot, laser distance measuring sensors are placed on the upper edge position, lower edge position, left edge position and right edge position of the grinding head, and the laser distance measuring sensors are connected to a main control module in the main control cabinet, and the main control cabinet is connected to a control system for the robot and a control system for the AGV carriage, the method comprising: (a) moving the robot, by means of the AGV carriage, to a preset starting position and the grinding head being parallel to an edge of the AGV carriage; (b) detecting signals indicating distances between the grinding head and the surface area of the vane from the laser distance measurement sensors, transmitting the signals to the main control cabinet for signal analysis and processing, and further transmitting the control signals to the control system of the AGV carriage, using wired or wireless communication, to move the AGV carriage so that the AGV carriage is parallel to and maintains a preset distance from the surface area to be sanded on the wing; DK 181353 B1 15DK 181353 B1 15 (c) hævning af slibehovedet til en højeste position af vingeslibning, detektering af afstanden mellem slibehovedet og det overfladeareal, der skal slibes ved hjælp af laserafstandsmålesensoren på slibehovedets øverste kant, og når den detekterede afstand overstiger en normalværdi, bestemmes det, at(c) raising the grinding head to a highest position of vane grinding, detecting the distance between the grinding head and the surface area to be ground using the laser distance measurement sensor on the top edge of the grinding head, and when the detected distance exceeds a normal value, determining that — slibehovedet har nået den øverste grænse af vingen og slibehovedet stopper med at hæves, eller når et vertikalt koordinat Z for robotten overstiger en forudindstillet maksimal slibehøjde, stopper opstigningen af slibehovedet, hvis slibehovedet detekteres over den øverste grænse, går slibehovedet automatisk ned igen, så slibehovedet er helt tilbage i grænseområdet;— the grinding head has reached the upper limit of the wing and the grinding head stops raising, or when a vertical coordinate Z of the robot exceeds a preset maximum grinding height, the ascent of the grinding head stops, if the grinding head is detected above the upper limit, the grinding head automatically descends again, so the grinding head is completely back in the border area; (d) flytning af slibehovedet, tæt på vingen, til en forudindstillet afstand, og detektering af afstandene ved hjælp af laserafstandsmélesensorerne på den øverste kant, den nederste kant, den venstre kant og den højre kant af slibehovedet, slibehovedet styres af robotten for at gøre afstanden mellem den øverste, nederste, venstre og højre vinge ens, og slibehovedet er på linje med vingeoverfladen;(d) moving the grinding head, close to the blade, to a preset distance, and detecting the distances using the laser distance measurement sensors on the top edge, the bottom edge, the left edge and the right edge of the grinding head, the grinding head is controlled by the robot to make the distance between the top, bottom, left and right blades is the same, and the grinding head is in line with the blade surface; (e) flytning af slibehovedet vertikalt nedad langs overfladen af vingen og fastholde afstanden mellem slibehovedet og vingen i den forudindstillede slibeafstand, slibehovedet startes for at starte slibning nedad, hvori slibeprocessen, laserafstandsmålesensorerne detekterer afstandene mellem slibehovedet og vingeoverfladen i realtid, og hovedstyreskabet og robotstyringssystemet automatisk beregner robottens slibeindstilling ifølge afstanden mellem slibehovedet og vingen, målt ved hjælp af laserafstandsmélesensoren, og automatisk korrigerer den for at sikre, at slibehovedet altid holder en stabil afstand til vingeoverfladen og flugter med(e) moving the grinding head vertically downward along the surface of the blade and maintaining the distance between the grinding head and the blade at the preset grinding distance, the grinding head is started to start grinding downward, in which the grinding process, the laser distance measurement sensors detect the distances between the grinding head and the blade surface in real time, and the main control cabinet and the robot control system automatically calculates the robot's grinding setting according to the distance between the grinding head and the vane, as measured by the laser distance measuring sensor, and automatically corrects it to ensure that the grinding head always maintains a stable distance to the vane surface and is aligned with DK 181353 B1 16 vingeoverfladen; (f) kontrol af, om slibearealet er fuldført, hvor hvis den vertikale koordinat Z for slibehovedets position er mindre end en forudindstillet minimumsslibehøjde af det overfladeareal der skal slibes, eller dataene fra — laserafstandsmålesensorerne overskrider det normale område, hvilket bestemmer, at det overfladeareal der skal slibes, er fuldstændigt slebet, så er slibningen af området fuldført og der fortsættes til trin (g), hvis ikke, genoptages trin (e); (g) returnering af robotten til den forudindstillede startposition, og igen, aktivering af AGV-vognen for at flytte til et næste overfladeareal der skal slibes på vingen og gentagelse af trin (b) til (f); og (h) når en akkumuleret slibelængde har nået en indstillet værdi, eller antallet af slibepositioner har nået den forudbestemte værdi, eller vingegrænsen detekteres af laserafstandsmålesensoren på siden af slibehovedet, så er slibningen afsluttet.DK 181353 B1 16 wing surface; (f) checking whether the grinding area is complete, where if the vertical coordinate Z of the position of the grinding head is less than a preset minimum grinding height of the surface area to be ground, or the data from — the laser distance measurement sensors exceeds the normal range, which determines that the surface area that to be sanded is completely sanded, then the sanding of the area is complete and proceed to step (g), if not, repeat step (e); (g) returning the robot to the preset home position, and again, activating the AGV carriage to move to a next surface area to be ground on the wing and repeating steps (b) through (f); and (h) when an accumulated grinding length has reached a set value, or the number of grinding positions has reached the predetermined value, or the blade limit is detected by the laser distance measuring sensor on the side of the grinding head, then the grinding is finished. 2. Fremgangsmåde ifølge krav 1, hvor slibehovedet omfatter en drivmotor, en valse og flere slibestrimler, hvor drivmotoren driver valsen til at rotere, og de flere slibestrimler er anbragt på valsen.2. Method according to claim 1, wherein the grinding head comprises a drive motor, a roller and several sanding strips, the drive motor drives the roller to rotate, and the several sanding strips are placed on the roller. 3. Fremgangsmåde ifølge krav 1, hvor under trinnet (g), når AGV-vognen bevæger sig med en konstant hastighed langs en vingelængderetning, ved at styre en bevægelsestid for denne AGV-vogn, er afstanden, som AGV-vognen bevæger sig, kontrollerbar .3. The method according to claim 1, wherein during step (g), when the AGV cart moves at a constant speed along a wing length direction, by controlling a movement time of this AGV cart, the distance that the AGV cart moves is controllable . 4. Fremgangsmåde ifølge krav 2, hvor de multiple slibestrimler er forsynet med kvartspartikler.4. Method according to claim 2, where the multiple grinding strips are provided with quartz particles. 5. Fremgangsmåde ifølge krav 1, hvor laserafstandsmålesensorerne er5. Method according to claim 1, wherein the laser distance measurement sensors are DK 181353 B1 17 anbragt på midten af den øverste kantposition, den nederste kantposition, den venstre kantposition og den højre kantposition af slibehovedet.DK 181353 B1 17 placed in the middle of the upper edge position, the lower edge position, the left edge position and the right edge position of the grinding head. 6. Fremgangsmåde ifølge krav 1, hvor under trinnet (e), RSI-software for robotten anvendes til at udregne indstillingspositionen af robotten og til at justere — indstillingspositionen af slibehovedet på realtidsbasis.6. The method of claim 1, wherein during step (e), RSI software for the robot is used to calculate the setting position of the robot and to adjust — the setting position of the grinding head on a real-time basis. 7. Fremgangsmåde ifølge krav 1, hvor hovedstyremodulet i hovedstyreskabet er en PLC.7. Method according to claim 1, where the main control module in the main control cabinet is a PLC.
DKPA202170393A 2020-08-18 2021-07-27 Wind turbine blade grinding control method based on a robot DK181353B1 (en)

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CN112847038A (en) * 2021-04-01 2021-05-28 上海艾港风电科技发展有限公司 Semi-automatic blade polishing method and device
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CN114397888B (en) * 2021-12-21 2024-07-26 三一机器人科技有限公司 Blade following control method and device and working machine
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WO2024104541A1 (en) * 2022-11-15 2024-05-23 Vestas Wind Systems A/S Automated machining tool for removing material from a surface of a wind turbine blade, and method of performing a machining operation on a wind turbine blade
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