DK202170393A1 - Wind turbine blade grinding control method based on KUKA robot - Google Patents

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

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Publication number
DK202170393A1
DK202170393A1 DKPA202170393A DKPA202170393A DK202170393A1 DK 202170393 A1 DK202170393 A1 DK 202170393A1 DK PA202170393 A DKPA202170393 A DK PA202170393A DK PA202170393 A DKPA202170393 A DK PA202170393A DK 202170393 A1 DK202170393 A1 DK 202170393A1
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DK
Denmark
Prior art keywords
grinding
grinding head
blade
kuka robot
agv trolley
Prior art date
Application number
DKPA202170393A
Inventor
Wang Shangyi
Shi Jieming
Original Assignee
Hedrich Xiamen Vacuum Equipment Mfg Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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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

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

DK 2021 70393 A1 Wind turbine blade grinding control method based on KUKA robot
BACKGROUND OF THE INVENTION
1. Field of the Invention The present mvention relates to a field of wind turbine blade processing technology, and more specifically relates to wind turbine blade grinding control method based on KUKA 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 1s 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 grmding 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 røbot has a fixed moving track, 1
DK 2021 70393 A1 and the working range 1s limited.
SUMMARY OF THE INVENTION An objective of the present invention is to provide a wind turbine blade grinding control method based on KUKA robot, ensuring to grind wind turbine blade 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 accorate 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 contrølled 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 KUKA robot which includes a KUKA robot, a main control cabinet, and an 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 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 1s connected with a control system of the KUKA robot and a control system of the AGV trølley, wherein the method includes: (a) moving the KUKA robot through the AGV trolley to a preset starting position, and the grinding head is parallel with an edge of the AGV trolley; 2
DK 2021 70393 A1
(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 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 7 of the KUKA robot exceeds a preset maximum grinding height, stopping ascending the grinding head, if the grinding head beyond the top boundary 1s 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 KUKA 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
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DK 2021 70393 A1 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 s main control cabinet and the KUKA robot control system automatically calculate the grinding attitude of the KUKA 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; (F) checking whether the grinding area 1s 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 KUKA 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 (1); 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 4
DK 2021 70393 A1 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 .
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 KUKA robot is used to calculate the attitude position of the KUKA 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 KUKA robot in accordance with the present invention; 5
DK 2021 70393 A1 Figure 2 is a perspective view showing a grinding head of the wind turbine blade grinding control device based on KUKA robot in accordance with the present invention; Figure 3 is a flowchart of a wind turbine blade grinding control method based on KUKA robot in accordance with the present invention; wherein, 1-KUKA robot; 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 KUKA robot 1, a main control cabinet 2, and an AGV (Automated Guided Vehicle) trolley 3. The KUKA robot I and the main control cabinet 2 are arranged on the AGV trolley 3. A grinding head 4 is arranged on the KUKA 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 KUKA robot I and a control system of the AGV trolley 3, which is used for integrated coordinated control of the whole machine, wherein the method includes: 6
DK 2021 70393 A1 Step 181) moving the KUKA robot I 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 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(82): 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 trølley 3 and blade must be determined, and if the distance is unreasonable, corrections are automatically made to ensure that a distance between the KUKA robot I and the blade is within an accepted distance range.
If the KUKA robot 1 is too close to the blade, the KUKA robot 1 may collide with the blade, and if the KUKA 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
7
DK 2021 70393 A1 surface area to be grinded, and if the distance and the degree of parallelism are exceeded their accepted ranges, the AGV trolley 3 1s 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 detected by laser distance measuring sensor
401 on the left surface of the grinding head 4 1s 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
8
DK 2021 70393 A1 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 1s 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 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 1s 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 7 of KUKA robot I 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(84): 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 KUKA 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 9
DK 2021 70393 A1 surface.
Step 5(85) 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 and the KUKA robot control systems (RSI : Robot Sensor Interface) automatically calculate the grinding attitude of the KUKA 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 1s aligned with the blade sorface. Before the grinding process starts, the grinding head 4 should keep a sufficient distance away from the surface of the blade (approximately 5mm) 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(56): Checking whether the grinding area is completed; If the vertical coordinate 7 of the grinding head 4 1s 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 10
DK 2021 70393 A1 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 fo be grinded, thereby ensuring reliability, flexibility and safety in grinding.
Step 7(87): the KUKA robot I 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 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 KUKA 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.
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DK 2021 70393 A1 Step 8(58): 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 s 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 1s determined automatically without any inputs, to end the grinding 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 KUKA robot I 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.
This invention is not limited to the embodiments mentioned above, any technical person can in the art can make a variety of modifications and changes, and in the spirit of the present invention, the scope of these modifications and 12
DK 2021 70393 A1 changes are protected in the current invention. 13

Claims (7)

DK 2021 70393 A1 WHAT IS CLAIMED IS:
1. A wind turbine blade grinding control method based on a KUKA robot which includes a KUKA robot, a main control cabinet, and an 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 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 KUKA robot and a control system of the AGV trolley, wherein the method includes: (ajmoving the KUKA 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 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 control signals to the control system of the AGV trolley through wired or wireless communication, to move the AGV trolley for the AGV trolley to be parallel to 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 14
DK 2021 70393 A1 the grinding head stops rising, or when a vertical coordinate Z of the KUKA 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 KUKA 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 KUKA robot control system automatically calculate the grinding attitude of the KUKA 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 1s aligned with the blade surface;
(f) checking whether the grinding area 1s 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
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DK 2021 70393 A1 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 (€); (g) returning the KUKA 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 (1); 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 1s detected by the laser distance measuring sensor on the side of the grinding head, the grinding is completed.
2. The method as claimed in claim 1, wherein 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.
3. The method as claimed in claim 1, wherein 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, the distance that the AGV trolley moves is controllable.
4. The method as claimed in claim 2, wherein the multiple grinding strips are provided with quartz particles.
5. The method as claimed in claim 1, wherein 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.
6. The method as claimed in claim 1, wherein in the step (e), RSI software 16
DK 2021 70393 A1 for the KUKA robot is used to calculate the attitude position of the KUKA robot, and to adjust the attitude position of the grinding head on a real-time basis,
7. The method as claimed in claim 1, wherein the main control module in the main control cabinet is a PLC.
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DKPA202170393A 2020-08-18 2021-07-27 Wind turbine blade grinding control method based on a robot DK181353B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010834161.6A CN111922854A (en) 2020-08-18 2020-08-18 Wind driven generator blade polishing control method based on KUKA robot

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Publication Number Publication Date
DK202170393A1 true DK202170393A1 (en) 2022-02-28
DK181353B1 DK181353B1 (en) 2023-08-23

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CN113427323B (en) * 2021-05-27 2022-05-17 中材科技（邯郸）风电叶片有限公司 Method for linkage control of automatic grinding of wind power blade and synchronous turning of blade
CN113442026B (en) * 2021-07-22 2022-09-06 中车青岛四方机车车辆股份有限公司 Polishing method and polishing device
CN114397888A (en) * 2021-12-21 2022-04-26 三一机器人科技有限公司 Blade following control method and device and working machine
CN115488736A (en) * 2022-07-05 2022-12-20 港珠澳大桥管理局 Automatic positioning polishing system and polishing method based on wall-climbing robot

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