Wind power blade flash automatic cutting and polishing integrated robot and cutting and polishing method

Abstract

The present application relates to wind power blade flash automatic cutting and polishing integrated robot and cutting and polishing method, the robot includes robot body, the robot body is equipped with walking device, visual detection device, moving device and control device; the visual detection device is used for collecting wind power blade flash contour image and sending to control device; the control device is used for generating cutting path space curve and polishing path space curve according to wind power blade flash contour image and sends to moving device; the moving device is equipped with the end effector suitable for cutter and polisher, is used for moving the end effector to wind power blade flash one side according to cutting path space curve or polishing path space curve and carries out cutting or polishing action;Walking device is connected with control device, is used for driving robot body to walk around wind power blade. It has automatic cutting and automatic polishing function, and the processing process does not need too much manual control, and the dust generated is collected by the dust collector, to ensure that the processing site is environmentally friendly and the workers are healthy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a wind turbine blade flash automatic cutting and polishing integrated robot and a cutting and polishing method. BACKGROUND

[0002] The world economy is developing rapidly today, and the demand for energy is growing year by year. As one of clean energy, wind power generation technology is increasingly valued by countries around the world. The performance of the wind turbine blade, as a key component of the wind turbine, determines the service life of the wind turbine.

[0003] The production process of large wind turbine blades includes vacuum infusion, curing demolding, surface treatment, putty repair and curing, putty polishing and dust removal, primer spraying, and defect repair and topcoat spraying. During the molding process, flash is generated, which is mainly composed of fiberglass cloth (glass fiber) and structural adhesive (epoxy resin). After the blade is demolded, the flash needs to be cut and polished to meet the subsequent painting requirements. The common length of wind turbine blades is 20-90m, and the longest wind turbine blade has reached 160m. The height difference of the flash can reach 2.3m when the blade is placed horizontally. The flash is long and has large height variation. Flash polishing generates a large amount of dust, which can pose a threat to the health of workers if inhaled.

[0004] Currently, flash cutting and polishing usually rely on manual labor, which is low in efficiency and unstable in quality, and the dust generated seriously affects the health of workers.

[0005] Therefore, it is necessary to develop a wind turbine blade flash automatic cutting and polishing integrated robot to perfect the intelligent production process of wind turbine blades and improve work efficiency and processing quality. SUMMARY

[0006] In view of the technical problems existing in the prior art, one of the purposes of the present application is to provide a wind turbine blade flash automatic cutting and polishing integrated robot, which has automatic cutting and automatic polishing functions, and improves work efficiency and processing quality.

[0007] In view of the technical problems existing in the prior art, the second purpose of the present application is to provide a cutting and polishing method of the wind turbine blade flash automatic cutting and polishing integrated robot.

[0008] In order to achieve the above purposes, the present application adopts the following technical solutions:

[0009] The wind turbine blade flash automatic cutting and polishing integrated robot comprises a robot body, the robot body is provided with a walking device, a visual detection device, a moving device and a control device;

[0010] The visual detection device is used for collecting wind turbine blade flash contour images and sending them to the control device;

[0011] The control device is used to generate the cutting path space curve and the polishing path space curve according to the wind turbine blade flash profile image and send them to the mobile device;

[0012] The mobile device is provided with an end effector adapted to the cutter and the polisher, which is used to move the end effector to one side of the wind turbine blade flash to perform the cutting or polishing action according to the cutting path space curve or the polishing path space curve.

[0013] The walking device is connected with the control device and used to drive the robot body to walk around the wind turbine blade.

[0014] Further, the mobile device is provided with a constant force floating device connected with the end effector.

[0015] Further, the mobile device comprises a first lifting device provided on the walking device and a five-degree-of-freedom polishing workbench provided on the first lifting device, and the constant force floating device is provided on the five-degree-of-freedom polishing workbench.

[0016] Further, the five-degree-of-freedom polishing workbench comprises a second lifting device mounted on the first lifting device, a left-right moving device mounted on the second lifting device, a front-back moving device mounted on the left-right moving device, and a double-shaft rotating device mounted at the end of the front-back moving device, and the constant force floating device is provided on the double-shaft rotating device.

[0017] Further, the second lifting device comprises a lifting servo motor mounted on the first lifting device and a screw lifting machine connected with the lifting servo motor, and the screw lifting machine is connected with the left-right moving device.

[0018] Further, the left-right moving device comprises a slider type linear slide table connected with the screw lifting machine, a linear guide rail located on one side of the slider type linear slide table, and a slider slidingly connected with the linear guide rail, the slider type linear slide table is connected with the slider and used to drive the slider to move left and right on the linear guide rail, and the slider is connected with the front-back moving device.

[0019] Further, the front-back moving device comprises a shaft rod type linear slide table and a dovetail groove guide rail mounted on the slider, and a front arm slidingly connected with the dovetail groove guide rail, the shaft rod type linear slide table is connected with the front arm and used to drive the front arm to move forward and backward on the dovetail groove guide rail, and the front arm is connected with the double-shaft rotating device.

[0020] Further, the double-shaft rotating device comprises a first single-shaft rotating device connected with the front arm and a second single-shaft rotating device connected with the first single-shaft rotating device, and the constant force floating device is connected with the second single-shaft rotating device, and the rotation shafts of the first single-shaft rotating device and the second single-shaft rotating device are perpendicular to each other.

[0021] Further, a dust cover is provided above the end effector and a gas pipe is connected to a dust collector.

[0022] Further, the control device comprises a visual detection processor and an electric control machine, the visual detection processor is connected with the visual detection device and the electric control machine respectively, and the electric control machine is connected with the walking device.

[0023] The cutting and polishing method of the wind turbine blade flash automatic cutting and polishing integrated robot comprises the following steps: controlling the walking device to drive the robot body to walk around the wind turbine blade;

[0024] An image of a wind turbine blade flash profile is acquired.

[0025] A cutting path space curve and a polishing path space curve are generated according to the image of the wind turbine blade flash profile.

[0026] The cutting path space curve and the polishing path space curve are sent to the moving device, so that the moving device moves the end effector to one side of the wind turbine blade flash according to the cutting path space curve or the polishing path space curve to perform a cutting or polishing action.

[0027] Further, the image of the wind turbine blade flash profile is collected by the visual detection device and sent to the control device.

[0028] Further, when the end effector is moved, the first lifting device is used to quickly complete the spatial coarse positioning, and the five-degree-of-freedom polishing workbench is used to achieve fine positioning. Before starting work, the end effector and the flash to be cut and polished may be far apart, and if the end effector is directly moved by the five-degree-of-freedom polishing workbench, the moving speed is slow and the moving time is long. The present application adopts segmented positioning, first, the coarse positioning device (the first lifting device) is used to quickly lift in the vertical direction, so that the five-degree-of-freedom polishing workbench quickly rises to the vicinity of the flash to be cut and polished, and the spatial coarse positioning is completed in a short time; then, the fine positioning device (the five-degree-of-freedom polishing workbench) is used to approach the flash to be cut and polished according to the actual situation to realize spatial fine positioning, which not only has higher rigidity in structure, but also saves positioning time, has simpler motion planning and lower cost.

[0029] Further, the cutting process is performed in a segmented manner, and the cutting path space curve comprises multiple cutting paths. When the cutting or polishing of a section of blade flash is completed, the walking device drives the robot to move to the next section for cutting.

[0030] Further, the end of each cutting path in the cutting path space curve is provided with a tool retracting path, so that after the cutting of the section of flash is completed, the cutting tool retracts along 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 flash, which avoids interference of the cutting tool when cutting the next section of flash.

[0031] Alternatively, the cutting and grinding processes are both carried out continuously, the walking device moves forward while the end effector performs cutting or grinding actions synchronously.

[0032] 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.

[0033] Further, when the robot returns to the cutting starting point, the moving device is automatically adjusted to a position suitable for grinding the flash of the wind power blade through the feedback of the visual detection device, without manual adjustment.

[0034] Overall, the present application has the following advantages:

[0035] 1. The robot has sufficient rigidity in structure, which can meet the requirements of cutting and grinding at the same time; the end effector can be replaced, and the cutting blade can be replaced to complete the wind power blade flash cutting, and the gauze wheel can be replaced to complete the wind power blade flash allowance grinding. Therefore, a robot integrates the functions of flash cutting and flash allowance grinding, and multiple machines are not needed to complete the automatic cutting and grinding of the flash, thereby reducing the cost of factory automation.

[0036] 2. The robot has a visual module, which can automatically identify the flash and analyze the spatial curve for wind power blade flash cutting, analyze the spatial curve for wind power blade flash grinding, detect whether the grinding result meets the process requirements and determine whether re-grinding is needed; the robot has a multi-axis grinding robot structure, which can plan a grinding path according to the spatial curve identified by the visual module and complete the grinding action; the robot end is equipped with a constant force axial floating device, which can maintain constant force grinding and ensure grinding effect; the AGV car has the ability to move and walk automatically, and the robot can automatically cut or grind multiple sections of flash until the entire blade grinding is completed. Compared with other devices, the robot can automatically cut and grind without human observation of the processing object, has a higher degree of automation, and reduces labor costs.

[0037] 3. The robot has a grinding mechanism, which is designed for the flash morphology generated after the wind power blade is combined, uses a scissors lifting platform for rough positioning in height, uses a wire encoder as feedback control to control the lifting height of the lifting platform, and carries a five-degree-of-freedom grinding workbench composed of a three-axis rectangular coordinate motion mechanism and a double-axis rotary mechanism on the scissors lifting platform. The workbench uses a screw lifter as a fine lifting device and a dovetail guide rail to cooperate with a front arm. Compared with the mechanical arm grinding scheme, this scheme has higher rigidity, simpler motion planning, and lower cost.

[0038] 4. The robot end angle grinder is equipped with a dust suction hood and connected to an industrial dust collector through a gas pipe, which can absorb the dust generated by cutting and grinding the flash to avoid workers inhaling grinding dust for a long time, thereby threatening their health. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural diagram of this embodiment.

[0040] Figure 2 This is a side view of the structure in this embodiment.

[0041] Figure 3 A schematic diagram of the planar structure of a five-degree-of-freedom grinding table.

[0042] Figure 4 This is a schematic diagram of the second lifting device.

[0043] Figure 5 A schematic diagram of the three-dimensional structure of a five-degree-of-freedom grinding table.

[0044] Figure 6 This is a schematic diagram illustrating the application scenario of this embodiment.

[0045] Figure 7 This is a flowchart of the workflow of this embodiment.

[0046] Figure label:

[0047] 1-Robot body, 11-Chassis, 12-Steering wheel, 13-Magnetic navigation and detection device;

[0048] 2a - Air compressor, 2b - Dust collector;

[0049] 3a - Electronic control unit; 3b - Vision inspection processor;

[0050] 4-Visual inspection device, 41-Camera bracket, 42-3D camera;

[0051] 5-Five-degree-of-freedom grinding worktable, 51-Second lifting device, 511-Lifting plane mounting plate, 512-Lifting servo motor, 513-Screw jack, 514-Commutator, 516-Coupling, 517-Connecting rod;

[0052] 52-Left and right moving device; 521-Linear guide rail; 522-Slider; 523-Slider type linear slide table; 524-Left and right moving platform;

[0053] 53-Forward and backward moving device, 531-Shaft type linear slide, 532-Shaft slide fixing part, 533-Dovetail groove guide rail, 534-Extend arm;

[0054] 54-Dual-axis rotary device, 541a-First single-axis rotary device, 541b-Second single-axis rotary device, 542-Dual-axis rotary square tube connector, 543-Constant force floating square tube connector;

[0055] 6 - dust cover, 61 - dust cover head, 611 - dust cover plastic, 612 - dust cover brush;

[0056] 7 - constant force floating device;

[0057] 8 - polishing device, 81 - angle grinder, 82 - cutter or polisher, 83 - angle grinder connector;

[0058] 9 - first lifting device, 91 - lower base, 94 - hydraulic pump, 92 - fork, 93 - working plane, 95 - wire pull encoder;

[0059] A - wind turbine blade flash automatic cutting and polishing integrated robot, B - magnetic strip, C - wind turbine blade. DETAILED DESCRIPTION

[0060] The application will be further described in detail below.

[0061] As shown in Figures 1-5 The wind turbine blade flash automatic cutting and polishing integrated robot A comprises a robot body 1, the robot body 1 being provided with a walking device, a visual detection device 4, a moving device and a control device;

[0062] The visual detection device 4 is used for collecting wind turbine blade C flash contour images and sending them to the control device;

[0063] The control device is used for generating cutting path space curves and polishing path space curves according to the wind turbine blade C flash contour images and sending them to the moving device;

[0064] The moving device is provided with an end effector adapted to the cutter and the polisher, which is used for moving the end effector to one side of the wind turbine blade C flash according to the cutting path space curves or the polishing path space curves to perform cutting or polishing actions;

[0065] The walking device is connected with the control device and is used for driving the robot body 1 to walk around the wind turbine blade C.

[0066] The wind turbine blade flash automatic cutting and polishing integrated robot A of the embodiment of the application has automatic cutting and automatic polishing functions, is high in cutting and polishing efficiency, stable in processing quality, does not need too much manual control in the processing process, and the dust generated in the processing process will not affect the health of workers.

[0067] Specifically, the wind turbine blade flash automatic cutting and polishing integrated robot A comprises a robot body 1, a first lifting device 9 and a dust collector 2b mounted on the robot body 1, a visual detection device 4 and a five-degree-of-freedom polishing workbench 5 mounted on the first lifting device 9, a constant force floating device 7 mounted at the end of the five-degree-of-freedom polishing workbench 5, a polishing device 8 connected with the constant force floating device 7, and a dust suction cover 6 connected with the dust collector 2b mounted on the polishing device 8.

[0068] The robot body 1 is further provided with an air compressor 2a and an electric control machine 3a connected with the dust collector 2b.

[0069] The walking device is an AGV car, which comprises a chassis 11, a rudder wheel 12 arranged at the lower end of the chassis 11, and a magnetic navigation detection device 13 carried in the chassis 11 and connected with the electric control machine 3a, so as to control the action of the rudder wheel 12 and enable the robot body 1 to move along the magnetic strip B laid on the ground.

[0070] The moving device comprises a coarse positioning device and a fine positioning device, which are matched to realize the purposes of rapid positioning and accurate positioning, and specifically comprise the first lifting device 9 arranged on the walking device and the five-degree-of-freedom polishing workbench 5 arranged on the first lifting device 9.

[0071] The coarse positioning device is used to move the five-degree-of-freedom polishing workbench 5 to a slightly lower position of the flash to complete cutting and polishing. The first lifting of the first lifting device 9 is manually given, and in subsequent segmented processing, the spatial information record of the previous segment of flash by the visual detection device 4 and the five-degree-of-freedom polishing workbench 5 is taken as feedback, and according to the continuous characteristics of the flash, the first lifting device 9 automatically moves the five-degree-of-freedom polishing workbench 5 to a slightly lower position of the blade flash, so that the five-degree-of-freedom polishing workbench 5 can smoothly complete the cutting or polishing of the current segment of flash.

[0072] The fine positioning device is used to finely position after the coarse positioning is completed. When the current segment of flash processing starts, the first lifting device 9 remains stationary, and the spatial movement of the polishing action is completed by the five-degree-of-freedom polishing workbench 5. The first lifting device 9 can adopt a hydraulic telescopic cylinder or other existing technologies, and in the present embodiment, a scissor type lifting platform is preferred, which comprises a lower base 91, a hydraulic pump 94 located on the lower base 91, a fork frame 92 located on the lower base 91, and a working plane 93 located on the fork frame 92. The first lifting device 9 is further provided with a wireline encoder 95 located above the lower base 91. The wireline encoder 95 is connected with the electric control machine 3a and is used to feedback the real-time lifting height of the first lifting device 9, so as to realize the height control of the first lifting device 9.

[0073] The cutting or grinding process is preferably carried out in sections, such as after cutting or grinding 1 meter of flash, the AGV moves forward by 1 meter to continue the next section of cutting or grinding.

[0074] Before cutting or grinding the flash of the current section, the first lifting device 9 is lifted to a position slightly lower than the flash, and during the cutting or grinding of the flash of the current section, the first lifting device 9 remains stationary.

[0075] The visual detection device 4 is composed of a 3D camera 42 and a camera support 41. The 3D camera 42 can take pictures of the flash to be cut to generate flash point cloud data, and send it to the visual detection processor 3b for processing to analyze the spatial curve for cutting the flash of the wind turbine blade C; take pictures and process the flash that has been cut but not yet ground, which can analyze the spatial curve for grinding the flash of the wind turbine blade C; and detect whether the grinding result meets the process requirements and determine whether it needs to be ground again.

[0076] The five-degree-of-freedom grinding workbench 5 includes a second lifting device 51 mounted on the working plane 93 of the first lifting device 9, a left-right moving device 52 mounted on the second lifting device 51, a front-back moving device 53 mounted on the left-right moving device 52, and a double-axis rotating device 54 mounted at the end of the front-back moving device 53. The five-degree-of-freedom grinding workbench 5 has lifting, front-back, left-right three moving pairs, and a double-axis rotating pair at the end, and the five-degree-of-freedom driving motors are all provided with rotary encoders to real-time feedback the position information of the end effector to the electric control machine 3a. The stroke of each joint is designed for the distribution of the flash of the large wind turbine blade C, and is suitable for cutting and grinding of most large wind turbine blade C flash. During grinding and cutting of the flash of the current section, the first lifting device 9 remains stationary, and the spatial movement of the grinding action is completed by the five-degree-of-freedom grinding workbench 5.

[0077] The second lifting device 51 includes 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 jacks 513 mounted at the front end of the lifting servo motor 512 in a rectangular four-corner distribution, a reversing device 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 jacks 513 and the reversing device 514 to transmit power, a shaft coupling 516 for connecting the connecting rod 517 with the servo motor 512, the screw jacks 513 and the reversing device 514, and a lifting moving plane 518 connected to the upper end of the screw jacks 513. The lifting servo motor 512 is connected with the electric control machine 3a, and when the lifting servo motor 512 is started, it drives the reversing device 514 in the middle, and transmits power to the four screw jacks 513, thereby stably lifting or lowering the lifting moving plane 518. The screw jacks 513 are of worm and worm type, which have the advantages of large load and stable movement.

[0078] The left-right moving device 52 is installed on the lifting moving plane 518, and includes a sliding block type linear slide 523 transversely installed in the middle of the lifting moving plane 518, linear guides 521 symmetrically installed on both sides of the sliding block type linear slide 523, sliding blocks 522 slidingly connected to the linear guides 521, and a left-right moving platform 524 connected to the sliding blocks 522 and the sliding block type linear slide 523. The sliding block type linear slide 523 is connected to the electric control machine 3a, and drives the left-right moving platform 524 to move left and right after being started.

[0079] The front-rear moving device 53 includes a shaft rod type linear slide 531 installed at the rear end of the left-right moving platform 524, a shaft rod slide fixing member 532 for fixing the shaft rod type linear slide 531, a dovetail groove guide rail 533 installed at the front end of the left-right moving platform 524, and a front extension arm 534 connected to the dovetail groove guide rail 533. The shaft rod type linear slide 531 is connected to the electric control machine 3a, and drives the front extension arm 534 to move forward and backward after being started. The dovetail groove guide rail 533 and the front extension arm 534 serve as a front-rear moving pair, have high torsional strength and large load, and fully meet the weight and load requirements of the end cutting and polishing device 8.

[0080] The double-shaft rotating device 54 includes two single-shaft rotating devices, specifically a first single-shaft rotating device 541a installed at the front end of the front extension arm 534, a double-shaft rotating square tube connecting member 542 for connecting the two single-shaft rotating devices, a second single-shaft rotating device 541b connected to the double-shaft rotating square tube connecting member 542, and a constant force floating square tube connecting member 543 for connecting the constant force floating device 7. The first single-shaft rotating device 541a and the second single-shaft rotating device 541b are both hollow rotating platforms driven by motors and adopting cross ball bearings, have high rigidity, and can both complete 360-degree rotation.

[0081] The constant force floating device 7 is connected to the constant force floating square tube connecting member 543. It can provide stable polishing force when polishing the flash allowance, which is beneficial to ensuring the polishing quality.

[0082] The polishing device 8 includes an angle grinder connecting member 83, an angle grinder 81, and a cutter or a polisher 82 installed on the angle grinder 81. The end effector for installing the cutter or the polisher 82 is preferably the angle grinder 81, which has good adaptability, can replace the cutter such as a cutting blade or the polisher such as a gauze wheel, and meets the requirements of the robot to complete the flash cutting task and the flash allowance polishing task.

[0083] The polishing device 8 is provided with a dust cover 6 (dust removal device), which includes a dust cover head 61 mounted on the angle grinder 81 and a dust removal air pipe 62. The dust cover head 61 includes a dust removal plastic cover 611 and a dust removal brush 612. The dust cover 6 is connected to the dust collector 2b through the dust removal air pipe 62, and the dust collector 2b is connected to the electric control machine 3a. When cutting and polishing the flash, the polishing dust can be absorbed to avoid the influence of dust on the health of workers in the processing site.

[0084] The cutting and polishing method of the wind turbine blade flash automatic cutting and polishing integrated robot A includes the following steps,

[0085] The walking device drives the robot body 1 to walk around the wind turbine blade C;

[0086] Obtain the wind turbine blade C flash contour image;

[0087] Generate a cutting path space curve and a polishing path space curve according to the wind turbine blade C flash contour image;

[0088] Send the cutting path space curve and the polishing path space curve to the moving device, so that the moving device moves the end effector to one side of the wind turbine blade C flash according to the cutting path space curve or the polishing path space curve to perform cutting or polishing action.

[0089] Figure 6 The scene of cutting the flash by the wind turbine blade flash automatic cutting and polishing integrated robot A is shown. The wind turbine blade flash automatic cutting and polishing integrated robot A takes the magnetic strip B as the track, surrounds the wind turbine blade C with the flash to be cut, and performs segmented and fixed-point cutting.

[0090] Specific working process:

[0091] Before starting work, the magnetic strip B needs to be laid according to the shape of the wind turbine blade C on the ground, and the wind turbine blade C needs to be transported to the position where the magnetic strip B is laid and fixed. Next, the cutter is installed on the angle grinder 81 at the end of the constant force floating device 7, and is moved to the starting position of the magnetic strip B. The height of the wind turbine blade C flash is determined manually, and the first lifting device 9 is manually controlled to rise to the vicinity of the flash to make preliminary preparation before work.

[0092] When the work starts, the visual detection device 4 scans the edge to be cut, and then the cutting path space curve is generated by the visual detection processor 3b and sent to the electric control machine 3a. Next, the electric control machine 3a controls the hydraulic pump 94 to work according to the cutting path space curve, takes the wire encoder 95 as feedback, automatically controls the first lifting device 9 to lift to a position slightly lower than the edge, automatically plans the motion track, controls the five-degree-of-freedom polishing workbench 5 to complete the cutting action, and the constant force floating device 7 and the dust collector 2b are both opened at this time to collect the cutting dust. When the motion of the motor driving the cutting action is completed, it indicates that the cutting action of this section of the edge is completed. After the cutting of this section of the edge is completed, the electric control machine 3a controls the walking device to act, and the robot moves to the next section of the edge to be cut to continue the next section of cutting until the cutting task of the edge of the wind power blade C is completed.

[0093] When the cutting or polishing of the previous section of the edge is performed, since the robot has recorded the spatial information of the edge (the visual detection device 4 and the five-degree-of-freedom polishing workbench 5 record the information of this section of the edge at this time), and since the edge of the wind power blade C is continuous, when the next section of cutting or polishing is performed, the robot can automatically adjust the first lifting device 9 to lift to a suitable position without manual adjustment.

[0094] After the cutting task of the edge is completed, the robot moves to the starting position of the magnetic strip B to replace the polisher on the angle grinder 81. At this time, the robot electric control machine 3a has recorded the height of the edge, and automatically controls the first lifting device 9 to lift to the vicinity of the edge. The visual detection device 4 scans the edge to be polished, and then the polishing path space curve is generated by the visual detection processor 3b and sent to the electric control machine 3a. Next, the electric control machine 3a automatically controls the first lifting device 9 to lift to a position slightly lower than the edge according to the polishing path space curve, automatically plans the motion track, controls the five-degree-of-freedom polishing workbench 5 to complete the polishing action, and the constant force floating device 7 and the dust collector 2b are both opened at this time to collect the polishing dust. After the polishing, the polishing quality is detected by the visual detection device 4, and after the detection is qualified, the next section of polishing is performed.

[0095] After the polishing of this section of the edge is completed, the robot body 1 moves to the next section of the edge to be polished to continue the next section of polishing until the polishing task of the edge of the wind power blade C is completed. Similarly, at this time, since the edge of the wind power blade C is continuous, the robot has recorded the spatial information of the edge, and the robot automatically adjusts the first lifting device 9 to lift to a suitable position. In this way, the cutting and polishing work of the edge of the wind power blade C can be completed.

[0096] The above embodiment is a preferred embodiment of the present application, but the embodiments of the present application are not limited to the above embodiment, and any change, modification, replacement, combination, simplification made without departing from the spirit and principle of the present application should be an equivalent replacement mode, and all should be included in the protection scope of the present application.

Claims

1. A cutting and polishing method of a wind power blade flash automatic cutting and polishing robot, characterized in that: The application discloses an automatic cutting and polishing integrated robot for wind power blade flash, which comprises a robot body, a walking device, a visual detection device, a moving device and a control device. The walking device is an AGV trolley, which comprises a chassis, a rudder wheel arranged at the lower end of the chassis and a magnetic navigation detection device arranged in the chassis. The visual detection device is used for collecting a wind power blade flash contour image, generating point cloud data according to the wind power blade flash contour image and sending the wind power blade flash contour image and the point cloud data to the control device. The control device is used for generating a cutting path space curve according to the point cloud data, generating a polishing path space curve according to the wind power blade flash contour image and sending the cutting path space curve and the polishing path space curve to the moving device. The moving device is provided with an end effector matched with a cutter and a polisher, which is used for moving the end effector to one side of the wind power blade flash to perform cutting or polishing according to the cutting path space curve or the polishing path space curve. The walking device is connected with the control device and is used for driving the robot body to walk around the wind power blade. The moving device is provided with a constant force floating device connected with the end effector. The moving device comprises a first lifting device arranged on the walking device and a five-degree-of-freedom polishing workbench arranged on the first lifting device. 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-rear moving device arranged on the left-right moving device and a double-shaft rotating device arranged at the end of the front-rear moving device, and the constant force floating device is arranged on the double-shaft rotating device. The method comprises the following steps. The AGV trolley drives the robot body to walk around the wind power blade along the magnetic strip laid on the ground. The wind power blade flash contour image is obtained. The cutting path space curve and the polishing path space curve are generated according to the wind power blade flash contour image. The cutting path space curve and the polishing path space curve are sent to the moving device, so that the moving device moves the end effector to one side of the wind power blade flash to perform cutting or polishing according to the cutting path space curve or the polishing path space curve. The first lifting device is used for quickly completing space coarse positioning, moving the five-degree-of-freedom polishing workbench to a slightly lower position of the flash to complete cutting and polishing, the first lifting device is manually positioned for the first time, and in subsequent segmented processing, the visual detection device and the five-degree-of-freedom polishing workbench are used for recording space information of the previous segment of the flash as feedback, the first lifting device automatically moves the five-degree-of-freedom polishing workbench to a slightly lower position of the blade flash according to the continuous characteristics of the flash, so that the five-degree-of-freedom polishing workbench successfully completes cutting or polishing of the current segment of the flash. When the current segment of the flash is processed, the first lifting device remains stationary, and the five-degree-of-freedom polishing workbench performs front-rear, left-right, up-down and rotating actions to approach the flash to be cut and polished, so as to realize space fine positioning, and the space movement of the polishing action is completed by the five-degree-of-freedom polishing workbench. Each end of each cutting path in the space curve is provided with a tool retracting path, after completing the cutting of the current flash, the cutting tool is retracted according to the tool retracting path, and after the walking device drives the robot to move to the next section, the cutting tool is restarted to cut the next flash, so that the interference of the cutting tool is avoided when cutting the next flash.

2. The method of claim 1, wherein: The second lifting device comprises a lifting servo motor installed on the first lifting device and a screw lifting machine connected to the lifting servo motor, and the screw lifting machine is connected to the left-right moving device.

3. The method of claim 2, wherein: The left-right moving device comprises a sliding block type linear slide connected to the screw lifting machine, a linear guide rail located on one side of the sliding block type linear slide, and a sliding block connected to the linear guide rail, the sliding block type linear slide is connected to the sliding block and used to drive the sliding block to move left and right on the linear guide rail, and the sliding block is connected to the front-back moving device.

4. The method of claim 3, wherein: The front-back moving device comprises a shaft rod type linear slide and a dovetail groove guide rail installed on the sliding block, and a front arm connected to the dovetail groove guide rail, the shaft rod type linear slide is connected to the front arm and used to drive the front arm to move forward and backward on the dovetail groove guide rail. The double-shaft rotating device comprises a first single-shaft rotating device connected to the front 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 the rotating shafts of the first single-shaft rotating device and the second single-shaft rotating device are perpendicular to each other.

5. The method of claim 1, wherein: A dust suction device is arranged above the end effector.

6. The method of claim 1, wherein: The control device comprises a visual detection processor and an electric control machine, the visual detection processor is connected to the visual detection device and the electric control machine, and the electric control machine is connected to the walking device.

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