On-site robot wind turbine blade grinding control method

Abstract

The present invention discloses an on-site robot wind rotor blade grinding control method; the method comprises: obtaining the airfoil data and length data of the wind rotor blade, and dividing the wind rotor blade into n sections according to a preset rule; planning the trolley path trajectory of the on-site robot according to the length data and the n sections; planning the mechanical arm motion trajectory of the on-site robot according to the airfoil data; the mechanical arm is installed on the trolley; a grinder is installed at one end of the mechanical arm; based on the mechanical arm motion trajectory and the trolley path trajectory, the on-site robot is controlled to grind the airfoils corresponding to the n sections of the wind rotor blade starting from the root position of the wind rotor blade; by means of the method, when the wind rotor blade is ground, the machining accuracy of the airfoil designed for each section of the blade can be guaranteed, so that the blade design can achieve a higher conversion efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of wind rotor blade grinding, and in particular to an on-site robot wind rotor blade grinding control method. Background Art

[0002] The production of large-scale wind turbine blades is a key technology for the industrialization of wind turbines. The production of blades needs to be completed automatically, so that the blades can be mass-produced quickly and with high quality, while reducing the labor intensity of workers and preventing blade grinding dust from harming human health. To achieve this goal, robots are needed to automatically complete batch grinding production and perform robot blade grinding control. Since the blades can reach more than 100 meters in length and the blade shapes and materials vary greatly, the existing robot wind turbine blade grinding technology is difficult to guarantee the processing technology.

[0003] Therefore, when grinding the wind turbine blades, how to ensure the machining accuracy of the airfoil design of each section of the blade so that the blade design can achieve a higher conversion efficiency has become a key issue in current research. Summary of the invention

[0004] In view of the above problems, the present invention provides an on-site robot wind turbine blade grinding control method that solves at least some of the above technical problems. Through this method, when grinding the wind turbine blades, the processing accuracy of the airfoil designed in each section of the blade can be guaranteed, so that the blade design can achieve a higher conversion efficiency.

[0005] The embodiment of the present invention provides an on-site robot wind turbine blade grinding control method, comprising:

[0006] Acquire airfoil data and length data of a wind rotor blade, and divide the wind rotor blade into n sections according to a preset rule;

[0007] Planning a path trajectory of the robot according to the length data and the n cross sections;

[0008] The motion trajectory of the mechanical arm of the on-site robot is planned according to the airfoil data; the mechanical arm is installed on the trolley; a grinder is installed at one end of the mechanical arm;

[0009] Based on the motion trajectory of the robotic arm and the path trajectory of the trolley, the on-site robot is controlled to grind the airfoils corresponding to n sections of the wind rotor blade starting from the root position of the wind rotor blade.

[0010] Further, a first marking point is made at a leading edge position of a wind rotor blade corresponding to the cross section, and a second marking point is made at a trailing edge position of a wind rotor blade corresponding to the cross section;

[0011] Establishing a plane rectangular coordinate system with the first marking point as the origin, a straight line from the first marking point to the second marking point as the horizontal axis, and a thickness of the wind rotor blade corresponding to the cross section as the vertical axis;

[0012] The airfoil data includes upper airfoil curve coordinate point data and lower airfoil curve coordinate point data presented in the plane rectangular coordinate system.

[0013] Further, the mechanical arm includes a first mechanical arm and a second mechanical arm;

[0014] The first robotic arm and the second robotic arm are used to grind the male mold and the female mold of the wind wheel blade respectively.

[0015] Furthermore, when grinding each of the cross sections, it includes:

[0016] determining a grinding arc of the cross section;

[0017] According to the airfoil data, the polished arc is divided into equal lengths to obtain a plurality of arc segments; the radius corresponding to the polished arc is calculated, and the radius corresponding to each arc segment is calculated;

[0018] Compare the radius corresponding to each arc segment with the radius corresponding to the polished arc segment to obtain the radius deviation between each arc segment and the polished arc segment;

[0019] Determine the grinding speed and grinding torque corresponding to each segment of the arc based on the radius deviation between each segment of the arc and the grinding arc;

[0020] According to the grinding speed and grinding torque corresponding to each segment of the arc, the robot arm is controlled to grind each segment of the arc in turn.

[0021] Further, determining the grinding arc of the cross section specifically includes:

[0022] The robotic arm is controlled to move linearly from the first marking point to the second marking point, and the path of the robotic arm in the linear motion is used as a polishing arc.

[0023] Compared with the prior art, the on-site robot wind turbine blade grinding control method described in the present invention has the following beneficial effects: when grinding the wind turbine blades, the machining accuracy of the airfoil designed for each section of the blade can be guaranteed, so that the blade design can achieve a higher conversion efficiency.

[0024] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0025] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 A flow chart of the on-site robot wind turbine blade grinding control method provided in an embodiment of the present invention.

[0028] Figure 2 A schematic diagram of an on-site robot wind turbine blade grinding scenario provided in an embodiment of the present invention.

[0029] Figure 3 A schematic diagram of airfoil data acquisition provided in an embodiment of the present invention.

[0030] Figure 4 A schematic diagram of the cross-section of a wind turbine blade provided in an embodiment of the present invention.

[0031] Figure 5 A flow chart of wind turbine blade grinding provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0033] Reference Figure 1 As shown, an embodiment of the present invention provides an on-site robot wind turbine blade grinding control method, which specifically includes the following steps:

[0034] Acquire airfoil data and length data of a wind rotor blade, and divide the wind rotor blade into n sections according to a preset rule;

[0035] Planning the path trajectory of the robot according to the blade length data and the n cross sections;

[0036] Planning the motion trajectory of the mechanical arm of the on-site robot according to the airfoil data;

[0037] Based on the motion trajectory of the robot arm and the path trajectory of the trolley, the on-site robot is controlled to start from the root position of the wind rotor blade and perform n cross sections (i.e., J n-1— J n The airfoil surfaces determined by the above sections are polished in sequence.

[0038] Next, the method provided by the embodiment of the present invention is described in detail.

[0039] Reference Figure 2 As shown: In the embodiment of the present invention, the mechanical arm 7 is installed on the trolley 2; and a grinder 5 is installed at one end of the mechanical arm 7 for grinding the wind wheel blades 6; the camera 1 is fixed on the trolley 2 through a rotating seat 8; in addition, a controller 3 and a driving wheel 4 are also installed on the trolley 2;

[0040] Reference Figure 3 and Figure 4 As shown, a first mark point is made at the leading edge of the wind rotor blade corresponding to the cross section, and a second mark point is made at the trailing edge of the wind rotor blade corresponding to the cross section; a plane rectangular coordinate system is established with the first mark point as the origin, the straight line from the first mark point to the second mark point as the horizontal axis, and the thickness of the wind rotor blade corresponding to the cross section as the vertical axis; the airfoil data is the upper airfoil curve coordinate point data and the lower airfoil curve coordinate point data presented in the plane rectangular coordinate system. The acquired airfoil data is read into the database of the on-site robot according to the preset file format requirements; the motion trajectory of the robot's mechanical arm can be planned based on the above-obtained airfoil data;

[0041] At the same time, the length R0 of the wind rotor blade is obtained, and the wind rotor blade is divided into n sections according to a preset rule, for example Figure 4 The wind rotor blade is divided into n sections from the blade root to the blade tip, and they are denoted as J1, J2, ..., J k , ..., J n ; According to the length R0 obtained above and the number of divided sections, the path trajectory of the robot can be planned;

[0042] Based on the above robot arm motion trajectory and vehicle path trajectory, the on-site robot can be controlled to start from the root position of the wind rotor blade and perform n cross sections of the wind rotor blade (i.e. Figure 4 Middle J n-1— J n The airfoil surfaces determined by the above sections are polished in sequence.

[0043] In an embodiment of the present invention, the robotic arm includes a first robotic arm and a second robotic arm; wherein the first robotic arm is used to grind the male mold of the wind rotor blade; the second robotic arm is used to grind the female mold of the wind rotor blade; the trolley used is an AVG trolley.

[0044] In the embodiment of the present invention, the on-site robot is controlled to start from the root position of the wind rotor blade and grind the airfoil surface determined by n sections of the wind rotor blade respectively; wherein, when grinding each section, it is first necessary to determine the grinding arc of the section, such as Figure 4 As shown, it specifically includes: making a first marking point P at the leading edge position of the wind rotor blade corresponding to the cross section k , and make a second mark point V at the trailing edge of the wind rotor blade corresponding to the cross section k ; When the camera detects the first marking point P of the front edge k After that, the section number J corresponding to the section can be determined. k ; Then control the robot arm from the first marking point P k Move straight to the second mark point V k , the path L of the robot arm in this linear motion k as a grinding arc; after determining the grinding arc of the cross section, according to the airfoil data obtained above, the grinding arc is divided into equal lengths to obtain multiple arcs; the number of segments of the obtained arc is the same as the number of coordinate point data in the airfoil data; based on this, the radius corresponding to the grinding arc is calculated, and the radius corresponding to each arc is calculated; the radius corresponding to each arc determined by the airfoil data is compared with the radius corresponding to the grinding arc to obtain the radius deviation between each arc and the grinding arc; the radius deviation is the thickness to be ground; according to the radius deviation between each arc and the grinding arc, and in combination with the material of the wind wheel blade, the grinding speed and grinding torque corresponding to each arc are determined; the grinding speed and grinding torque need to be determined at the site of use according to the grinding wheel and the drive motor; when the robot arm moves toward the trailing edge along the return stroke, according to the grinding speed and grinding torque corresponding to each arc recorded in the database, the small area corresponding to each arc (i.e., △L i *△J k ) for grinding. After grinding the arc divided by the section, start grinding the next section until all sections of the blade are ground. For the specific process, please refer to Figure 5 The grinding speed and grinding torque determine the grinding quality.

[0045] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An on-site robot wind turbine blade grinding control method, characterized in that: include: Acquire airfoil data and length data of a wind rotor blade, and divide the wind rotor blade into n sections according to a preset rule; Planning a path trajectory of the robot according to the length data and the n cross sections; The motion trajectory of the mechanical arm of the on-site robot is planned according to the airfoil data; the mechanical arm is installed on the trolley; a grinder is installed at one end of the mechanical arm; Based on the motion trajectory of the mechanical arm and the path trajectory of the trolley, the on-site robot is controlled to start from the root position of the wind rotor blade and polish the airfoils corresponding to n sections of the wind rotor blade respectively; Making a first marking point at the leading edge of the wind rotor blade corresponding to the cross section, and making a second marking point at the trailing edge of the wind rotor blade corresponding to the cross section; Establishing a plane rectangular coordinate system with the first marking point as the origin, a straight line from the first marking point to the second marking point as the horizontal axis, and a thickness of the wind rotor blade corresponding to the cross section as the vertical axis; The airfoil data includes upper airfoil curve coordinate point data and lower airfoil curve coordinate point data presented in the plane rectangular coordinate system; When grinding each of the above sections, it includes: determining a grinding arc of the cross section; According to the airfoil data, the polished arc is divided into equal lengths to obtain a plurality of arc segments; the radius corresponding to the polished arc is calculated, and the radius corresponding to each arc segment is calculated; Compare the radius corresponding to each segment of the arc with the radius corresponding to the polished arc to obtain the radius deviation between each segment of the arc and the polished arc; Determine the grinding speed and grinding torque corresponding to each segment of the arc based on the radius deviation between each segment of the arc and the grinding arc; According to the grinding speed and grinding torque corresponding to each segment of the arc, the robot arm is controlled to grind each segment of the arc in turn.

2. The on-site robot wind turbine blade grinding control method according to claim 1, characterized in that: The mechanical arm comprises a first mechanical arm and a second mechanical arm; The first robotic arm and the second robotic arm are used to grind the male mold and the female mold of the wind wheel blade respectively.

3. The on-site robot wind turbine blade grinding control method according to claim 1, characterized in that: Determining the grinding arc of the cross section specifically includes: The robotic arm is controlled to move linearly from the first marking point to the second marking point, and the path of the robotic arm in the linear motion is used as a polishing arc.

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