A polishing robot

Abstract

The present invention discloses a grinding robot, including a mobile gantry, a robot mechanical arm, a grinding component, and an installation component. The mobile gantry includes a longitudinal track, a foot, a support column, a beam frame, and a beam driving block. The two ends of the beam frame are respectively fixedly connected to the support columns, and the lower ends of the support columns are respectively fixedly connected to the foot. The foot is respectively slidably connected to two groups of relatively parallel longitudinal tracks. An installation component for fixing and installing wind turbine blades is arranged between the longitudinal tracks. The beam driving block is slidably connected to the beam frame relative to the installation component above, and the lower end of the beam driving block is fixedly connected to the robot mechanical arm, and the end of the robot mechanical arm is fixedly connected to the grinding component. The purpose of the present invention is to provide a grinding robot with high grinding accuracy, good working stability, high working efficiency, and the ability to reduce labor intensity and dust pollution.

Description

Technical Field

[0001] The invention relates to the technical field of grinding equipment, in particular to a grinding robot. Background Art

[0002] Blades are the most basic and critical components of wind turbines. Their good design, reliable quality and superior performance are the decisive factors to ensure the normal and stable operation of the unit. In modern industrial production, the grinding of large parts such as wind turbine blades is crucial to improving the quality and performance of products. Traditional grinding operations mostly rely on manual operation or semi-automatic equipment, which is not only inefficient, but also difficult to ensure the consistency and stability of grinding quality. Especially for large curved surfaces such as wind turbine blades, the surface grinding work is more difficult, requiring not only uniformity and precision of grinding, but also flexibility and adaptability of operation.

[0003] With the development of automation and intelligent technology, robotics technology has been gradually applied to grinding operations to improve the efficiency and quality of grinding. By simulating the movement of human arms, grinding robots can accurately control multiple degrees of freedom and complete complex surface processing operations. However, existing grinding robot systems still have some limitations. For example, traditional grinding robots are often fixed in one place, while the grinding of large workpieces such as wind turbine blades requires the robot to be able to move within a larger working range. In addition, the dust generated by grinding also puts higher requirements on the working environment and the maintenance of the robot itself.

[0004] In order to meet the needs of grinding large and complex workpieces, such as wind turbine blades, a new type of grinding robot system needs to be developed. The system should be able to achieve high-precision movement in a large range, have the ability to perform grinding operations with multiple degrees of freedom, and be able to effectively clean the dust generated during the grinding process to reduce pollution to the environment and damage to the robot itself. At the same time, the system should also be able to work in conjunction with the workpiece installation and fixing device to achieve multi-angle and all-round grinding operations on the workpiece, thereby improving the efficiency and quality of grinding. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a grinding robot with high grinding accuracy, good working stability, high working efficiency, the ability to reduce labor intensity, and the ability to reduce dust pollution.

[0006] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a grinding robot, including a mobile gantry, a robot mechanical arm, a grinding component, and an installation component. The mobile gantry includes a longitudinal track, a base, a supporting column, a beam frame, and a beam driving block. The two ends of the beam frame are respectively fixedly connected with supporting columns, and the beam frame is supported by the supporting columns. The lower ends of the supporting columns are respectively fixedly connected with bases, and the bases are respectively slidably connected to two groups of relatively parallel longitudinal tracks. In the present invention, a longitudinal motor is arranged on one side of the base, and the base is driven by the longitudinal motor to move relatively on the longitudinal track, thereby The robot arm installed on the beam frame realizes longitudinal movement, and an installation component for fixing the wind turbine blades is arranged between the longitudinal rails. A beam driving block is slidably connected to the beam frame relative to the mounting component above the installation component, and a driving component is arranged on the beam frame. The relative movement of the beam driving block can be realized by the driving component. The lower end of the beam driving block is fixedly connected to the robot arm. In the present invention, the robot arm adopts a six-axis robot arm, which can realize multi-free movement operation during the grinding operation, and the end of the robot arm is fixedly connected to the grinding component, and the grinding component is used for the grinding operation of wind turbine blades.

[0007] In one of the embodiments, the grinding assembly includes a mounting frame, a first grinding roller, a second grinding roller, a driving motor, a cleaning roller brush, and a dust removal assembly. A mounting block is provided at the middle part of the rear end of the mounting frame, and the mounting block is relatively fixedly connected to the end of the robot mechanical arm. The first grinding roller and the second grinding roller that are relatively set are rotatably connected in the frame opening of the mounting frame respectively. Two groups of relatively set cleaning roller brushes are rotatably connected in the mounting frame, and the cleaning roller brushes are respectively in contact with the first grinding roller or the second grinding roller. A driving motor is fixedly connected to one side of the rear end edge of the mounting frame, and a dust removal assembly is fixedly connected to one side of the upper end of the mounting frame. The driving motor, the first grinding roller, the second grinding roller, the cleaning roller brush, and the dust removal assembly are respectively connected in sequence through a linkage assembly.

[0008] In one of the embodiments, the linkage assembly includes a first sprocket, a second sprocket, a third sprocket, a fourth sprocket, a fifth sprocket, a sixth sprocket, and a linkage gear, the end of the rotating shaft of the driving motor is fixedly connected to the first sprocket, the rotating shaft on one side of the first grinding roller is fixedly connected to the second sprocket after passing through the mounting frame, the second sprocket is transmission-connected to the first sprocket through a chain belt, the rotating shaft on the other side of the first grinding roller is fixedly connected to the third sprocket after passing through the mounting frame, the rotating shaft on one side of the second grinding roller is fixedly connected to the fourth sprocket after passing through the mounting frame, the rotating shaft on the same side of the cleaning roller brush is fixedly connected to the fifth sprocket after passing through the mounting frame, the third sprocket and the fourth sprocket are respectively transmission-connected to the fifth sprocket through a chain belt, the coaxial sides of the fifth sprocket are respectively fixedly connected to linkage gears, the linkage gears are meshed and connected to each other, the rotating shaft on the other side of the second grinding roller is fixedly connected to the sixth sprocket after passing through the mounting frame, and the sixth sprocket is transmission-connected to the dust removal assembly through a chain belt.

[0009] In one of the embodiments, the dust removal assembly includes a fan housing, a blade assembly, a seventh sprocket, an exhaust duct, an induced air duct, a connecting piece, a connecting pipe, a connecting cover, and a dust removal hood. One side of the upper end of the mounting frame is fixedly connected to the fan housing, and the fan blade assembly is rotatably connected in the fan housing. The fan blade assembly is fixedly connected to a transmission shaft, and one end of the transmission shaft is fixedly connected to the seventh sprocket after passing through the fan housing. The seventh sprocket is transmission-connected to the sixth sprocket via a chain belt. The outer peripheral side wall of the fan housing is fixedly connected to the exhaust duct, one side of the fan housing is fixedly connected to the induced air duct, the induced air duct is fixedly connected to the connecting piece via a flange, and the other end of the connecting piece is fixedly connected to the connecting pipe, and the upper and lower frame edges of the mounting frame are respectively fixedly connected to the dust removal hood, and suction ports are respectively opened on the mounting frame in the dust removal hood, and one side of the end of the dust removal hood is fixedly connected to a connecting cover, and the connecting pipes are respectively connected to the connecting cover.

[0010] In one embodiment, the fan blade assembly includes a turntable, a center block, and centrifugal blades. The turntable is rotatably connected to one side of the inside of the fan casing, one end of the transmission shaft is fixedly connected to the center of the turntable, and the other end of the turntable is fixedly connected to the center block. A plurality of centrifugal blades are fixedly connected to the center block, and a grille plate is fixedly connected to the fan casing connected to the air duct. The middle portion of the grille plate is recessed into the fan casing, and one side edge of the centrifugal blade is adapted to the recessed curved surface of the grille plate.

[0011] In one of the embodiments, a dust box is fixedly connected to one side of the beam driving block, a dust guide pipe is fixedly connected to one end of the dust box, the other end of the dust guide pipe is connected to the exhaust pipe, an exhaust port is fixedly connected to one side of the outer wall of the dust box, and a filter is fixedly connected inside the exhaust port.

[0012] In one embodiment, infrared ranging sensors are fixedly connected to both sides of the frame opening of the mounting frame, and two sets of auxiliary pressure wheel mechanisms are fixedly connected to both sides of the mounting frame. The two sets of auxiliary pressure wheel mechanisms on the same side are symmetrical with the infrared ranging sensors.

[0013] In one of the embodiments, the auxiliary pressure wheel mechanism includes a slide rail, a slide block, a sliding guide rod, a spring, a movable block, a bracket plate, and a roller, the slide rails are respectively fixedly connected on both sides of the mounting frame, the slide rails are slidably connected with slide blocks, the slide block is fixedly connected with a bracket plate, and the other end of the bracket plate is rotatably connected with a roller, the slide block is provided with a movable cavity, the inner wall of the movable cavity is embedded with a displacement sensor, the movable block is slidably connected with the movable cavity, one end of the movable block is fixedly connected with a sliding guide rod, one end of the sliding guide rod passes through the slide block and is fixedly connected to one side of the inner wall of the slide rail, a spring is sleeved and connected on the sliding guide rod outside the slide block, and one end of the spring is in contact with the slide block.

[0014] In one embodiment, the installation assembly includes a blade root circler and a blade tip circler, the blade root circler is used to clamp the root of the blade, and the blade tip circler is used to clamp the blade at 1 / 2 to 1 / 3 from the root to the tip.

[0015] Beneficial effects of the present invention:

[0016] Improve grinding accuracy: Through the use of infrared ranging sensors, the grinding robot can accurately control the distance between the grinding roller and the surface of the wind turbine blade, ensuring that the grinding roller and the blade surface always maintain optimal contact during the entire grinding process. This can significantly improve the accuracy of the grinding operation and ensure the consistency and repeatability of the grinding quality;

[0017] Enhanced operation stability: The design of the auxiliary pressure wheel mechanism enables the grinding robot to work stably on different curved surface contours of wind turbine blades, avoiding uneven grinding caused by irregular blade geometry. This mechanism ensures the stability of the grinding process and improves the grinding effect;

[0018] Improve work efficiency: The automatic grinding robot realizes automatic control, which greatly improves the efficiency of grinding operation compared with the traditional manual grinding method. The robot can perform grinding operations continuously without being restricted by human strength and working time, thus significantly improving the working efficiency;

[0019] Reduce labor intensity and safety risks: Robots replace manual work in high-altitude and dangerous environments, reducing labor intensity and safety risks. This not only protects the health of workers, but also reduces accidents that may be caused by improper manual operation.

[0020] Improve the working environment: The dust removal component effectively extracts and processes the dust generated during the grinding process, reducing the impact on the working environment and the health of operators, while meeting environmental protection requirements and reducing pollution to the environment;

[0021] Improved adaptability and flexibility: The design of the foot moving mechanism enables the grinding robot to adapt to grinding operations at different positions, increasing the flexibility and applicability of the equipment. Through the cooperation of the longitudinal motor and the track wheel, the robot can move smoothly along the longitudinal track of the wind turbine blade to achieve full coverage grinding;

[0022] Improve the continuous grinding effect of the grinding roller: Through the cleaning roller brush, the surface of the grinding roller can be cleaned in real time during the grinding operation to prevent dust from being embedded in the rough surface of the grinding roller and affecting the grinding effect of the grinding roller;

[0023] Extend the service life of wind turbine blades: Accurate and high-quality grinding operations help extend the service life of wind turbine blades, avoid early damage caused by surface defects, reduce maintenance costs and potential replacement costs, and provide guarantees for the long-term operation of wind power stations;

[0024] In summary, the grinding robot of the present invention can not only significantly improve the grinding quality of wind turbine blades, but also enhance the safety and efficiency of grinding operations, while reducing production costs, and has very high economic and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the front three-dimensional structure of the grinding assembly of the present invention;

[0027] Figure 3 This is a schematic diagram of the rear stereoscopic structure of the grinding assembly of the present invention;

[0028] Figure 4 It is a schematic diagram of the cross-sectional structure of the grinding component of the present invention;

[0029] Figure 5 This is a schematic diagram of the connection structure of the dust removal component of the present invention;

[0030] Figure 6 This is a schematic diagram of the cross-sectional structure of the fan housing of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the fan blade assembly of the present invention;

[0032] Figure 8 It is a schematic diagram of the cross-sectional connection structure of the auxiliary pressing wheel mechanism of the present invention;

[0033] Fig. 9 It is a schematic diagram of the cross-sectional connection structure of the dust collecting box of the present invention.

[0034] In the figure: 1 mobile gantry, 2 robot mechanical arm, 3 grinding assembly, 4 installation assembly, 101 longitudinal rail, 102 foot, 103 support column, 104 beam frame, 105 beam drive block, 201 blade tip circle car, 202 blade root circle car, 301 installation frame, 302 first grinding roller, 303 second grinding roller, 304 drive motor, 305 cleaning roller brush, 306 dust removal assembly, 307 installation block, 308 first sprocket, 309 second sprocket, 310 third sprocket, 311 fourth sprocket, 312 fifth sprocket, 313 sixth sprocket, 314 linkage gear, 401 fan housing, 402 Blade assembly, 403 seventh sprocket, 404 exhaust duct, 405 induced draft duct, 406 connecting piece, 407 connecting pipe, 408 connecting cover, 409 dust cover, 410 suction port, 411 transmission shaft, 501 turntable, 502 center block, 503 centrifugal blade, 504 grille plate, 601 dust box, 602 dust guide pipe, 603 exhaust port, 604 filter, 701 infrared ranging sensor, 702 auxiliary pressure wheel mechanism, 703 slide rail, 704 slide block, 705 slide guide rod, 706 spring, 707 movable block, 708 bracket plate, 709 roller, 710 movable cavity, 711 displacement sensor. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-9A grinding robot comprises a mobile gantry 1, a robot arm 2, a grinding component 3, and an installation component 4. The mobile gantry 1 comprises a longitudinal track 101, a foot 102, a support column 103, a beam frame 104, and a beam driving block 105. The two ends of the beam frame 104 are respectively fixedly connected to the support columns 103, and the support columns 103 support the beam frame 104. The lower ends of the support columns 103 are respectively fixedly connected to the foot 102, and the foot 102 is respectively slidably connected to the two ends. The base 102 is provided with a longitudinal motor on one side of the base 102, and the longitudinal motor drives the base 102 to move relatively on the longitudinal rail 101, thereby realizing the longitudinal movement of the robot mechanical arm 2 installed on the crossbeam frame 104. An installation component 4 for installing and fixing the wind turbine blade is provided between the longitudinal rails 101. The installation component 4 includes a blade root circle car 202 and a blade tip circle car 201. The blade root circle car 202 is used to clamp the root of the blade, and the blade tip circle car 201 1 is used to clamp the blade root to 1 / 2 to 1 / 3 of the blade tip, the blade root circle car 202 and the blade tip circle car 201 can realize synchronous rotation, and then in the specific operation process, the wind turbine blade can be rotated, so that the wind turbine blade can be polished in all directions, and can be controlled in linkage with the robot mechanical arm 2 through the system controller. For details, please refer to the method for automatic polishing of wind turbine blades and linkage control of blade synchronous circle car with application number 202110586028.8. A beam driving block 105 is slidably connected to the beam frame 104 relative to the top of the mounting component 4, and a driving component is arranged on the beam frame 104. The relative movement of the beam driving block 105 can be realized by the driving component. The lower end of the beam driving block 105 is fixedly connected to the robot mechanical arm 2. In the present invention, the robot mechanical arm 2 adopts a six-axis mechanical arm, which can realize multi-free activity operation during the polishing operation. The end of the robot mechanical arm 2 is fixedly connected to the polishing component 3, and the polishing component 3 is used for the polishing operation of the wind turbine blade.

[0037] In one embodiment, the grinding assembly 3 includes a mounting frame 301, a first grinding roller 302, a second grinding roller 303, a driving motor 304, a cleaning roller brush 305, and a dust removal assembly 306. A mounting block 307 is provided at the middle of the rear end of the mounting frame 301. The mounting block 307 is relatively fixedly connected to the end of the robot mechanical arm 2, and its fixing method can be relatively fixed by bolts. The first grinding roller 302 and the second grinding roller 303 that are relatively set are rotatably connected in the frame opening of the mounting frame 301. During the grinding operation, the first grinding roller 302 and the second grinding roller 303 are connected to the robot mechanical arm 2. The grinding roller 302 rotates in opposite directions to the second grinding roller 303. Two sets of cleaning roller brushes 305 arranged opposite to each other are rotatably connected in the mounting frame 301. The cleaning roller brushes 305 are in contact with the first grinding roller 302 or the second grinding roller 303 respectively. When in use, the cleaning roller brush 305 rotates relative to the first grinding roller 302 or the second grinding roller 303, so that the powder attached to the first grinding roller 302 or the second grinding roller 303 is removed by the brush on the cleaning roller brush 305, thereby improving the cleaning effect of the first grinding roller 302 and the second grinding roller 303. The grinding efficiency of roller 303 is improved due to the following reasons: the grinding roller rubs against the surface of the blade through its rough surface, and the rough convex and concave surfaces of the grinding roller scrape against the blade, thereby scraping off the convex edges of the blade surface, and the fallen debris powder is squeezed between the grinding roller and the blade so that the debris is embedded in the tiny concave surface of the grinding roller, which reduces the surface roughness of the grinding roller. When it rubs against the blade again, it will affect the grinding effect. A drive motor 304 is fixedly connected to one side of the rear end edge of the mounting frame 301, and the drive motor 304 is fixedly connected to the rear end edge of the mounting frame 301. 04 are respectively used to provide relative working power for mechanical parts such as the first grinding roller 302, the second grinding roller 303, the cleaning roller brush 305, and the dust removal component 306. The dust removal component 306 is fixedly connected to one side of the upper end of the mounting frame 301. The dust removal component 306 is used to remove debris and dust generated during the grinding process and reduce the impact of the grinding operation on the surrounding environment. The driving motor 304, the first grinding roller 302, the second grinding roller 303, the cleaning roller brush 305, and the dust removal component 306 are respectively connected in sequence through a linkage component.

[0038] In one embodiment, the linkage assembly includes a first sprocket 308, a second sprocket 309, a third sprocket 310, a fourth sprocket 311, a fifth sprocket 312, a sixth sprocket 313, and a linkage gear 314. The end of the rotating shaft of the driving motor 304 is fixedly connected to the first sprocket 308. The rotating shaft on one side of the first grinding roller 302 passes through the mounting frame 301 and is fixedly connected to the second sprocket 309. The second sprocket 309 is connected to the first sprocket 308 through a chain belt. The rotating shaft on the other side of the first grinding roller 302 passes through the mounting frame 301 and is fixedly connected to the third sprocket 310. The rotating shaft on one side of the second grinding roller 303 passes through the mounting frame 301 and is fixedly connected to the fourth sprocket 311. The rotating shaft on the same side of the cleaning roller brush 305 passes through the mounting frame 301 and is fixedly connected to the fifth sprocket 312. The third sprocket 310 and the fourth sprocket 311 are respectively connected to the fifth sprocket 312 through a chain belt. The coaxial side of the fifth sprocket 312 is respectively fixedly connected to a linkage gear 314. The linkage gears 314 are meshed and connected with each other. The rotating shaft on the other side of the second grinding roller 303 passes through the mounting frame 301 and is fixedly connected to the sixth sprocket 313. The sixth sprocket 313 is connected to the dust removal component 310 through a chain belt. 06 transmission connection, in the specific operation process, first, the driving motor 304 drives the first sprocket 308 to rotate, the first sprocket 308 drives the second sprocket 309 to rotate by linkage, the second sprocket 309 drives the first grinding roller 302 to rotate, the first grinding roller 302 drives the third sprocket 310 to rotate at the same time, the third sprocket 310 drives the fifth sprocket 312 of the opposite group to rotate, the fifth sprocket 312 realizes synchronous rotation through two sets of relatively meshing linkage gears 314, so that the two sets of cleaning roller brushes 305 rotate relatively, and the fifth sprocket 312 of the other set drives the fourth sprocket 311 to rotate through the chain belt The fourth sprocket 311 drives the second grinding roller 303 to rotate, and at the same time, the second grinding roller 303 drives the sixth sprocket 313 at the other end to rotate, and the sixth sprocket 313 drives the dust removal component 306 to work relatively. In summary, when the driving motor 304 is working, the two groups of grinding rollers rotate relatively at the same time, and the relative grinding operation of the wind turbine blades is realized through the two groups of grinding rollers. At the same time, the cleaning roller brush 305 can realize the cleaning operation of the grinding roller during the grinding process of the grinding roller, thereby improving the grinding effect of the grinding roller. In addition, the dust removal component 306 effectively removes the debris and dust generated by grinding to avoid pollution to the surrounding environment.

[0039] In one embodiment, the dust removal component 306 includes a fan housing 401, a fan blade component 402, a seventh sprocket 403, an exhaust pipe 404, an air duct 405, a connector 406, a connecting pipe 407, a connecting cover 408, and a dust removal cover 409. The fan housing 401 is fixedly connected to one side of the upper end of the mounting frame 301, and the fan blade component 402 is rotatably connected in the fan housing (401). A transmission shaft 411 is fixedly connected to the fan blade component 402, and one end of the transmission shaft 411 passes through the fan outer surface. The fan housing 401 is fixedly connected to the seventh sprocket 403 at the rear, and the seventh sprocket 403 is connected to the sixth sprocket 313 through a chain belt. The outer peripheral side wall of the fan housing 401 is fixedly connected to the exhaust pipe 404. One side of the fan housing 401 is fixedly connected to the induced air pipe 405. The induced air pipe 405 is fixedly connected to the connecting piece 406 through a flange. The other end of the connecting piece 406 is fixedly connected to the connecting pipe 407. The upper and lower frame edges of the mounting frame 301 are respectively fixedly connected to the dust cover 409. The dust cover 409 The mounting frame 301 is provided with a suction port 410, one end of the dust cover 409 is fixedly connected to a connecting cover 408, and the connecting pipe 407 is connected to the connecting cover 408. During the specific operation, the sixth sprocket 313 drives the seventh sprocket 403 to transmit through the chain belt, and the seventh sprocket 403 drives the fan blade assembly 402 to rotate relatively through the transmission shaft 411, and the fan blade assembly 402 drives the air in the fan housing 401 to centrifuge toward the periphery, so that the air in the fan housing 401 is exhausted. The air in the tube 404 is compressed, so that during the grinding operation of the grinding component 3, the peripheral air is drawn into the mounting frame 301 through the frame opening of the mounting frame 301, and then enters the dust cover 409 through the suction port 410, and then enters the connecting cover 408 through the dust cover 409, and then enters the connecting tube 407 through the connecting cover 408, and then enters the fan housing 401 along the connecting tube 407, and repeats this process. Air is continuously drawn in from the frame opening of the mounting frame 301, and the material dust generated by the grinding is also sucked away at the same time.

[0040] In one embodiment, the fan blade assembly 402 includes a turntable 501, a center block 502, and centrifugal blades 503. The turntable 501 is rotatably connected to one side of the inside of the fan casing 401. One end of the transmission shaft 411 is fixedly connected to the center of the turntable 501, and the other end of the turntable 501 is fixedly connected to the center block 502. A number of centrifugal blades are fixedly connected to the center block 502. A grille plate 504 is fixedly connected to the fan casing 401 connected to the air duct 405. The middle part of the grille plate 504 is recessed into the fan casing 401, and one side edge of the centrifugal blade 503 is adapted to the recessed curved surface of the grille plate 504. The working principle is mainly that the transmission shaft 411 drives the turntable 501 to rotate, the turntable 501 drives the center block 502 to rotate, and the center block 502 drives the centrifugal blades 503 to rotate relatively. Air is drawn into the air duct 405 through the centrifugal action of the centrifugal blades 503 and discharged through the exhaust duct 404.

[0041] In one of the embodiments, a dust box 601 is fixedly connected to one side of the beam driving block 105, a dust guide pipe 602 is fixedly connected to one end of the dust box 601, and the other end of the dust guide pipe 602 is connected to the exhaust pipe 404. An exhaust port 603 is fixedly connected to one side of the outer wall of the dust box 601, and a filter 604 is fixedly connected inside the exhaust port 603. During the operation of the dust removal component 306, air is brought into the dust guide pipe 602 through the exhaust pipe 404, and the air is introduced into the dust box 601 along the dust guide pipe 602. The air entering the dust box 601 is then discharged from the exhaust port 603, and the filter 604 at the exhaust port 603 can intercept material dust in the air, so that the material dust is collected in the dust box 601.

[0042] In one embodiment, infrared distance measuring sensors 701 are fixedly connected to both sides of the frame opening of the mounting frame 301, and two sets of auxiliary pressure wheel mechanisms 702 are fixedly connected to both sides of the mounting frame 301. The two sets of auxiliary pressure wheel mechanisms 702 on the same side are symmetrical with the infrared distance measuring sensors 701. The infrared distance measuring sensors 701 located on both sides of the mounting frame 301 are used to accurately control the distance between the grinding component 3 and the wind turbine blade, so that the first grinding roller 302 and the second grinding roller 303 on one side of the grinding component 3 can both be in contact with the surface of the wind turbine blade, which is convenient for the grinding operation. The auxiliary pressing wheel mechanism 702 includes a slide rail 703, a slide block 704, a sliding guide rod 705, a spring 706, a movable block 707, a bracket plate 708, and a roller 709. The slide rail 703 is fixedly connected to both sides of the mounting frame 301, and the slide rail 703 is slidably connected with the slide block 704. The slide block 704 is fixedly connected with the bracket plate 708. The other end of the bracket plate 708 is rotatably connected with the roller 709. The slide block 704 is provided with an active cavity 710. The inner wall of the active cavity 710 is embedded with a displacement sensor 711. The sliding connection 710 is provided in the active cavity 710. A movable block 707 is connected, one end of the movable block 707 is fixedly connected to a sliding guide rod 705, one end of the sliding guide rod 705 passes through the slide block 704 and is fixedly connected to one side of the inner wall of the slide rail 703, a spring 706 is sleeved and connected to the sliding guide rod 705 on the outer side of the slide block 704, one end of the spring 706 is in contact with the slide block 704, and during specific operation, the infrared ranging sensor 701 drives the robot mechanical arm 2 to drive the grinding component 3 to accurately and stably tangent to the grinding working area on the wind turbine blade, and when the grinding component 3 approaches the wind turbine blade, first the roller at the end of the bracket plate 708 is The wheel 709 touches the wind turbine blade. As the grinding component 3 continues to approach, the roller 709 drives the bracket plate 708 to move relatively, and the bracket plate 708 drives the slide block 704 to move relatively along the slide rail 703. At this time, the movable block 707 moves relatively in the movable cavity 710, and the displacement distance of the movable block 707 is detected in real time through the displacement sensor 711 in the movable cavity 710, so as to detect the relative displacement of the roller 709. The displacement distance of the roller 709 can be used to accurately determine whether the grinding roller has completed relative contact with the wind turbine blade, thereby ensuring the smooth progress of the grinding operation.

[0043] The working principle of the present invention is as follows: when in use, firstly, the wind turbine blade is installed and fixed on the installation component 4 with the help of the lifting equipment, and then the gantry 1 is moved to the root position of the wind turbine blade, and then the crossbeam driving block 105 on the crossbeam frame 104 drives the robot arm 2 to move relatively, so that the grinding component 3 reaches above the grinding area, and then the robot arm 2 controls the grinding component 3 to approach the grinding work area. At this time, the distance of the grinding component 3 is measured and controlled by the infrared ranging sensor 701, so that the grinding component 3 can be stably tangent to the grinding work area, and then the motor 304 is driven. Working, the first grinding roller 302 and the second grinding roller 303 are driven to rotate relative to each other through the linkage component at the same time, and the grinding work area is ground by the two groups of grinding rollers. During the grinding process, the generated grinding dust is sucked by the dust removal component 306 to prevent the grinding dust from rising and polluting the surrounding environment. Then, the mobile gantry 1 can realize the longitudinal movement of the robot arm 2, and the beam driving block 105 can realize the lateral movement of the robot arm 2. The new grinding work area is changed through the longitudinal and lateral movements, and the above steps are repeated to continue the grinding operation.

[0044] In the present invention, the base 102 includes a base 102 frame, a track wheel, a longitudinal motor, a first bevel gear, and a second bevel gear. The upper end of the base 102 frame is fixedly connected to the supporting column 103, and the lower end of the base 102 frame is rotatably connected to a plurality of track wheels, and the track wheels are rollingly connected to the longitudinal rail 101. One end of the rotating shaft of one group of track wheels passes through the base 102 frame and is fixedly connected to the first bevel gear. The first bevel gear is meshed with the second bevel gear, and the second bevel gear is fixedly connected to the rotating shaft of the longitudinal motor. The longitudinal motor is fixedly connected to one side of the base 102 frame. When in use, the longitudinal motor drives the second bevel gear to rotate, the second bevel gear drives the first bevel gear to rotate, and the first bevel gear drives the relatively connected track wheel to rotate. The active displacement of the base 102 frame on the longitudinal track is realized through the relative rotation of the track wheels.

[0045] In the present invention, the driving assembly includes a driving screw, a sliding guide rail, and a transverse motor. The lower end of the beam frame 104 is fixedly connected to two sets of relatively parallel sliding guide rails. A sliding guide groove is opened at the upper end of the beam driving block 105. The sliding guide rail is slidably connected in the sliding guide groove. A threaded hole is penetrated on the beam driving block 105 between the sliding guide grooves. The driving screw is threadedly connected in the threaded hole. The two ends of the driving screw are respectively rotatably connected to the opposite ends of the beam frame 104. After one end of the driving screw passes through the beam frame 104, it is fixedly connected to the transverse motor. The transverse motor is fixedly connected to the opposite end of the beam frame 104. When in use, the transverse motor drives the driving screw to rotate, and the driving screw drives the beam driving block 105 to move relatively, thereby adjusting the position of the robot arm 2.

[0046] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0047] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A grinding robot, comprising a mobile gantry (1), a robot arm (2), a grinding component (3), and a mounting component (4), characterized in that: The mobile gantry (1) comprises a longitudinal rail (101), a foot (102), a support column (103), a crossbeam frame (104), and a crossbeam driving block (105); the two ends of the crossbeam frame (104) are respectively fixedly connected to the support columns (103); the lower ends of the support columns (103) are respectively fixedly connected to the foot (102); the foot (102) is respectively slidably connected to two sets of relatively parallel longitudinal rails (101); a mounting assembly (4) for mounting and fixing wind turbine blades is provided between the longitudinal rails (101); a crossbeam driving block (105) is slidably connected to the crossbeam frame (104) above the mounting assembly (4); a robot arm (2) is fixedly connected to the lower end of the crossbeam driving block (105); and a grinding assembly (3) is fixedly connected to the end of the robot arm (2); The grinding assembly (3) comprises a mounting frame (301), a first grinding roller (302), a second grinding roller (303), a driving motor (304), a cleaning roller brush (305), and a dust removal assembly (306). A mounting block (307) is arranged at the middle of the rear end of the mounting frame (301). The mounting block (307) is relatively fixedly connected to the end of the robot mechanical arm (2). The first grinding roller (302) and the second grinding roller (303) which are arranged opposite to each other are rotatably connected in the frame opening of the mounting frame (301). Two groups of cleaning roller brushes (305) arranged opposite to each other are dynamically connected, the cleaning roller brushes (305) are in contact with the first grinding roller (302) or the second grinding roller (303), a driving motor (304) is fixedly connected to one side of the rear end edge of the mounting frame (301), a dust removal component (306) is fixedly connected to one side of the upper end of the mounting frame (301), and the driving motor (304), the first grinding roller (302), the second grinding roller (303), the cleaning roller brushes (305), and the dust removal component (306) are respectively connected in sequence through a linkage component; The linkage assembly comprises a first sprocket (308), a second sprocket (309), a third sprocket (310), a fourth sprocket (311), a fifth sprocket (312), a sixth sprocket (313), and a linkage gear (314); the end of the rotating shaft of the driving motor (304) is fixedly connected to the first sprocket (308); the rotating shaft on one side of the first grinding roller (302) passes through the mounting frame (301) and is fixedly connected to the second sprocket (309); the second sprocket (309) is transmission-connected to the first sprocket (308) via a chain belt; the rotating shaft on the other side of the first grinding roller (302) passes through the mounting frame (301) and is fixedly connected to the third sprocket (310); the rotating shaft on one side of the second grinding roller (303) passes through the mounting frame (301) and is fixedly connected to the third sprocket (310); After the shaft passes through the mounting frame (301), it is fixedly connected to the fourth sprocket (311); after the rotating shaft on the same side of the cleaning roller brush (305) passes through the mounting frame (301), it is fixedly connected to the fifth sprocket (312); the third sprocket (310) and the fourth sprocket (311) are respectively connected to the fifth sprocket (312) via a chain belt; the coaxial side of the fifth sprocket (312) is fixedly connected to a linkage gear (314); the linkage gears (314) are meshed with each other; after the rotating shaft on the other side of the second grinding roller (303) passes through the mounting frame (301), it is fixedly connected to the sixth sprocket (313); the sixth sprocket (313) is connected to the dust removal component (306) via a chain belt; The dust removal component (306) comprises a fan housing (401), a fan blade component (402), a seventh sprocket (403), an exhaust pipe (404), an air induction pipe (405), a connector (406), a connecting pipe (407), a connecting cover (408), and a dust removal cover (409); one side of the upper end of the mounting frame (301) is fixedly connected to the fan housing (401); the fan blade component (402) is rotatably connected inside the fan housing (401); a transmission shaft (411) is fixedly connected to the fan blade component (402); one end of the transmission shaft (411) passes through the fan housing (401) and is fixedly connected to the seventh sprocket (403); the seventh sprocket (403) is connected to the sixth sprocket (311) via a chain belt. 3) transmission connection, the outer peripheral side wall of the fan housing (401) is fixedly connected to an exhaust pipe (404), one side of the fan housing (401) is fixedly connected to an air induced pipe (405), the air induced pipe (405) is fixedly connected to a connecting piece (406) via a flange, the other end of the connecting piece (406) is fixedly connected to a connecting pipe (407), the upper and lower frame edges of the mounting frame (301) are respectively fixedly connected to dust hoods (409), the mounting frame (301) in the dust hood (409) is respectively provided with suction ports (410), one side of the end of the dust hood (409) is fixedly connected to a connecting hood (408), and the connecting pipes (407) are respectively connected to the connecting hoods (408).

2. A grinding robot according to claim 1, characterized in that: The fan blade assembly (402) comprises a rotating disk (501), a center block (502), and centrifugal blades (503); the rotating disk (501) is rotatably connected to one side of the inside of the fan housing (401); one end of the transmission shaft (411) is fixedly connected to the center of the rotating disk (501); the other end of the rotating disk (501) is fixedly connected to the center block (502); a plurality of centrifugal blades are fixedly connected to the center block (502); a grille plate (504) is fixedly connected to the fan housing (401) connected to the air duct (405); the middle portion of the grille plate (504) is recessed into the fan housing (401); and one side edge of the centrifugal blade (503) is matched with the recessed curved surface of the grille plate (504).

3. A grinding robot according to claim 1, characterized in that: A dust box (601) is fixedly connected to one side of the crossbeam driving block (105); a dust guide tube (602) is fixedly connected to one end of the dust box (601); the other end of the dust guide tube (602) is connected to an exhaust pipe (404); an exhaust port (603) is fixedly connected to one side of an outer wall of the dust box (601); and a filter (604) is fixedly connected inside the exhaust port (603).

4. A polishing robot according to claim 1, characterized in that: Infrared distance measuring sensors (701) are fixedly connected to both sides of the frame opening of the installation frame (301), and two sets of auxiliary pressure wheel mechanisms (702) are fixedly connected to both sides of the installation frame (301), and the two sets of auxiliary pressure wheel mechanisms (702) on the same side are symmetrical with respect to the infrared distance measuring sensors (701).

5. A grinding robot according to claim 4, characterized in that: The auxiliary pressure wheel mechanism (702) comprises a slide rail (703), a slide block (704), a sliding guide rod (705), a spring (706), a movable block (707), a bracket plate (708), and a roller (709). The slide rail (703) is fixedly connected to two sides of the mounting frame (301), and the slide rail (703) is slidably connected with the slide block (704). The slide block (704) is fixedly connected with the bracket plate (708). The other end of the bracket plate (708) is rotatably connected with the roller (709). The slide block (704) An active cavity (710) is provided inside, a displacement sensor (711) is embedded and fixedly connected to the inner wall of the active cavity (710), an active block (707) is slidably connected inside the active cavity (710), one end of the active block (707) is fixedly connected to a sliding guide rod (705), one end of the sliding guide rod (705) passes through a slide block (704) and is fixedly connected to one side of the inner wall of the slide rail (703), a spring (706) is sleeved and connected to the sliding guide rod (705) outside the slide block (704), and one end of the spring (706) is in contact with the slide block (704).

6. A grinding robot according to claim 1, characterized in that: The mounting assembly (4) comprises a blade root beading machine (202) and a blade tip beading machine (201), wherein the blade root beading machine (202) is used to clamp the root of the blade, and the blade tip beading machine (201) is used to clamp the blade at 1 / 2 to 1 / 3 of the distance from the blade root to the blade tip.

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