Automatic grinding system applied to fan blade

Abstract

The embodiment of the invention provides an automatic grinding system applied to fan blades. The automatic grinding system comprises a grinding device, an AGV and an upper computer. The grinding device is arranged on the AGV, and the AGV is in communication connection with the upper computer; when the AGV is in an automatic state, the AGV obtains distance information between the AGV and a fan blade and sends the distance information to the upper computer, the upper computer generates a corresponding movement instruction according to the distance information and sends the movement instruction to the AGV, and the movement instruction comprises a longitudinal movement parameter, a transverse movement parameter and an in-situ rotation parameter; and the AGV executes a corresponding moving operation according to the moving instruction, so that the polishing device polishes the fan blade. According to the technical scheme, on the basis that the grinding quality of the fan blade is guaranteed, the grinding efficiency of the fan blade is improved, and the grinding cost is saved.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to an automatic grinding system for wind turbine blades. Background Art

[0002] During the production process of wind turbine rotor blades, the surface of the blades needs to be polished. However, due to the large size and weight of wind turbine blades, irregular shape (the outer shape is a complex curved surface), and certain flexibility, it is generally done manually. However, manual polishing causes a lot of dust pollution, which can easily cause harm to the workers' bodies, and the polishing efficiency is low and the polishing quality is inconsistent. Some industrial robots are also used for operation, but the robot's workstation is generally fixed. Multiple robots need to be set up on the same polishing production line, or the robot's moving track is fixed, which limits its working position. Summary of the invention

[0003] The embodiments of the present application provide an automatic grinding system for fan blades, which can improve the grinding efficiency of the fan blades and save grinding costs while ensuring the grinding quality of the fan blades, at least to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, there is provided an automatic grinding system for fan blades, the automatic grinding system comprising a grinding device, an AGV and a host computer; the grinding device is arranged on the AGV, and the AGV is communicatively connected with the host computer; when the AGV is in an automatic state, the AGV obtains the distance information between itself and the fan blade and sends it to the host computer, and the host computer generates a corresponding movement instruction based on the distance information and sends it to the AGV, the movement instruction comprising a longitudinal movement parameter, a lateral movement parameter and an in-situ rotation parameter; the AGV performs a corresponding movement operation based on the movement instruction so that the grinding device grinds the fan blade.

[0006] In some embodiments of the present application, the AGV includes two distance sensors, which are arranged horizontally side by side. The AGV sends the distance between the two distance sensors and the fan blades to the host computer. The host computer determines the angle formed between the AGV and the fan blades based on the distance difference between the two and the spacing between the two distance sensors, determines the corresponding in-situ rotation parameters based on the angle, and sends them to the AGV.

[0007] In some embodiments of the present application, the host computer compares the angle with a preset angle threshold. If the angle is less than or equal to the preset angle threshold, the corresponding in-place rotation parameter is determined to be 0°; if the angle is greater than the preset angle threshold, the corresponding in-place rotation parameter is determined to be the value corresponding to the angle.

[0008] In some embodiments of the present application, after a single-pass grinding process is completed, the AGV obtains the minimum distance between itself and the fan blade and sends the minimum distance to the host computer. The host computer compares the minimum distance with a preset distance interval. When the minimum distance is within the preset distance interval, the lateral movement parameter of the AGV is determined to be 0; if the minimum distance is not within the preset distance interval, the corresponding lateral movement parameter is generated to adjust the minimum distance between the AGV and the fan blade to within the preset distance interval.

[0009] In some embodiments of the present application, the AGV detects its own remaining power. When the AGV is working and the remaining power is less than a predetermined power threshold, the AGV starts automatic charging to charge through the power connection of the grinding device.

[0010] In some embodiments of the present application, the AGV is connected to the host computer via Modbus TCP, and the AGV detects the heartbeat of the host computer at a predetermined time interval. If the heartbeat of the host computer is not detected after the predetermined time interval, the AGV stops automatically moving.

[0011] In some embodiments of the present application, the host computer receives one or more status information of the AGV's own manual and automatic status, operation mode, and alarm status, so that the host computer can safely control the AGV according to the one or more status information.

[0012] In some embodiments of the present application, the host computer is a PLC controller, an industrial computer or a mobile terminal device.

[0013] In the technical solutions provided in some embodiments of the present application, the automatic grinding system includes a grinding device, an AGV and a host computer, wherein the grinding device is arranged on the AGV, and the AGV is connected to the host computer in communication. When the AGV is in an automatic state, the AGV can obtain the distance information between itself and the fan blades, and send the distance information to the host computer. The host computer can generate corresponding movement instructions according to the distance information and send them to the AGV, wherein the movement instructions include longitudinal movement parameters, lateral movement parameters and in-situ rotation parameters. The AGV can perform corresponding movement operations according to the received movement instructions so that the grinding device can grind the fan blades. In this way, an automated and precise grinding process can be realized, which not only improves the grinding efficiency, but also ensures the grinding quality, while providing the ability to adaptively adjust the shape of the fan blades, saving grinding costs.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0016] Figure 1 A schematic diagram of the architecture of an automatic grinding system for wind turbine blades according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0017] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0018] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0019] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0020] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0021] Figure 1 A schematic diagram of the architecture of an automatic grinding system for wind turbine blades according to an embodiment of the present application is shown.

[0022] like Figure 1 As shown, the automatic grinding system includes a grinding device, an AGV and a host computer, wherein the grinding device is used to grind the fan blades, and the grinding device is arranged on the AGV to grind different positions on the fan blades following the movement of the AGV. The AGV is connected to the host computer for communication. It should be noted that the communication connection can be a wired connection or a wireless connection. In this way, the AGV can send relevant information during operation to the host computer through the communication connection, and the host computer can generate corresponding control instructions based on the relevant information, and send the control instructions to the AGV, so that the AGV can operate according to the control instructions to realize the automation of grinding.

[0023] It should be noted that due to the large size of the fan blades, the fan blades can be placed horizontally before grinding, and the surface to be ground can be in a vertical state. In order to improve the grinding efficiency of the fan blades, the number of grinding devices and AGVs can also be multiple, that is, the host computer can establish communication with multiple AGVs, and the multiple AGVs each carry a grinding device to grind different positions of the fan blades at the same time.

[0024] Moreover, when operating, the AGV includes manual state and automatic state. In the manual state, the staff can remotely control the AGV to perform actions, and the staff controls the forward and backward movement, lateral movement and rotation of the AGV; the automatic state means that the AGV can communicate with the host computer, so that the host computer controls the AGV to perform actions without human intervention.

[0025] When the AGV is in an automatic state, the AGV can obtain the distance information between itself and the fan blades, and send the distance information to the host computer. The host computer can generate corresponding movement instructions based on the distance information to adjust the position or posture of the AGV. In one example, the movement instruction includes longitudinal movement parameters, lateral movement parameters, and in-situ rotation parameters. It should be noted that the "longitudinal" mentioned in this application is the horizontal direction parallel to the length direction of the fan blade, and the "lateral" is the direction in which the AGV approaches or moves away from the fan blade. Therefore, according to the longitudinal movement parameter, the AGV can move along the length direction of the fan blade so that the grinding device can grind different positions on the fan blade, and according to the lateral movement parameter, the AGV can approach or move away from the fan blade so that the two are at a suitable distance to facilitate the grinding device to grind the fan blade; according to the in-situ rotation parameter, the AGV can rotate in-situ at a corresponding angle so that the grinding head of the grinding device can better fit the surface of the fan blade for grinding. It should be understood that the longitudinal movement parameter, the lateral movement parameter and the in-situ rotation parameter may have directions. In one example, the corresponding movement or rotation direction may be determined by the positive or negative value of the parameter.

[0026] Then, after generating the movement instruction, the host computer can send it to the AGV, so that the AGV performs the corresponding movement operation according to the movement instruction, so that the grinding device carried by it can grind the fan blades. In one example, the host computer can write the movement instruction into a register address specified in the AGV, and the AGV can read the corresponding parameters through the register address.

[0027] Therefore, according to the automatic grinding system provided by the embodiment of the present application, it includes a grinding device, an AGV and a host computer, wherein the grinding device is arranged on the AGV, and the AGV is connected to the host computer in communication. When the AGV is in an automatic state, the AGV can obtain the distance information between itself and the fan blades, and send the distance information to the host computer. The host computer can generate corresponding movement instructions according to the distance information and send them to the AGV, wherein the movement instructions include longitudinal movement parameters, lateral movement parameters and in-situ rotation parameters. The AGV can perform corresponding movement operations according to the received movement instructions so that the grinding device can grind the fan blades. In this way, an automated and precise grinding process can be realized, which not only improves the grinding efficiency, but also ensures the grinding quality, while providing the ability to adaptively adjust the shape of the fan blades, saving grinding costs.

[0028] In one embodiment of the present application, the AGV includes two distance sensors, and the two distance sensors are arranged horizontally side by side. The two distance sensors can be arranged on the side of the AGV close to the fan blade. It should be noted that since the surface of the fan blade has an arc, or the fan blade is not parallel to the AGV, there may be a certain distance difference between the distances detected by the two distance sensors and the fan blade. The AGV can send the distances detected by the two distance sensors to the host computer, and the host computer can calculate using trigonometric functions based on the distance difference between the two distances and the spacing between the two distance sensors to obtain the angle formed between the AGV and the fan blade.

[0029] It should be understood that if the angle is too large, it will be difficult for the grinding device to fit the fan blade surface for grinding. Therefore, the host computer can determine the corresponding in situ rotation parameters according to the angle and send them to the AGV, so that the AGV performs an in situ rotation operation according to the in situ rotation parameters, so that the grinding device fits the fan blade for grinding.

[0030] In one embodiment, the two distance sensors can be arranged on the grinding head of the grinding device, thereby, the calculated angle, that is, the angle formed by the grinding head and the surface of the fan blade, the AGV moves according to the in-situ rotation parameters generated by the angle, that is, the grinding head can be made parallel to the surface of the fan blade, so as to better fit the surface of the fan blade for grinding.

[0031] In one embodiment of the present application, after calculating the angle, the host computer can compare the angle with a preset angle threshold, which can be a pre-set angle value used to determine whether the AGV needs to rotate in situ to adjust the angle with the wind turbine blades. Those skilled in the art can determine the specific value of the preset angle threshold, such as ±3°, etc., according to actual implementation needs. When the angle is less than or equal to the preset angle threshold, it means that the angle is small and no adjustment is required. Therefore, its corresponding in situ rotation parameter can be 0°. On the contrary, if the angle is greater than the preset angle threshold, it means that the angle is large. In order to achieve a better polishing effect, the AGV needs to rotate in situ. At this time, the host computer can generate its corresponding in situ rotation parameter and send it to the AGV.

[0032] In one example, when in-situ rotation is required, the value of the in-situ rotation parameter may be the value of the angle, and the direction is opposite to the direction of the angle, so that the AGV can eliminate the angle between itself and the fan blades after rotating in-situ.

[0033] In one embodiment of the present application, after a single-pass grinding process is completed, the AGV obtains the minimum distance between itself and the fan blade, and sends the minimum distance to the host computer. The host computer compares the minimum distance with a preset distance interval. When the minimum distance is within the preset distance interval, the lateral movement parameter of the AGV is determined to be 0; if the minimum distance is not within the preset distance interval, the corresponding lateral movement parameter is generated to adjust the minimum distance between the AGV and the fan blade to within the preset distance interval.

[0034] In this embodiment, after a single grinding process is completed, the AGV can obtain the minimum distance between it and the fan blade. It should be understood that a grinding process can be a processing process in which the grinding device grinds the surface of the fan blade from top to bottom. Since the fan blade is long, the grinding device needs to grind the fan blade multiple times, that is, there are multiple grinding processes. After each grinding process is completed, the AGV can obtain the minimum distance between it and the fan blade. It should be understood that since the surface of the fan blade has a curvature, in the area opposite to the AGV, the distance between the most protruding position on the surface of the fan blade facing the AGV and the AGV is the aforementioned minimum distance.

[0035] The AGV can send the acquired minimum distance to the upper computer, and the upper computer compares the minimum distance with the preset distance interval. The preset distance interval can be a pre-set distance interval suitable for grinding by the grinding device. If the value of the minimum distance is within the preset distance interval, it means that the position of the AGV is suitable for grinding by the grinding device at this time, and no adjustment is required, so it can be determined that the corresponding lateral movement parameter is 0. If the minimum distance is not within the preset distance interval, it means that the position of the AGV is not suitable for grinding by the grinding device at this time. The upper computer can generate the corresponding lateral movement parameter, and the AGV can adjust the minimum distance between itself and the fan blade to the preset distance interval according to the lateral movement parameter, so as to facilitate the grinding of the grinding device and ensure the grinding quality.

[0036] In one embodiment, the AGV detects its own remaining power. When the AGV is working and the remaining power is less than a predetermined power threshold, the AGV starts automatic charging to charge through the power connection of the grinding device.

[0037] In this embodiment, the AGV can continuously monitor its own power when performing the wind turbine blade grinding task. If the AGV detects that the remaining power is lower than the predetermined power threshold during the operation, the AGV can start the automatic charging mode to charge using the power connection of the grinding device, so that the power can be replenished without interrupting the grinding operation, ensuring the continuity and efficiency of the grinding operation, while reducing the downtime caused by insufficient power, and improving the overall operation automation level and grinding efficiency.

[0038] In one embodiment of the present application, the AGV is connected to the host computer via Modbus TCP, and the AGV detects the heartbeat of the host computer at a predetermined time interval. If the heartbeat of the host computer is not detected after the predetermined time interval, the AGV stops automatically moving.

[0039] In this embodiment, the AGV establishes a communication connection with the host computer through the Modbus TCP protocol, and actively detects the heartbeat signal of the host computer at a predetermined time interval to ensure the stability of the communication link and the normal operation of the host computer. If the heartbeat signal is not detected within the predetermined time interval, the AGV will immediately stop automatic movement to prevent unexpected situations when the communication is interrupted or the host computer fails. As a result, the security of the system is enhanced, ensuring that the AGV can respond in time and take safety measures when the communication with the host computer is interrupted, thereby improving the reliability and safety of the entire automatic grinding system.

[0040] In one embodiment of the present application, the host computer receives one or more status information of the AGV's own manual and automatic status, operation mode and alarm status uploaded by the AGV, so that the host computer can safely control the AGV according to the one or more status information.

[0041] In this embodiment, the host computer can receive status information from the AGV in real time, and the status information includes one or more of the manual and automatic states, the operating mode, and the alarm state. When the AGV is operating in the automatic mode, it will regularly upload its current operating status and any alarm information that occurs to the host computer. The host computer performs safety control based on this information. For example, if the AGV switches from automatic mode to manual mode, or detects a potential fault alarm, the host computer will immediately analyze these state changes and take corresponding safety measures, such as sending instructions to slow down or stop the AGV to ensure the safety of the entire grinding process. This real-time monitoring and response mechanism enables the host computer to effectively manage and control the operation of the AGV, improving the safety and reliability of the system.

[0042] In one embodiment of the present application, the host computer is a PLC controller, an industrial computer or a mobile terminal device.

[0043] In this embodiment, the host computer can be a PLC controller, an industrial computer or a mobile terminal device, all of which have the ability to communicate and control the AGV. For example, the PLC controller, as the host computer, is responsible for receiving real-time data sent by the AGV and generating control instructions based on these data. The industrial computer may be used for more complex data processing and user interface interaction, providing more intuitive operation and monitoring. Mobile terminal devices such as tablets or smart phones allow operators to monitor the status of the AGV and control the grinding process on the move. It should be noted that no matter which device is selected as the host computer, it can communicate with the AGV to achieve precise control and real-time monitoring of the AGV, ensuring the efficient and safe operation of the automatic grinding system.

[0044] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0045] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An automatic grinding system for fan blades, characterized in that: The automatic grinding system includes a grinding device, an AGV and a host computer; the grinding device is arranged on the AGV, and the AGV is communicatively connected with the host computer; when the AGV is in an automatic state, the AGV obtains the distance information between itself and the fan blades and sends it to the host computer, and the host computer generates corresponding movement instructions based on the distance information and sends them to the AGV, and the movement instructions include longitudinal movement parameters, lateral movement parameters and in-situ rotation parameters; the AGV performs corresponding movement operations according to the movement instructions so that the grinding device can grind the fan blades.

2. The automatic grinding system according to claim 1, characterized in that: The AGV includes two distance sensors, which are arranged horizontally side by side. The AGV sends the distance between the two distance sensors and the fan blades to the host computer. The host computer determines the angle formed between the AGV and the fan blades based on the distance difference between the two and the spacing between the two distance sensors, determines the corresponding in-situ rotation parameters based on the angle, and sends them to the AGV.

3. The automatic grinding system according to claim 2, characterized in that: The host computer compares the angle with the preset angle threshold. If the angle is less than or equal to the preset angle threshold, the corresponding in-place rotation parameter is determined to be 0°. If the angle is greater than the preset angle threshold, the corresponding in-place rotation parameter is determined to be the value corresponding to the angle.

4. The automatic grinding system according to claim 1, characterized in that: After the single-pass grinding process is completed, the AGV obtains the minimum distance between it and the fan blade and sends the minimum distance to the host computer. The host computer compares the minimum distance with the preset distance interval. When the minimum distance is within the preset distance interval, the lateral movement parameter of the AGV is determined to be 0; if the minimum distance is not within the preset distance interval, the corresponding lateral movement parameter is generated to adjust the minimum distance between the AGV and the fan blade to within the preset distance interval.

5. The automatic grinding system according to claim 1, characterized in that: The AGV detects its own remaining power. When the AGV is working and the remaining power is less than a predetermined power threshold, the AGV starts automatic charging to charge through the power connection of the grinding device.

6. The automatic grinding system according to claim 1, characterized in that: The AGV is connected to the host computer through Modbus TCP communication. The AGV detects the heartbeat of the host computer at a predetermined time interval. If the heartbeat of the host computer is not detected after the predetermined time interval, the AGV stops automatically moving.

7. The automatic grinding system according to claim 6, characterized in that: The host computer receives one or more status information of the AGV's own manual and automatic status, operation mode and alarm status uploaded by the AGV, so that the host computer can perform safety control on the AGV according to the one or more status information.

8. The automatic grinding system according to any one of claims 1 to 7, characterized in that: The host computer is a PLC controller, an industrial computer or a mobile terminal device.

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