Semi-automatic grinding head control system

Abstract

The semi-automatic grinding head control system comprises a distance measuring sensor, a central control unit, a pressure sensor, a torque motor, a base motor and a lifting arm motor. The distance measuring sensor is used for feeding back vertical angle data of the grinding head and the contact surface in real time, and the central control unit controls and adjusts the vertical direction angle of the grinding head and the contact surface; the pressure sensor is used for collecting force data in the perpendicular direction of the grinding head and the contact face in real time, and the center control unit controls and adjusts the torque of the grinding head. The torque motor is used for adjusting the torque of the grinding head; the base motor is used for controlling the angle of the lower rotating small arm; the grinding motor is used for driving the grinding head to grind; the lifting arm motor is used for adjusting the lifting height of the polishing head small arm. The grinding head can evenly grind grinding objects such as contact surface radian and unevenness within an allowable steady-state error, the grinding quality is good, the grinding efficiency is high, and the grinding head is suitable for application and popularization.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of semi-automatic grinding equipment control, and particularly to a semi-automatic grinding head control system. Background Art

[0002] Currently, under the premise of global warming, the world is undergoing an energy transition. From traditional energy to sustainable green energy, the utilization rate of wind energy is developing rapidly, and wind energy is converted into electrical energy through wind turbines. Wind turbine blades are the core components that convert wind energy into mechanical energy in wind turbines, and their aerodynamic efficiency directly affects the power generation capacity of the whole machine. However, the traditional grinding method for wind turbine blades still uses manual grinding. This grinding method not only has low grinding efficiency, difficult to control the consistency of grinding quality, poor adaptability and stability, but also has problems such as high noise, high dust, and difficulty in large-area manual grinding.

[0003] The above problems need to be solved urgently. Summary of the Invention

[0004] To solve the related technical problems, the embodiments of the present invention provide a semi-automatic grinding head control system to solve the problems mentioned in the above background art section.

[0005] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0006] A semi-automatic grinding head control system, the system includes:

[0007] A ranging sensor, configured to real-time feedback the vertical angle data between the grinding head and the contact surface to the central control unit, and the central control unit controls and adjusts the vertical direction angle between the grinding head and the contact surface according to the received data;

[0008] A pressure sensor, configured to real-time collect the vertical direction force data between the grinding head and the contact surface and output it to the central control unit, and the central control unit controls and adjusts the grinding head torque according to the received data;

[0009] A torque motor, configured to adjust the grinding head torque according to the instruction output by the central control unit;

[0010] A base motor, configured to rotate the small arm angle under the control of the central control unit;

[0011] A grinding motor, configured to drive the grinding head to grind under the control of the central control unit;

[0012] A lifting arm motor, configured to adjust the lifting height of the grinding head small arm according to the instruction output by the central control unit.

[0013] As an optional implementation manner, the semi-automatic grinding head control system further includes:

[0014] A human-machine interaction interface for allowing a user to input grinding object parameters and grinding control parameters to the central control unit and display actual grinding data.

[0015] As an optional implementation, the central control unit is further configured to:

[0016] Automatically determine whether the grinding object meets the automatic grinding scenario according to the received grinding object parameters and grinding control-related parameters.

[0017] As an optional implementation, the central control unit is further configured to:

[0018] Automatically calculate the grinding path according to the received grinding object parameters and grinding control-related parameters.

[0019] As an optional implementation, the central control unit is further configured to:

[0020] Switch the grinding scenario to manual grinding and achieve manual grinding through manual intervention.

[0021] As an optional implementation, the pressure sensor is disposed on the auxiliary roller.

[0022] As an optional implementation, the distance measuring sensor uses a laser distance measuring sensor.

[0023] As an optional implementation, the torque motor, the base motor, the grinding motor, and the lifting arm motor all use synchronous servo motors.

[0024] As an optional implementation, the semi-automatic grinding head control system further includes:

[0025] A vacuum cleaner for dust removal during the grinding process.

[0026] As an optional implementation, the vacuum cleaner uses a negative pressure vacuum cleaner.

[0027] The semi-automatic grinding head control system proposed in the embodiments of the present invention automatically determines whether the grinding object meets the automatic grinding scenario according to the received grinding object parameters and grinding control-related parameters, and automatically calculates the grinding path; the vertical angle data between the grinding head and the contact surface is real-time fed back by a distance measuring sensor, and the vertical direction angle between the grinding head and the contact surface is controlled and adjusted by the central control unit; the vertical direction force data between the grinding head and the contact surface is real-time collected by a pressure sensor, and the grinding head torque is controlled and adjusted by the central control unit; the torque motor is controlled by the central control unit to adjust the grinding head torque, the base motor is controlled to rotate the small arm angle, the grinding motor is controlled to drive the grinding head to grind, and the lifting arm motor is controlled to adjust the lifting height of the small arm of the grinding head. In view of the actual situation of the surface curvature and unevenness of the contact surface of the grinding object, the technical solution proposed in the embodiments of the present invention realizes the uniform grinding of the grinding head within the allowable steady-state error, with good grinding quality and high grinding efficiency. Moreover, the present invention is provided with a human-computer interaction interface, and the user can input the grinding object parameters and grinding control parameters to the central control unit through the human-computer interaction interface, and the actual grinding data can also be displayed on the human-computer interaction interface, realizing the real-time and intuitive observation of the user on data such as the current small arm lifting angle, grinding head speed, grinding head torque, and remaining grinding distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the background technology and embodiment descriptions of the present invention. Obviously, the drawings in the following descriptions are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the content of the embodiments of the present invention and these drawings.

[0029] Figure 1 It is a block diagram of the semi-automatic grinding head control system provided by the embodiments of the present invention;

[0030] Figure 2 It is a control principle diagram of the semi-automatic grinding head control system provided by the embodiments of the present invention;

[0031] Figure 3 It is a control logic diagram of the semi-automatic grinding head control system provided by the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] In order to make the technical problems solved by the present invention, the technical solutions adopted, and the achieved technical effects clearer, the following will further describe the technical solutions of the embodiments of the present invention in detail with reference to the drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0033] Please refer to Figure 1 as shown Figure 1 which is the structural block diagram of the semi - automatic grinding head control system provided by the embodiment of the present invention. As shown in the figure, the semi - automatic grinding head control system in this embodiment includes a ranging sensor, a central control unit, a pressure sensor, a torque motor, a base motor, a grinding motor, and a lifting arm motor.

[0034] The ranging sensor is used to real - time feedback the vertical angle data between the grinding head and the contact surface to the central control unit, and the central control unit controls and adjusts the vertical direction angle between the grinding head and the contact surface according to the received data.

[0035] The pressure sensor is used to real - time collect the force data in the vertical direction between the grinding head and the contact surface and output it to the central control unit, and the central control unit controls and adjusts the torque of the grinding head according to the received data.

[0036] The torque motor is used to adjust the torque of the grinding head according to the instruction output by the central control unit.

[0037] The base motor is used to rotate the angle of the small arm under the control of the central control unit.

[0038] The grinding motor is used to drive the grinding head to grind under the control of the central control unit.

[0039] The lifting arm motor is used to adjust the lifting height of the small arm of the grinding head according to the instruction output by the central control unit.

[0040] Exemplarily, the ranging sensor uses but is not limited to a laser ranging sensor. In this embodiment, the central control unit controls and real - time corrects the vertical direction angle between the grinding head and the contact surface according to the feedback value of the laser ranging sensor.

[0041] Exemplarily, the pressure sensor is arranged on the auxiliary roller. In this embodiment, the force control in the vertical direction between the grinding head and the contact surface is realized through the auxiliary wheel with a pressure sensor.

[0042] Exemplarily, the semi - automatic grinding head control system further includes a vacuum cleaner. The vacuum cleaner is used to remove dust during the grinding process. In this embodiment, the vacuum cleaner uses a negative pressure vacuum cleaner.

[0043] Exemplarily, the semi - automatic grinding head control system further includes a human - machine interaction interface; the human - machine interaction interface is used for the user to input grinding object parameters, grinding control parameters, etc. to the central control unit, and display the actual grinding data.

[0044] In this embodiment, the grinding object parameters include, but are not limited to, the length, width, and height of the grinding object. The grinding control parameters include, but are not limited to, the speed of the grinding motor, the speed of the lifting motor, the speed of the carrier, the torque of the grinding head, whether the vacuum cleaner is turned on, etc.

[0045] Exemplarily, the central control unit is further configured to automatically determine whether the grinding object meets the automatic grinding scenario according to the received grinding object parameters and grinding control related parameters. In this embodiment, if the central control unit determines that the grinding object does not meet the automatic grinding scenario, manual intervention can be performed.

[0046] Exemplarily, the central control unit is further configured to automatically calculate the grinding path according to the received grinding object parameters and grinding control related parameters.

[0047] Exemplarily, the central control unit is further configured to switch the grinding scenario to manual grinding and implement manual grinding through manual intervention.

[0048] Exemplarily, the torque motor, the base motor, the grinding motor, and the lifting arm motor all adopt, but are not limited to, synchronous servo motors.

[0049] Specifically, in this embodiment, the small arm of the grinding head (i.e., the mechanical small arm) is used to control the grinding head to move up and down in an arc with the connection point of the small arm and the large arm as the center and the length of the small arm as the radius. The mechanical large arm is used to control the overall spatial rotation of the grinding head and support the grinding head.

[0050] In this embodiment, the central control unit adopts, but is not limited to, a programmable logic controller (PLC). The pressure sensor and the ranging sensor are connected to the central control unit through analog signals; the human-machine interface is connected to the central control unit through the TCP / IP protocol. The torque motor, the base motor, the grinding motor, and the lifting arm motor are connected to the central control unit by adopting the E CAT industrial bus protocol.

[0051] In this embodiment, the control principle of the semi-automatic grinding head control system is as Figure 2As shown in the figure, INPUT in the figure represents the external input, i.e., the pressure sensor signal; U(t) represents the PID transfer function, which is adjusted through the P, I, and D coefficients in the function; PLC is the central control unit; OUTPUT represents the steady-state error value obtained after the PID function processing; M represents the controlled object, i.e., the torque motor; FEEDBACK is the motor torque feedback value, which is re-introduced into the function, and continuous adjustment is carried out to finally achieve numerical steady-state adjustment. During operation, the pressure sensor collects the force data in the vertical direction between the grinding head and the contact surface in real time and feeds it back to the central control unit; after receiving the feedback value from the pressure sensor, the central control unit calculates the compensation value through PID and controls the torque motor to act, so as to realize the real-time adjustment of the grinding head torque and the real-time adjustment of the system steady-state error. In this embodiment, the following mathematical model is set in the central control unit:

[0052] X = R * COS(forearm lifting angle)

[0053] H = R * SIN(forearm lifting angle)

[0054]

[0055] Among them, X is the distance in the vertical direction between the grinding head and the contact surface, and H is the distance of the normal line in the vertical direction between the grinding head and the contact surface. When the value of X is too small and the vehicle cannot compensate, the system will alarm. For example, when the maximum distance allowed for the vehicle to the front obstacle is 200 mm, X < 200, the system alarms and stops. When planning the grinding path in the central control unit, the value of X will be automatically compared with the input value: width, and the comparison method is as described above. When the value of H is too large and the vehicle cannot compensate, the system will alarm. For example, when the maximum height is 2000 mm, H > 2000, the system alarms and stops. The value of the U(t) function is the compensation value calculated through PID after the central control unit receives the feedback value from the pressure sensor. When the contact surface exceeds the grinding head angle adjustment range (for example, ±10°), the system will also alarm and stop.

[0056] In this embodiment, when the semi-automatic grinding head control system works, after starting, the system starts. First, parameters need to be input, such as the length, width, height of the grinding object, the speed of the grinding motor, the speed of the lifting motor, the speed of the vehicle, the opening of the vacuum cleaner, the torque of the grinding head, etc. After the parameters are input, the central control unit will automatically calculate whether the parameters meet the conditions for automatic grinding operation according to the built-in function. If the value exceeds the range, the system will hang an error and prompt manual processing. The central control unit uses the above mathematical model to automatically plan the path and triggers the grinding system to start automatic operation. After a grinding cycle is completed, a completion signal is output, and this signal is sent to the vehicle. After receiving the completion signal, the vehicle moves a distance, which is the width of the grinding head. After the movement is completed, a signal is sent to the grinding head, and the grinding head continues to work until all grinding work is completed.

[0057] The semi-automatic grinding head control system proposed in this embodiment automatically determines whether the grinding object meets the automatic grinding scenario and automatically calculates the grinding path according to the received grinding object parameters and grinding control related parameters; the vertical angle data between the grinding head and the contact surface is real-time fed back through a ranging sensor, and the vertical direction angle between the grinding head and the contact surface is controlled and adjusted through the central control unit; the vertical direction force data between the grinding head and the contact surface is real-time collected through a pressure sensor, and the torque of the grinding head is controlled and adjusted through the central control unit to keep the torque of the grinding head fluctuating within the allowable range; the torque motor is controlled through the central control unit to adjust the torque of the grinding head, the base motor is controlled to rotate the small arm angle, the grinding motor is controlled to drive the grinding head to grind, and the lifting arm motor is controlled to adjust the lifting height of the small arm of the grinding head. In view of the actual situation of the surface curvature and unevenness of the contact surface of the grinding object, in the technical solution proposed in the embodiment of the present invention, the central control unit calculates the compensation value through PID and adjusts it in real time, realizing the uniform grinding of the grinding head within the allowable steady-state error, with good grinding quality and high grinding efficiency.

[0058] The semi-automatic grinding head control system proposed in this embodiment can be flexibly configured according to the actual use scenario, and a human-machine interaction interface is added. Users can observe the situation of the grinding head in real time, improving the practicality of equipment monitoring. Through the human-machine interaction interface, users can observe the current small arm lifting angle, grinding head speed, grinding head torque, remaining grinding distance, etc., and can also input parameters such as the length, width, height, grinding head speed, and grinding head torque of the grinding object.

[0059] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it can also include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A semi-automatic grinding head control system, characterized in that: include: The distance measuring sensor is used to feed back the vertical angle data between the grinding head and the contact surface to the central control unit in real time. The central control unit controls and adjusts the vertical angle between the grinding head and the contact surface according to the received data. The pressure sensor is used to collect the vertical force data between the grinding head and the contact surface in real time and output it to the central control unit. The central control unit controls and adjusts the grinding head torque according to the received data. A torque motor, used to adjust the grinding head torque according to the instructions output by the central control unit; A base motor, used for rotating the angle of the forearm under the control of the central control unit; A grinding motor, used for driving the grinding head to grind under the control of the central control unit; The arm lifting motor is used to adjust the lifting height of the grinding head arm according to the instructions output by the central control unit.

2. The semi-automatic grinding head control system according to claim 1, characterized in that: Also includes: The human-computer interaction interface is used for allowing the user to input grinding object parameters and grinding control parameters into the central control unit, and to display actual grinding data.

3. The semi-automatic grinding head control system according to claim 2, characterized in that: The central control unit is also used for: According to the received grinding object parameters and grinding control related parameters, it is automatically determined whether the grinding object meets the automatic grinding scenario.

4. The semi-automatic grinding head control system according to claim 3, characterized in that: The central control unit is also used for: The grinding path is automatically calculated based on the received grinding object parameters and grinding control related parameters.

5. The semi-automatic grinding head control system according to claim 4, characterized in that: The central control unit is also used for: Switch the polishing scene to manual polishing and implement manual polishing through human intervention.

6. The semi-automatic grinding head control system according to claim 1, characterized in that: The pressure sensor is arranged on the auxiliary roller.

7. The semi-automatic grinding head control system according to claim 1, characterized in that: The distance measuring sensor adopts a laser distance measuring sensor.

8. The semi-automatic grinding head control system according to any one of claims 1 to 7, characterized in that: The torque motor, base motor, grinding motor and arm lifting motor are all synchronous servo motors.

9. The semi-automatic grinding head control system according to claim 8, characterized in that: Also includes: A vacuum cleaner is used to remove dust during the sanding process.

10. The semi-automatic grinding head control system according to claim 9, characterized in that: The vacuum cleaner is a negative pressure vacuum cleaner.

Images