Large blade type workpiece robot collaborative grinding system and method

Abstract

The invention provides a large blade type workpiece robot collaborative grinding system. The large blade type workpiece robot collaborative grinding system comprises a blade turnover clamping module, horizontal guide rails, N robot grinding units, N measuring modules corresponding to the robot grinding units, a control module and an upper computer module, wherein the control module comprises a tool control submodule and N robot grinding unit control submodules; the blade turnover clamping module is used for mounting and clamping blades to be ground; the two horizontal guide rails are arranged on the two sides of the blades in the long axis direction of the blades, and each horizontal guide rail is at least provided with one robot grinding unit; each robot grinding unit comprises a robot, a matched robot controller and a grinding device; each grinding device is mounted at the tail end of the robot corresponding to the grinding device, and each measuring module is mounted at the tail end of the corresponding robot; and the tool control submodules are connected with the blade turnover clamping module and control the turnover direction, turning angles and clamping operation of the blades. The large blade type workpiece robot collaborative grinding system can improve the grinding efficiency and quality of the blades.

Description

technical field [0001] The invention relates to the technical field of grinding large workpieces, in particular to a robot collaborative grinding system for large blade workpieces. Background technique [0002] As one of the key core components of wind power generation, wind turbine blades are widely used in the energy industry, and their manufacturing level represents the core competitiveness of the national manufacturing industry. Most wind turbine blades are made of difficult-to-process composite materials such as glass fiber reinforced polyester resin, glass fiber reinforced epoxy resin, and coatings. -Grinding the surface-spraying and other processes, the cycle is long and the manufacturing is difficult. After the wind turbine blades are stripped off, their profiles almost generally need to be polished. At present, the traditional grinding of wind power blades mainly adopts the method of manual grinding operation, specifically, workers hold a hand-held grinding machin...

AI Technical Summary

Problems solved by technology

For the grinding of large-scale workpieces such as wind power blades, due to their large size range, changeable shape, and the variability of blade tip parts processing, so far, there has not been a perfect solution for the automatic grinding system of wind power blades by robots.

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