摘要
随着我国风力发电行业的快速发展,风电叶片作为整个风机的关键核心部件正向着大型化和轻量化转变[1]。随着风电叶片越来越大,其在生产过程中的打磨作业难度也随之提升。当前在风电叶片生产企业内叶片的打磨工序仍采用人工加辅助登高工装的方式进行作业,整个过程用工人数多、打磨效率低、打磨质量不稳定、工作环境粉尘浓度大,且存在严重的安全风险。在此情况下,风电叶片自动打磨机器人的开发成为各风电叶片生产企业的一致目标。本文讨论了一种新的风电叶片自动打磨机器人设备,该设备主要由全向AGV小车、升降平台、高效自适应打磨头、库卡长臂下探式机械手、高效防爆除尘器、集成的控制单元及传感控制系统等组成。在风电叶片自动打磨机器人的设备组成中,全向AGV、库卡机械手等均为标准备件,在这里不做介绍。本文主要对自主开发的高效自适应打磨头及自动打磨控制方法做详细阐述。风电叶片自动打磨机器人的应用推广可有效降低叶片生产打磨工序的用工人数、提升打磨效率、稳定打磨质量、改善工序作业环境,并对推进叶片制造行业的智能化水平有积极作用。
With the rapid development of China's wind power generation industry,wind turbine blades,as the key core components of the whole fan,are becoming larger and lighter.With the increasing size of wind turbine blades,the difficulty of grinding operations in the production process is also increasing.At present,the blade grinding process in wind power blade manufacturing enterprises is still carried out by manually adding auxiliary climbing tooling.The whole process needs a large number of workers,and has low grinding efficiency,unstable grinding quality,high dust concentration in the working environment,and serious safety risks.In this case,the development of wind turbine blade automatic grinding robot has become the same goal of each wind turbine blade production enterprises.This paper mainly discusses a new kind of automatic grinding robot equipment for wind turbine blades.The equipment mainly includes omnidirectional AGV car,lifting platform,efficient adaptive grinding head,Kuka long arm downward type manipulator,efficient explosion-proof dust collector,integrated control unit and sensing control system,etc.In the equipment composition of wind turbine blade automatic grinding robot,omnidirectional AGV and Kuka manipulator are all standard spare parts,which are introduced here.This paper mainly describes the self-developed efficient adaptive grinding head and automatic grinding control method in detail.The application and promotion of wind turbine blade automatic grinding robot can effectively reduce the number of workers in the blade production and grinding process,enhance the grinding efficiency,stabilize the grinding quality,improve the working environment of the process,and have a positive effect on promoting the intelligent level of the blade manufacturing industry.
作者
颜晨
陈晓亮
李国良
李成良
YAN Chen;CHEN Xiao-liang;LI Guo-liang;LI Cheng-liang(Sinomatech(HanDan)Wind Power Blade Co.,Ltd.,Handan 056002,China)
出处
《复合材料科学与工程》
CAS
北大核心
2021年第12期114-119,共6页
Composites Science and Engineering
关键词
风电叶片
自适应
打磨头
控制集成
打磨质量
复合材料
wind-power blades
self-adaption
grinding head
control integration
grinding quality
composites
