Development And Process Application Research Of Robot Grinding And Polishing System For Wind Power Blade Mould

In recent years,the continuous expansion of wind turbines has been accompanied by the continuous upgrading of wind power blades and their molds.Mold manufacturing is facing the challenge of technological iteration.Wind power blades and molds usually need to be polished during the production process.The current mode is that workers use pneumatic sanders to work,which has problems such as low efficiency and harsh operating environment.Based on the above,this article takes wind power blade molds as objects.A set of robot grinding and polishing system was developed,and the process method of automatic grinding and polishing of wind turbine blade mold by robot was obtained through experiments.It basically replaced manual grinding and realized the robot grinding of wind turbine blade mold and put it into actual production.The main contents are as follows:First of all,by studying the forming process and material characteristics of the wind power blade mold,the demand development of the robot grinding system was carried out.Based on the system requirements and the different motion relationships of the workpiece and the tool,three system feasibility schemes were designed;After demonstrating the feasibility of the production process,the layout of the plan,and verifying the reach of the robot,the mode of "mold fixing&robot movement" was adopted and the hardware system design selection and software system overview were completed;the functional requirements of the grinding actuator were analyzed,Completed its component design and frame structure analysis,the on-site operation shows that the design of the polishing actuator is reasonable,safe and reliable.Secondly,in view of the problem of the redundant working space of the grinding system robot and the insufficient robot stiffness affecting the extraction of process parameters,the grinding system is simplified based on the stiffness performance,the robot stiffness model is established,and the stiffness performance quotient based on the Rayleigh quotient is proposed as a Scalar measurement quantitatively analyzes the stiffness performance of the robot’s typical grinding posture,and obtains the robot stiffness variation rule and the optimal stiffness posture range,ensuring that the grinding system works in a posture with better stiffness,which lays a foundation for the optimization of process parameters.Finally,a process test was designed by researching the mechanism of manual grinding and surface quality evaluation indexes were proposed.A set of grinding process parameters were obtained from orthogonal test and single factor test.After the mold was polished,the average surface roughness reached Rz3.012μm,which was better than the system The preset is reduced by 39.76%,and the microscopic inspection shows no obvious scratches on the surface;based on the test factor range analysis,it is concluded that the abrasive particle size is the main factor affecting the polishing quality,followed by the tool speed.In the process improvement test,methods such as post-grinding polishing and multiple grindings were tried to provide a reference for the new process;the field application verification of the grinding system was carried out,and the mold surface quality,system efficiency and processing consistency all reached expectations.