[go: up one dir, main page]

US20150283665A1 - Method for the automated surface treatment of a profiled large component of a wind turbine, treatment device and treatment system - Google Patents

Method for the automated surface treatment of a profiled large component of a wind turbine, treatment device and treatment system Download PDF

Info

Publication number
US20150283665A1
US20150283665A1 US14/435,105 US201314435105A US2015283665A1 US 20150283665 A1 US20150283665 A1 US 20150283665A1 US 201314435105 A US201314435105 A US 201314435105A US 2015283665 A1 US2015283665 A1 US 2015283665A1
Authority
US
United States
Prior art keywords
treatment
treatment tool
profile
component
tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/435,105
Other languages
English (en)
Inventor
Tobias Heilig
Ingo Janßen
Ernst-Jürgen Wolf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wobben Properties GmbH
Original Assignee
Wobben Properties GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wobben Properties GmbH filed Critical Wobben Properties GmbH
Assigned to WOBBEN PROPERTIES GMBH reassignment WOBBEN PROPERTIES GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: JANßEN, Ingo, WOLF, Ernst-Jürgen, HEILIG, Tobias
Publication of US20150283665A1 publication Critical patent/US20150283665A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0007—Movable machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49316—Impeller making
    • Y10T29/4932—Turbomachine making
    • Y10T29/49325—Shaping integrally bladed rotor

Definitions

  • the invention relates to a method for the automated surface treatment, in particular grinding, of a profile component in the form of a profiled large component, in particular of a rotor blade of a wind turbine, as well as to a respective treatment device and a treatment system along with the treatment device.
  • variable profile of the large component can indeed be a problem, even in the case of a profiled large component of a wind turbine—as, for example, in the case of a rotor blade, but also, if applicable, in the case of another large component of the wind turbine, such as a spinner cover, a hub, a nacelle cover or a tower segment or the like.
  • the profile of a rotor blade is complex and, depending on the wind turbine, may actually be subject to variations, the consequence of which might be that they cannot be treated with a comparably inflexible treatment device of the type described above.
  • One or more embodiments of the invention are directed to a method and a device, which, with regard to prior art, are improved and which, may, address at least one of the problems described above. At least one alternative solution for a solution known in prior art shall be proposed.
  • One embodiment of the invention provides a treatment and/or a treatment device and a method enabling more flexibility in the treatment and/or processing of profiled large components of a wind turbine.
  • one embodiment of the invention is directed to designing the device and the method for an efficient, yet precise, treatment and/or processing of the large component as possible.
  • one embodiment is directed to a method and a device, by means of which an automated surface treatment of the large component can be performed in a comparably precise position and/or evenly by means of a treatment tool.
  • One embodiment of the invention also introduces a treatment system including a treatment device as mentioned above, and with a retaining gantry connected so as to control the finishing device, in particular a pivoting device of the retaining gantry that can hold the profiled large component of a wind turbine such that it can rotate.
  • an embodiment of the invention provides for the grinding robot to be mounted to a moving carriage so that it can drive to any position of the rotor blade.
  • control system will drive movement of the moving gantry and feed motion robotics will drive feed motion of the treatment tool, as defined by a model of the profile surface of the profile component.
  • an area means any flat or, in most cases, three-dimensionally curved, particularly complexly arched area pursuant to a profile surface, in particular a surface of the large component, in particular a complexly arched area such as the surface of a rotor blade.
  • an areal treatment stroke may, in principle, comprise the treatment of a randomly arched area or line in space.
  • wear to the treatment tool can be assessed between a first and a second treatment stroke.
  • a treatment and/or processing can comprise for example surface finishing such as grinding, finishing, painting or the like.
  • a treatment and/or processing of the large component may also go deeper into the large component, i.e., underneath its surface. This may, for example, comprise a treatment building the large component, such as the insertion of laminate layers or a similar layered construction of the large component (laminating).
  • the treatment tool shall be guided into a precise position and/or evenly over a large part of the area of the large component.
  • the robotic system can be adjusted with regard to its position prior to the initiation of a treatment stroke to a fixed position, in particular, a real position of the treatment tool in relation to the large component can be adjusted to a virtual position of the treatment tool in relation to the model.
  • a further embodiment recognized that, as soon as a treatment tool—between a first and a second treatment stroke that can be set at will (e.g., with regard to time, location or treatment system or the like)—is subject to wear and tear or the like during a longer lasting large-area treatment, the quality of the treatment will be directly impacted.
  • the further embodiment specifies that a number of areal treatment strokes are performed on the large component and that wear to the treatment tool is assessed between a first and a second treatment stroke.
  • treatment shall mean, in principle, any treatment of a large component removing material as well as any treatment adding material and also any sole treatment measure as such, which essentially does not change the existing material of the profile component but, if need be, merely modifies it.
  • treatment can mean any type of cutting or non-cutting treatment.
  • Selecting a time to assess wear to the treatment tool between a first and a second treatment stroke can be determined in different ways. For example, it can be specified that, in the context of fixed cycles, e.g., after each treatment stroke set with regard to the treatment system (e.g., termination of a movement direction at a reverse point) an assessment of the treatment tool is performed, before the performance of the next treatment stroke.
  • a rotor blade can, for example, be ground along its longitudinal axis, which would define a treatment stroke between two reverse points of the tool head, which could, for example, be at a blade root and at a blade tip, but terminal points of a shorter travel, which can be determined at will, may also limit a treatment stroke between two reverse points.
  • Each grinding process performed on the rotor blade in longitudinal direction would then lead to a constant quality of the surface in the context of the grinding process.
  • a fixed assessment time can also be, for example in accordance with the empirical values of a grinding path or the operating time of the treatment tool which is suitable for the assessment thereof. If the values estimated for the grinding path or the operating time are too high—and if, as a consequence, a relatively significant change occurs in the treatment tool due to abrasive wear—this could lead to decreasing treatment quality. However, this could be prevented by adjusting the cycles, since, in general, such a process can be designed to be adaptive, so that characteristic maps characteristic of a specific treatment tool and a specific large profile component, such as a rotor blade, can be created in the course of performing the process. However it is especially preferable to assess wear to the treatment tool between a first and a second treatment stroke.
  • wear is assessed, with the assessment featuring the following steps:
  • a reference parameter between the treatment tool and a reference body can be determined after the first and the second treatment stroke. If in a comparison of a wear parameter determined on the basis of a reference parameter with a wear threshold value, the wear threshold value is exceeded, the treatment tool can be replaced or the treatment tool can be adjusted at the tool head, in particular in such a way that, in the second treatment stroke, the treatment values of the reference parameters remain the same as in the first treatment stroke.
  • consistent surface quality of the profile is guaranteed for all treatment strokes.
  • wear can be further assessed, with the assessment using the following steps:
  • control parameter of the treatment tool on the basis of the wear pressure and/or wear distance and/or the other wear threshold value can also be adjusted during the second treatment stroke.
  • a contour of the profile surface according to a virtual model of the profile surface of the profile component will be stored in the control system and the treatment tool will be guided along this contour.
  • storing a contour and/or profile surface as defined by a virtual model of the profile surface of the profile component in the control system has proven to be advantageous.
  • extensive calculating time for the movement is kept to a minimum.
  • this time can for example be invested in adaptive control of the feed motion, which in turn is decisive for the actual treatment quality. This leads, in particular, to a control system that is relatively effective in terms of calculating time.
  • the identifier of a virtual model of the profile surface of the profile component and/or of a contour in the control system derived from it will be compared with an identifying characteristic—which will specifically be installed on the profile component, but can, in principle, also be used at another workplace location or at a location accessible to the robotic system.
  • the identifying characteristic can also comprise the function of the above mentioned fixed position for adjusting the position of the robotic system and may, but does not have to, be installed on the large component.
  • the areal treatment of the large component with the treatment tool can only be performed if the identifier can be positively attributed to the identifying characteristic.
  • positive attribution will ensure that the contour and/or the virtual model of the profile surface of the profile component in the control system fits the profile component.
  • an identification sensor is provided on the treatment device, in particular on the tool head, in order to read the identifying characteristic.
  • the identifying characteristic can be realized as a bar code, surface code or a similar simple identifying characteristic.
  • a more complex data exchange during an authentication process can also be used as comparing process.
  • a virtual model of the profile surface of the profile component and/or contour of the profile surface (e.g., a header of the profile surface) that has been completely or partially uploaded to the identification characteristic can also be, first of all, uploaded to the control system of the treatment device during the comparison or be completely or partially replaced and be used for the positive attribution.
  • non-inherent obstacles in particular obstacles in the form of persons, are identified by the treatment device.
  • This ensure that movement of the moving carriage intended to be generally free from any mechanical limitation and to be along a profile surface of the profile component and/or a work movement of the feed motion robotics does not cause any undesired damage to obstacles or persons.
  • an identification sensor system can be designed to identify obstacles, in particular obstacles in the form of persons, in an immediate motion area of the moving gantry and/or the robotic system.
  • a contour along which the treatment tool is guided comprises a grid with points, in particular with points arranged on the longitudinal side of the profile surface—which can be attributed to the trajectory of a treatment stroke—and points facing each other—in particular reverse points for the tool head—which are relevant to limiting the treatment stroke of the treatment tool.
  • the large component in particular a rotor blade
  • a contour, along which the treatment tool is guided comprises a grid with points framed by reverse points assigned to the circumference of the profile surface—in particular reverse points for the tool head—onto which the treatment tool is placed after the large component has been turned around and prior to a treatment stroke.
  • movement of the moving gantry and feed motion of the treatment tool are performed with the performance being corrected by means of an adaptive algorithm.
  • the treatment tool is a grinding tool.
  • the treatment tool is cleaned by blowing in pressurized air.
  • one control parameter of the treatment tool is a peripheral speed of the tool, wherein the peripheral speed is adjusted in such a way that the peripheral speed is essentially the same during the first and the second treatment strokes.
  • a distance and/or a pressure and/or another treatment tool control parameter can be controlled, in particular in relation to the profiled large component, and in particular in a constant manner.
  • FIG. 1 shows a preferred embodiment of a grinding device in a perspective top view
  • FIG. 2 shows a perspective view of the grinding head of the grinding device from FIG. 1 ,
  • FIG. 3 shows a side view of the grinding head of the grinding device from FIG. 1 .
  • FIG. 4 shows a bottom view of the moving carriage of the grinding device from FIG. 1 ,
  • FIG. 5 shows a flow chart of a preferred embodiment of a treatment method in the form of a grinding method for a rotor blade of a wind turbine
  • FIG. 6 shows a schematic view of a treatment system comprising a treatment device and a pivoting device of a retaining gantry for a rotor blade of a wind turbine, to illustrate an especially preferred grinding process while also showing a schematic view of a preferred control concept for the treatment method.
  • FIG. 7 shows a diagram (A) and a flow chart (B) of a preferred assessment method for determining wear to the treatment tool between a first and a second treatment stroke if the treatment tool is designed as a grinding tool.
  • the device for grinding rotor blades for wind turbines illustrated in FIG. 1 includes a grinding robot 2 that includes an arm.
  • a grinding head 1 is attached to the arm.
  • the grinding robot 2 and a suction container 3 are mounted to a moving carriage 4 .
  • the moving carriage 4 can be steered in any direction by a remote control, which can also be designed as a radio remote control.
  • the grinding head 1 is mounted to the head of the grinding robot 2 so that it can rotate relative to the grinding robot 2 .
  • the treatment system presently designed as a grinding machine, comprises three components (i) the robot 2 including a grinding head 1 , which is mounted on a moving carriage 4 , (ii) the moving carriage 4 with control of the robot 2 and the suction device 21 for the dust from the grinding unit and all power electronics, and (iii) a pivoting device of a retaining gantry, in this case a blade support 7 , for the rotor blade.
  • the robot can also be partially guided on tracks; however, preferably it is designed to be freely movable.
  • the moving carriage 4 can be coupled with the control cabinet or one control cabinet by a cable.
  • the control cabinet will serve to consolidate and monitor the safety device and, respectively, bring the robot 2 or the moving carriage 4 to a standstill in case of danger.
  • this control cabinet will be mounted directly on the moving carriage 4 .
  • a compressor unit designed to control all mechanics in the robot 2 , is also mounted on the moving carriage.
  • FIG. 2 shows a perspective view of the grinding head 1 .
  • the grinding head is mounted to the robot arm adapter 23 so that it can rotate.
  • the grinding roller with the grinding tool 20 is located in the grinding head 1 .
  • the grinding roller protrudes from the grinding roller housing 24 .
  • the suction device 21 is installed in the lower area of the grinding roller housing 24 .
  • the suction device serves to move the dust created during the grinding into the suction container 3 .
  • the suction device 21 is connected to the suction container by a hose.
  • the treatment tool which, in this example is designed as a grinding roller, is installed to be movable within the grinding head 1 so that it can move forwards or backwards.
  • the roller itself is adjusted back and forth by a valve and a lever arm.
  • contact pressure is to be kept constant, which is carried out in this example by an adaptive control.
  • Contact pressure can be controlled by the mechanical system and can be set with proportional valves. This means that if the contact pressure becomes too strong—i.e., the contour has changed in some way—the pressure in the proportional valve will also increase and the grinding carriage will be moved back accordingly. If, for example, more than one distance threshold value of 5 cm from the radius of the grinding roller is worn, the grinding roller will be replaced; for wear distances below this, it may not be possible to adjust the grinding roller.
  • FIG. 3 shows a side view of the grinding head 1 .
  • the grinding roller is driven by a motor 31 and a drive belt 33 .
  • the drive belt can also be designed as a chain drive.
  • the grinding roller housing 24 is moved by a pneumatic cylinder 32 .
  • the pneumatic cylinder is connected via the grinding head pivot drive.
  • FIG. 4 shows a bottom view of the moving carriage 4 .
  • the moving carriage is driven by the drive 40 .
  • the moving carriage is steered via steerable rollers 41 .
  • the drive and the control are powered by the energy storage system 42 .
  • FIG. 5 shows the process of a grinding method according to a preferred embodiment:
  • step S 1 the rotor blade is positioned at POS-P in step S 1 and the grinding robot is positioned at POS-R in step S 2 .
  • step S 3 the grinding robot determines a relative position reIPOS, in this example by scanning the rotor blade, i.e., its position in relation to the rotor blade, three times.
  • step S 4 the grinding program is run on the basis of this determined position reIPOS; namely a synchronized first and second grinding program PV, PA for the moving carriage 4 and the feed motion robots, in this example the robot arm and the grinding head.
  • step S 02 the contour CONTOUR is already stored in the program for the grinding robot.
  • the positions for starting up and grinding have been fed into the program as defined by a model MODEL in step S 01 .
  • the surface of the rotor blade is ground in a zigzag shape.
  • FIG. 6 shows the schematic view of an embodiment of a breakdown of treatment strokes.
  • the contours CONTOUR or the coordinates of the contours CONTOUR, are stored in the robot program PA, PV.
  • the individual points Pi of this contour CONTOUR are derived from the computer model MODEL of the rotor blade; preferably automatically, and if applicable also manually. If a new rotor blade has to be adapted to, the computer model and the contour CONTOUR based on it are adjusted accordingly. Automatic adjustment of the computer model MODEL and the robot program CONTOUR of the robot is generally possible, but, depending on the complexity, the adjustment may also be performed manually in a separate design process.
  • the rotor blade 5 is clamped into a preferably 110 ° pivoting device 50 of a retaining gantry, so that it can be approached from each side.
  • a pivoting device 50 designed to pivot the rotor blade about its axis at a rotation angle up to a certain value can be provided.
  • the range of the rotation angle may be chosen at will and so that it is suitable with regard to the reach of the robot.
  • the range of the rotation angle comprises rotation angles at least up to and/or above 90°, especially preferably up to 110° (in accordance with the above mentioned preferred 110° pivoting device), preferably also up to 180°.
  • a suitable rotation angle can be selected for a specific position of the rotor blade and then be changed for another position.
  • the grinding robot 2 i.e., the moving carriage, moves, while pressing the grinding head 1 to the rotor blade, from the blade root 5 . 1 to the blade tip 5 . 2 and grinds one side or one contour of the rotor blade.
  • reverse points Ug 1 , Ug 2 close to the blade root 5 . 1 and the blade tip 5 . 2 for longer trajectories Tg, but also reverse points Uk 1 , Uk 2 for shorter trajectories Tk are possible and, depending on the geometry of the profile, reasonable.
  • the robot Once the robot has reached the end of a treatment stroke, i.e., of the rotor blade at the reverse points Ug 1 , Ug 2 or in between at reverse points Uk 1 , Uk 2 located in between, it moves back and sends a signal that the rotor blade 5 can be pivoted further to a certain position by the pivoting device 50 .
  • This may performed manually as well as, preferably, automatically; to this end, a communication channel 52 is installed accordingly between the robot 2 and the 110° pivoting device of a retaining gantry. If the robot 2 communicates that it has completed a treatment stroke, the rotor blade 5 will be pivoted into another position and then will once again move automatically along this trajectory Tg, Tk of the contour.
  • the rotor blade 5 has a fixed coordinate system just as the robot 2 does at POS-P or POS-R. By determining the position reIPOS of the rotor blade 5 in relation to the robot 2 , the difference between these two coordinate systems is determined. Thus, once the robot 2 knows in which position reIPOS it is in relation to the rotor blade 5 , it moves along the individual points of the contour and thus grinds the rotor blade 5 . An exact adjustment of the rotor blade 5 to the grinding robot 2 is therefore reasonable; the grinding robot 2 is movable and, thus, the grinding robot 2 is adjusted to the rotor blade 5 .
  • the distance between the grinding robot and the rotor blade can vary, but does not have to vary; the contact pressure or the compensation of smaller obstacles can be closely adjusted by the above mentioned adaptive control and in accordance with the program PA.
  • FIG. 7 shows in (A) a diagram of a test bench for determining wear to a treatment head and in (B) a flow chart for assessing wear to the treatment tool between a first and a second treatment stroke.
  • the tool head is located at a position POS.
  • the robot 2 moves the grinding head 1 on a reference body 60 , in this example on a plate, in step P 2 .
  • the wear is determined.
  • the grinding head 1 is slowly pressed to the plate and—using the pressure p and the distance d determined by the measuring system in step P 3 —the amount of wear ABN on the roller is assessed in step P 4 . If it is found in step P 5 that a wear distance d of more than the distance threshold value of 5 cm from the radius of the grinding roller is worn, the grinding roller should be replaced in step P 6 .
  • the frequency of wear assessments may vary. A time-controlled manual assessment is conceivable, as well as an assessment based on how often the contour was traced or how many treatment strokes there were after the assessment. This can also depend on the frequency of readjustment options in step P 7 as long as there is a wear distance d of less than a distance threshold value of 5 cm.
  • the grinding tool can be a commercially available grinding tool as well as a pressure cylinder.
  • a device for cleaning the grinding head where pressurized air is blown into the grinding space to remove any dust from the grinding roller. Cleaning may also be performed manually, but preferably cleaning is also time-controlled or controlled based on grinding instances.
  • the concept is designed to indirectly make allowance for the peripheral speed of the grinding roller to provide a clean grinding pattern.
  • the peripheral speed should be kept constant for all treatment strokes, e.g., at a three- or four-digit rpm value. Since the circumference of the grinding tool changes as the duration of the grinding process increases, it is specified that, preferably, the peripheral speed be adjusted accordingly or that the grinding tool or equivalent treatment tool be replaced or readjusted.
  • the peripheral speed is preferably adjusted every time after wear to is measured, as illustrated in FIG. 7 (A, B).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Wind Motors (AREA)
  • Manipulator (AREA)
  • Milling Processes (AREA)
US14/435,105 2012-10-12 2013-10-10 Method for the automated surface treatment of a profiled large component of a wind turbine, treatment device and treatment system Abandoned US20150283665A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102012019989.9 2012-10-12
DE102012019989 2012-10-12
DE102013210582.7 2013-06-06
DE102013210582.7A DE102013210582A1 (de) 2012-10-12 2013-06-06 Verfahren zur automatisierten Flächenbearbeitung eines profilierten Grossbauteils, einer Windenergieanlage, Bearbeitungsvorrichtung und Bearbeitungssystem
PCT/EP2013/071213 WO2014057061A1 (de) 2012-10-12 2013-10-10 Verfahren zur automatisierten flächenbearbeitung eines profilierten grossbauteils, einer windenergieanlage, bearbeitungsvorrichtung und bearbeitungssystem

Publications (1)

Publication Number Publication Date
US20150283665A1 true US20150283665A1 (en) 2015-10-08

Family

ID=50383379

Family Applications (1)

Application Number Title Priority Date Filing Date
US14/435,105 Abandoned US20150283665A1 (en) 2012-10-12 2013-10-10 Method for the automated surface treatment of a profiled large component of a wind turbine, treatment device and treatment system

Country Status (20)

Country Link
US (1) US20150283665A1 (zh)
EP (1) EP2906390B1 (zh)
JP (1) JP6005871B2 (zh)
KR (1) KR101809333B1 (zh)
CN (1) CN104781043B (zh)
AR (1) AR092992A1 (zh)
AU (1) AU2013328662B2 (zh)
BR (1) BR112015007520A2 (zh)
CA (1) CA2884674C (zh)
CL (1) CL2015000868A1 (zh)
DE (1) DE102013210582A1 (zh)
DK (1) DK2906390T3 (zh)
ES (1) ES2792127T3 (zh)
IN (1) IN2015DN02405A (zh)
NZ (1) NZ707638A (zh)
PT (1) PT2906390T (zh)
RU (1) RU2647407C2 (zh)
TW (1) TWI616275B (zh)
WO (1) WO2014057061A1 (zh)
ZA (1) ZA201501649B (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018058238A1 (en) * 2016-09-27 2018-04-05 Williams & White Machine Inc. Detection apparatus and method for saw blade sharpening operations
US20180272530A1 (en) * 2017-03-27 2018-09-27 Fanuc Corporation Machine tool system and moving method
US10120365B2 (en) 2015-05-14 2018-11-06 Fanuc Corporation Machining system for adjusting number of revolutions of machining tool and feed speed of workpiece
US10688619B2 (en) * 2015-08-12 2020-06-23 Klingspor A/S Abrasion arrangement for sanding head
CN112847038A (zh) * 2021-04-01 2021-05-28 上海艾港风电科技发展有限公司 一种半自动打磨叶片方法及装置
US11819971B2 (en) * 2022-03-22 2023-11-21 Ruiyide (Shanghai) Robot Technology Co., Ltd Wind power blade multi-robot cooperative grinding and roller coating operation assembly line system
WO2023230346A1 (en) * 2022-05-27 2023-11-30 GrayMatter Robotics Inc. System and method for autonomously scanning and processing a part
CN119658532A (zh) * 2025-02-19 2025-03-21 东方鼎晟(厦门)智能装备有限公司 一种减少打磨时抖动的自适应打磨装置

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9272382B2 (en) * 2013-10-08 2016-03-01 The Boeing Company Automated sanding system
CN105312984A (zh) * 2015-03-03 2016-02-10 电子科技大学 大型整体式船用螺旋桨型面数控磨削机床
DE102015004146B3 (de) * 2015-03-27 2016-06-16 Kuka Systems Gmbh Oberflächenbearbeitung eines Bauteils mittels eines mobilen Roboters
CN105108635A (zh) * 2015-09-09 2015-12-02 温州金石机器人科技有限公司 大型构件表面高精度研磨机
DE102015225667A1 (de) 2015-12-17 2017-06-22 Volkswagen Aktiengesellschaft Verfahren zur Bearbeitung eines Werkstückes mit einem Handhabungssystem
WO2017113291A1 (zh) * 2015-12-31 2017-07-06 深圳配天智能技术研究院有限公司 一种自动打磨系统
CN108839439B (zh) * 2018-06-28 2020-07-28 河北科技大学 连铸坯端面清理与喷码机器人末端操作器
EP4041492B1 (en) 2019-10-07 2025-12-31 Vestas Wind Systems A/S GRINDING TOOL FOR GRINDING THE LEADING EDGE OF A WIND TURBINE BLADE
US20240208004A1 (en) * 2022-12-27 2024-06-27 Pratt & Whitney Canada Corp. Robotic polishing system and method for using same

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4391066A (en) * 1980-06-18 1983-07-05 Toyoda Koki Kabushiki Kaisha Grinding machine with detection device for useable limit or grinding wheel
US5193314A (en) * 1990-02-06 1993-03-16 General Electric Company Computer controlled grinding machine for producing objects with complex shapes
US5323572A (en) * 1991-05-07 1994-06-28 Voumard Machines Co. S.A. Precision grinding machine
US6249712B1 (en) * 1995-09-26 2001-06-19 William J. N-O. Boiquaye Adaptive control process and system
US20070141963A1 (en) * 1998-05-21 2007-06-21 Mortell Paul D Automated drill bit re-sharpening and verification system
US20100255758A1 (en) * 2007-09-14 2010-10-07 Strecon A/S Polishing arrangement and method of polishing a workpiece surface
US8567058B2 (en) * 2006-12-22 2013-10-29 Vestas Wind Systems A/S Surface finishing of rotor blades for wind turbine

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5169284A (en) * 1974-11-19 1976-06-15 Tahara Shoei Kiko Kk Jidonaraikensakuseigyosochi
SU891363A1 (ru) * 1979-09-03 1981-12-23 Таджикский политехнический институт Способ ленточного шлифовани
JPS61257754A (ja) * 1985-05-10 1986-11-15 Toshiba Corp 三次元曲面研摩制御装置
JPS6248478A (ja) * 1985-08-29 1987-03-03 フアナツク株式会社 走行形腕ロボツト
JP2508051B2 (ja) * 1987-02-10 1996-06-19 トヨタ自動車株式会社 補正機能付き加工装置
JP2661703B2 (ja) * 1988-05-13 1997-10-08 株式会社日立製作所 ロボットの自律近接制御装置
WO1995009714A1 (en) * 1992-10-05 1995-04-13 Pratt & Whitney, United Technologies Corporation Robotic polishing of planar and non-planar surfaces
DE4341498A1 (de) * 1993-12-06 1995-06-08 Paul Dipl Ing Steinhart Schleifmaschine
JPH07205022A (ja) * 1993-12-30 1995-08-08 Hitachi Constr Mach Co Ltd 力制御ロボットの砥石摩耗補正方法
JP3683616B2 (ja) * 1995-06-23 2005-08-17 株式会社アマダ 板金加工システムにおける加工プログラム選択装置
CA2327846A1 (en) * 1999-12-08 2001-06-08 Nmf Canada Inc. Improved automated method and apparatus for aircraft surface finishing
US6921317B2 (en) * 2002-11-21 2005-07-26 The Boeing Company Automated lapping system
DE102010021016A1 (de) * 2010-05-19 2011-11-24 Liebherr-Verzahntechnik Gmbh Verfahren zum Bearbeiten von Composite-Bauteilen
WO2012003828A1 (en) * 2010-07-09 2012-01-12 Eltronic A/S Abrading arrangement to abrade a surface of an item and method of use thereof
EP2460624A1 (de) * 2010-12-06 2012-06-06 Jöst GmbH Schleifvorrichtung zum maschinellen Schleifen von Rotorblättern für Windkraftanlagen

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4391066A (en) * 1980-06-18 1983-07-05 Toyoda Koki Kabushiki Kaisha Grinding machine with detection device for useable limit or grinding wheel
US5193314A (en) * 1990-02-06 1993-03-16 General Electric Company Computer controlled grinding machine for producing objects with complex shapes
US5323572A (en) * 1991-05-07 1994-06-28 Voumard Machines Co. S.A. Precision grinding machine
US6249712B1 (en) * 1995-09-26 2001-06-19 William J. N-O. Boiquaye Adaptive control process and system
US20070141963A1 (en) * 1998-05-21 2007-06-21 Mortell Paul D Automated drill bit re-sharpening and verification system
US8567058B2 (en) * 2006-12-22 2013-10-29 Vestas Wind Systems A/S Surface finishing of rotor blades for wind turbine
US20100255758A1 (en) * 2007-09-14 2010-10-07 Strecon A/S Polishing arrangement and method of polishing a workpiece surface

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10120365B2 (en) 2015-05-14 2018-11-06 Fanuc Corporation Machining system for adjusting number of revolutions of machining tool and feed speed of workpiece
US10688619B2 (en) * 2015-08-12 2020-06-23 Klingspor A/S Abrasion arrangement for sanding head
WO2018058238A1 (en) * 2016-09-27 2018-04-05 Williams & White Machine Inc. Detection apparatus and method for saw blade sharpening operations
US20180272530A1 (en) * 2017-03-27 2018-09-27 Fanuc Corporation Machine tool system and moving method
US10668618B2 (en) * 2017-03-27 2020-06-02 Fanuc Corporation Machine tool system and moving method
CN112847038A (zh) * 2021-04-01 2021-05-28 上海艾港风电科技发展有限公司 一种半自动打磨叶片方法及装置
US11819971B2 (en) * 2022-03-22 2023-11-21 Ruiyide (Shanghai) Robot Technology Co., Ltd Wind power blade multi-robot cooperative grinding and roller coating operation assembly line system
WO2023230346A1 (en) * 2022-05-27 2023-11-30 GrayMatter Robotics Inc. System and method for autonomously scanning and processing a part
CN119658532A (zh) * 2025-02-19 2025-03-21 东方鼎晟(厦门)智能装备有限公司 一种减少打磨时抖动的自适应打磨装置

Also Published As

Publication number Publication date
AU2013328662B2 (en) 2017-01-05
NZ707638A (en) 2016-03-31
PT2906390T (pt) 2020-05-27
ZA201501649B (en) 2016-07-27
CA2884674C (en) 2017-09-19
EP2906390B1 (de) 2020-03-11
CN104781043A (zh) 2015-07-15
AU2013328662A1 (en) 2015-05-21
KR101809333B1 (ko) 2017-12-14
WO2014057061A1 (de) 2014-04-17
RU2015115156A (ru) 2016-12-10
KR20150067362A (ko) 2015-06-17
DK2906390T3 (da) 2020-05-25
DE102013210582A1 (de) 2014-04-17
TWI616275B (zh) 2018-03-01
IN2015DN02405A (zh) 2015-09-04
JP2015532217A (ja) 2015-11-09
EP2906390A1 (de) 2015-08-19
TW201429614A (zh) 2014-08-01
JP6005871B2 (ja) 2016-10-12
CN104781043B (zh) 2018-08-31
RU2647407C2 (ru) 2018-03-15
CL2015000868A1 (es) 2015-08-28
AR092992A1 (es) 2015-05-13
ES2792127T3 (es) 2020-11-10
CA2884674A1 (en) 2014-04-17
BR112015007520A2 (pt) 2017-07-04

Similar Documents

Publication Publication Date Title
CA2884674C (en) Method for the automated surface treatment of a profiled large component of a wind turbine, treatment device and treatment system
US20200180160A1 (en) Automated wire drawing system for side wall of railway vehicle, and wire drawing process
CN106457718B (zh) 轮胎的修整装置以及方法
CN113262911A (zh) 智能喷涂装置
CN210849447U (zh) 单视觉在线检测刀具磨削系统
CN110205792A (zh) 一种多功能裁剪机
CN109227378A (zh) 一种打磨装置及方法
KR101154151B1 (ko) 강판 측면 문자 마킹장치
EP4026655B1 (en) Method for measuring operating parameters of a machining of a surface and a device for measuring operating parameters
CN219767925U (zh) 一种自动喷砂装置
CN107186430B (zh) 一种智能无人机螺旋桨修剪机及其修剪方法
CN203739085U (zh) 自动伸缩旋转修边刀
CN207126928U (zh) 自动对焦式激光清洗机
CN217371613U (zh) 一种剪刀整形开齿装置
CN112476903B (zh) 一种刮轮胎胶毛边全自动机械手
CN206622952U (zh) 一种排气扇外壳精整设备
CN104354213B (zh) 一种扇骨仿形加工装置
WO2022063369A1 (en) Method and an apparatus for surface treatment of an elongated structure, e.g. a wind turbine blade
CN107647527B (zh) 一种木鞋板的打磨机
CN204295823U (zh) 一种制作扇骨大骨的加工机
CN204160599U (zh) 一种扇骨加工机
CN222382739U (zh) 一种具有除尘防护装置的鞋用抛光机
CN204295824U (zh) 一种扇骨仿形加工装置
CN207326080U (zh) 一种割草机的木工锯片平面磨齿机
CN204748332U (zh) 抛光机的三轴力传感器

Legal Events

Date Code Title Description
AS Assignment

Owner name: WOBBEN PROPERTIES GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HEILIG, TOBIAS;JANSSEN, INGO;WOLF, ERNST-JUERGEN;SIGNING DATES FROM 20150716 TO 20150727;REEL/FRAME:036662/0941

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION