Design Of Large Stroke Motion Position Detecting Device For Wind Turbine Blade Grinding System

Large-scale wind turbine blades need to be polished several times during the production process.At present,the wind turbine blades are still mainly artificially polished.The operation intensity is large,the dust is too much,the working environment is bad,the manual grinding consistency is poor,and the grinding efficiency is low.The use of robots instead of manual grinding can improve the quality of grinding and increase efficiency.Since the length of the large wind turbine blade is more than 50 m,the robot is combined with the mobile platform to move the blade along the large stroke of the guide rail.CRRC previously used the rack and pinion guide to move the platform,which is costly and difficult to protect in dusty environments.In response to the above problems,CRRC intends to use wheelrail drive instead of the rack-and-pinion mechanism mobile platform,but because of the wheelrail platform application There is a slippage problem and the accuracy of the platform motion cannot be guaranteed.In this paper,for the wind turbine blade grinding and wheel-rail platform,the large-stroke motion position detecting device for wind turbine blade grinding was developed to solve the problem of low motion accuracy of the wheel-rail mobile platform.According to the needs of large stroke and high-precision position detection,a rough and precise composite position detection scheme was proposed and designed.High-precision position detection was realized by setting the positioning base point and adopting motor measurement.This paper introduces the overall composition of the position detection device program,device hardware,software design,completes the experimental test and finally applies to the grinding site.The main contents include: According to the characteristics of wind turbine blade grinding and the need of high-travel position detection,the overall scheme of the device was designed,and the high-precision positioning scheme and station detection scheme design of the device are completed,and relevant test verification was carried out.Based on STM32,the hardware circuit of the device was designed.The design was perfected from the perspectives of equipment reliability,debugging and installation.The hardware schematic and PCB design of the device are completed.The software program design of the device was completed around the function realization of the detecting device and the stability and ease of use of the lifting device.Finally,the experimental platform was built to complete the communication test of the device,the selection test of magnetic steel and magnetic steel group,the accuracy analysis of the device positioning,and the repeated positioning accuracy test.The field installation,calibration of the device and the joint grinding test of the multi-machine system had been completed,and the preliminary success had been achieved.