Grinding device for machine based grinding of rotor blades for wind energy systems

Abstract

Grinding device 1 for machine-based grinding of rotor blades 100 for wind energy systems, comprising at least one industrial robot 30 and a grinding unit 10, 50, 70 that is guided by the industrial robot 30 , wherein the grinding unit 10, 50, 70 comprises a grinding means, 12, 52 and a cleaning device 20 , that cleans the grinding means 12, 52 at its grinding surface 64, 53.

1 . Grinding device ( 1 ) for machine-based grinding of rotor blades ( 100 ) for wind energy systems, comprising:
 a. at least one industrial robot ( 30 ); and   b. a grinding unit ( 10 ,  50 ,  70 ) that is guided by the industrial robot ( 30 ); wherein   c. the grinding unit ( 10 ,  50 ,  70 ) comprises a grinding means ( 12 ,  52 ) and a cleaning device ( 20 ) that cleans the grinding means ( 12 ,  52 ) at its grinding surface ( 64 ,  53 ).   
     
     
         2 . Grinding device according to  claim 1 , wherein the cleaning device ( 20 ) cleans the grinding surface ( 64 ,  53 ) of the grinding means ( 12 ,  52 ) either
 a. from time to time in a cleaning process; or   b. continuously during the grinding.   
     
     
         3 . Grinding device according to  claim 1 , wherein the cleaning device ( 20 ) cleans the grinding surface ( 64 ,  53 ) by means of:
 a. a nozzle ( 24 ) for blowing on of pressurized air; and/or   b. a device ( 26 ) for the suction of grinding dust; and/or   c. a brush ( 22 ) for brushing the grinding surface ( 64 ,  53 ).   
     
     
         4 . Grinding device according to  claim 1 , further comprising a drive unit ( 32 ,  32 ′) for moving the industrial robot ( 30 ) in a direction (L) of the longitudinal axis of a rotor blade ( 100 ). 
     
     
         5 . Grinding device according to  claim 1 , wherein the grinding device ( 10 ,  70 ) comprises a drum grinding unit ( 10 ) with a grinding sleeve ( 12 ). 
     
     
         6 . Grinding device according to  claim 5 , wherein the drum grinding unit ( 10 ) comprises:
 a. a rigid suction drum ( 15 ); and   b. elastic, pneumatically extendable clamping elements ( 17 ), that are arranged at the barrel of the suction drum ( 15 ), wherein   c. the grinding sleeve ( 12 ) is fixed at the suction drum ( 15 ) by the application of pressure onto the clamping elements ( 17 ).   
     
     
         7 . Grinding device according to  claim 6 , wherein
 a. the suction drum ( 15 ) comprises suction openings ( 16 ) at the barrel;   b. air-permitting spaces ( 11 ) are present between the clamping elements ( 17 ); and   c. the grinding sleeve ( 12 ) comprises perforation openings ( 62 ) arranged essentially over its entire surface;   so that grinding dust can be sucked from the grinding surface ( 64 ) through the perforation openings ( 62 ), the air-permitting spaces ( 11 ) and through the suction openings ( 16 ).   
     
     
         8 . Grinding device according to  claim 7 , wherein the grinding sleeve ( 12 ) comprises an air- and particle-flow-permitting-layer ( 13 ), preferably a fleece-layer ( 13 ), through which suction air and grinding dust can flow transversally behind the grinding surface ( 64 ) from the perforation openings ( 62 ) to the air-permitting spaces ( 11 ). 
     
     
         9 . Grinding device according to  claim 5 , wherein the grinding unit ( 70 ) comprises several drum grinding units ( 10 ) that each can be individually brought into contact with the surface ( 102 ) of the rotor blade ( 100 ). 
     
     
         10 . Grinding device according to  claim 9 , wherein the grinding unit ( 20 ) can clean one of the drum grinding units ( 10 ) that is not in contact with the surface of the rotor blade ( 100 ). 
     
     
         11 . Grinding device according to  claim 1 , wherein the grinding unit ( 50 ) comprises a belt grinding unit ( 50 ) with a circulating grinding belt ( 52 ). 
     
     
         12 . Grinding device according to  claim 11 , wherein the grinding belt ( 52 ) is a perforated grinding belt, that comprises perforation openings arranged essentially over its entire surface in order to suck dust through the grinding belt ( 52 ). 
     
     
         13 . Grinding device according to  claim 12 , further comprising a dust removal unit ( 72 ) with
 a. a circulating dust belt; or   b. a dust sleeve ( 74 );   that can be guided by the industrial robot ( 30 ) at at least one surface ( 102 ) of a rotor blade ( 100 ) in order to clean the surface ( 102 ) of the rotor blade ( 100 ) from dust mechanically.   
     
     
         14 . Grinding device according to  claim 1 , wherein the industrial robot ( 30 ) comprises pressure sensors at at least one robot arm ( 34 ,  36 ) or at the head ( 38 ), for controlling the contact pressure of the grinding unit ( 10 ,  50 ,  70 ) or the dust removal unit ( 72 ) onto the rotor blade ( 100 ). 
     
     
         15 . Grinding device according to  claim 1 , wherein the industrial robot ( 30 ) is also used for coating or lacquering the rotor blade ( 100 ).