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

Abstract

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, with a treatment device comprising a moving gantry, a robotic system with a control system and a treatment tool of a tool head, comprising the steps of: moving the moving gantry as a moving carriage, generally free from any mechanical limitation, along a profile surface of the profile component, moving the treatment tool essentially transversely to the profile surface of the profile component by means of feed motion robotics that can be activated between the moving carriage and the treatment tool, areal treatment of the large component by the treatment tool, wherein movement of the moving gantry is driven by the control system, and feed motion of the treatment tool is driven by the feed motion robotics, as defined by a model of the profile surface of the profile component, wherein, a number of areal treatment strokes is performed on the large component.

1 . A method for the automated surface treatment of a profile component with a treatment device comprising a moving gantry, a robotic system with a control system and a treatment tool of a tool head, the method comprising:
 using the control system, moving the moving gantry as a moving carriage along a profile surface of the profile component;   moving the treatment tool transversely to the profile surface of the profile component by feed motion robotics that are activated between the moving carriage and the treatment tool, wherein the feed motion robotics is based on a virtual model of the profile surface of the profile component; and   areal treating the profile component by the treatment tool in treatment strokes, wherein a number of areal treatment strokes is performed on the profile component.   
     
     
         2 . The method according to  claim 1  further comprising assessing wear of the treatment tool between a first and a second treatment stroke. 
     
     
         3 . The method according  claim 2  wherein wear is assessed using the following steps:
 moving the treatment tool on a reference body after the first treatment stroke and before the second treatment stroke; and 
 measuring at least one reference parameter between the treatment tool and the reference body. 
 
     
     
         4 . The method according to  claim 3  wherein the at least one reference parameter is at least one of a wear pressure and a wear distance, the method further comprising:
 comparing at least one of the wear pressure with a pressure threshold value and the wear distance with a distance threshold value. 
 
     
     
         5 . The method according to  claim 4 , further comprising replacing or cleaning the treatment tool when at least one of the pressure threshold value and the distance threshold value is exceeded. 
     
     
         6 . The method according to  claim 5  further comprising adjusting a control parameter of the treatment tool based on at least one of the wear pressure and the wear distance during the second treatment stroke. 
     
     
         7 . The method according to  claim 1  wherein at least one contour of the profile surface that is based on the virtual model of the profile surface of the profile component is stored in the control system and the treatment tool is moved along the at least one contour. 
     
     
         8 . The method according to  claim 1  further comprising comparing an identifying characteristic located on the profile component or the workspace associated with the profile component with an identifier of the virtual model of the profile surface of the profile component and a contour in the control system derived from it, wherein the areal treatment of the profile component with the treatment tool is performed when the identifier is attributed to the identifying characteristic. 
     
     
         9 . The method according to  claim 1  wherein obstacles are identified by the treatment device, by an identification sensor system when the obstacles are located in an immediate motion area of at least one of the moving gantry and the robotic system. 
     
     
         10 . The method according to  claim 1  wherein a contour, along which the treatment tool is guided, comprises a grid with points with reverse points on the longitudinal side assigned to the profile surface and facing each other, for a treatment stroke of the treatment tool. 
     
     
         11 . The method according to  claim 1  wherein the profile component is a rotor blade, wherein the rotor blade is held in a pivoting device of the retaining gantry and connected in a controlling manner with the treatment device, wherein 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 and reverse points onto which the treatment tool is placed after the large component has been turned around and prior to a treatment stroke. 
     
     
         12 . The method according to  claim 1  wherein moving at least one of the moving gantry and the feed motion of the treatment tool are performed with the performance being corrected by an adaptive algorithm. 
     
     
         13 . The method according to  claim 1  wherein the treatment tool is a grinding tool. 
     
     
         14 . The method according to  claim 1  further comprising blowing pressurized air to clean the treatment tool. 
     
     
         15 . The method according to  claim 1  wherein 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 first and second treatment strokes. 
     
     
         16 . The method according to  claim 1  wherein a distance, a pressure, or another treatment tool control parameter is controlled in a constant manner. 
     
     
         17 . A treatment device for automated surface treating a profiled component of a wind turbine, the treatment device comprising: 
 a moving gantry configured as a moving carriage that is free from mechanical limitations to move along a profile surface of the profile component;   a treatment tool for surface treatment of the profiled component, wherein the treatment tool is configured to perform a number of treatment strokes on the profiled component; and   a robotic system that includes a control system, the robotic system including feed motion robotics that can be activated between the moving carriage and the treatment tool wherein the treatment tool is positioned substantially transversely to the profile surface of the profile component,   wherein the control system is designed to cause movement of the moving carriage and feed motion of the feed motion robotics as defined by a virtual model of the profile surface of the profile component.   
     
     
         18 . The treatment device according to  claim 17 , wherein wear to the treatment tool can be assessed between a first and a second treatment stroke. 
     
     
         19 . The treatment system comprising:
 a treatment device that includes:
 a moving gantry configured as a moving carriage that is free from mechanical limitations to move along a profile surface of the profile component; 
 a treatment tool for surface treatment of the profiled component, wherein the treatment tool is configured to perform a number of treatment strokes on the profiled component; and 
 a robotic system that includes a control system, the robotic system including feed motion robotics that can be activated between the moving carriage and the treatment tool wherein the treatment tool is positioned substantially transversely to the profile surface of the profile component, wherein the control system is configured to cause movement of the moving carriage and feed motion of the feed motion robotics as defined by a virtual model of the profile surface of the profile component; and 
   a pivoting device of a retaining gantry connected in a controlling manner with the treatment device, the pivoting device being configured to hold the profiled component of a wind turbine such that the pivoting device is configured to rotate the profiled component.