Using API laser tracker to guide blade punching machine to realize online teaching

Everyone knows that the robot has a teaching and programming function, which can make the robot move according to the path we need to complete the actions we want.
Then how to use the robot’s teaching function and make a large-scale robot under the guidance of the laser tracker.
Is it possible to teach the blade punching machine?

The position of the hole at the end of the blade will affect the final installation accuracy of the wind turbine blade.
After the blade is turned over, a blade punching machine is needed to complete the cutting of the total length, as well as punching and punching on the flange.
The accuracy of the position of the blade has an important influence on the final blade installation
.

Below, we can see how the API laser tracker completes dynamic adjustment and teaching
.

1.
Paste a target ball on the boom, rotate the boom one circle, use the laser tracker to measure the center of rotation of the boom, and use the built-in level of the API laser tracker to establish a horizontal coordinate system with the center of the boom at the center of rotation.
Obtain the contour value with the swing center of the boom, use the circular grating as the starting position of 0°, and make a cylindrical pin hole to place the target ball
.

2.
Place the optical target ball SMR at this position, let the mechanical arm rotate one circle, establish a circular plane, and establish a cylindrical coordinate system with the boom rotation center as the axis and the target ball as the starting point
.

3.
Install the target ball on the actual punching point through the tooling, and obtain the actual coordinate data (R, θ) of the actual point at the current position
.

The current status of the blade punching machine industry is:

1.
The punching radius of the punching machine is generally within the range of 1.
5m~2m;

2.
For the position of the hole, the angle should be controlled within ±0.
03°, and the radius should be controlled within 0.
05mm;

3.
All radius values ​​and angles need to be calibrated comprehensively, and the accuracy is not high;

4.
For different types of blades, the radius and angle need to be changed to meet different blade punching; however, it is often expensive to modify and cannot be processed flexibly
.

   The long-term problem faced by the punching machine manufacturers is to calibrate the angle of the punching machine through the circular grating code disc, but often during the installation process, the actual rotation center of the punching mechanism and the center of the circular grating are eccentric, which causes the boom When the radius is constant, there is a big error between the radius value of the punching mechanism and the actual design, and the only way to compensate for the influence caused by the eccentricity is by adjusting the shim
.

 For more information, please log on to the company's official website or You can also call API company representative office in China at 010-59796858 for consultation and negotiation

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