The AGV Guidance of Giant Grinding-polishing Coalescence Robot by Machine Vision and Ackermann Steering System Design

For the grinding and polishing process of the blade surface of a huge or super-jumbo wind driven generator with the working area at about 100$\times $5m
²
, it usually adopts manual grinding operation, followed by manual polishing, with labor-intensity, or employs multi-small and medium-sized robot machine group with single grinding or polishing tool head,leading to two considerable problems as the core technical bottleneck are low accuracy even with unstable quality, and low productivity. Aiming at solving these problems, the current study proposes and designs a grinding- polishing coalesced giant robot to achieve high-precision in efficient grinding and polishing operation. One of the technical difficulties is “to operate in precision meanwhile to move in stability” for the robot. AGV guidance and Ackermann steering system provide an accurate, reliable, and stable position and gesture for the tool head. Based on machine vision and the parameters of the horizontal line of the blade as the basic navigation information, specified reference points are accurately located and possible static objects are literally spotted for auxiliary reference points between the blade and the robot, making the vehicle move from the start, through the intermediate operation, to job completion according to the rational threshold value in the design. In consideration of the high efficiency of the giant robot, the self-guided vehicle is designed with double beams, four bridges and eight wheels as the basic characteristics. Ackermann trapezoidal steering is introduced in the vehicle smartly and in compact. Eight wheels are specially designed with special selection of materials in four groupe. Two groups of wheels are for guiding-positioning-supporting wheels are set at both ends of the vehicle while the middle two groups of wheels are for positioning-supporting. All these tyres are meridian type with reinforced steel wires. On the basis of ensuring strong rigidity, the robot is able to grind and polish continuously and efficiently in motion.