Self-leveling wind power blade end face milling machine

Abstract

The invention discloses a self-leveling wind power blade end face milling machine which comprises an inner ring, an outer ring and a rotating arm, the inner ring is rotationally arranged in the outer ring, the rotating arm is fixed to the front end face of the inner ring in the diameter direction of the inner ring, a milling assembly and a laser range finder are arranged on the rotating arm, and a positioning magnetic attraction assembly is arranged on the rear end face of the inner ring. A main supporting leg is arranged on the periphery of the outer ring and comprises a first telescopic rod, the first telescopic rod is connected with a worm gear and screw lifter through a servo motor so that the first telescopic rod can stretch out and draw back in the radial direction, and a sliding assembly is arranged on one side of the first telescopic rod and comprises a first sliding rail connected with the first telescopic rod; a first ball screw is arranged in the first sliding rail, a first sliding seat is arranged on the first sliding rail, and the first sliding seat is fixedly connected with a first supporting plate supported on the inner surface of the blade. The self-leveling wind power blade end face milling machine is high in safety and high in adjusting precision, meanwhile, it is guaranteed that the end face has good planeness and smoothness, and blades of different specifications can be machined.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine blade end face milling machines, and in particular to a self-leveling wind turbine blade end face milling machine. Background Art

[0002] Wind turbines are power generation equipment that converts wind energy into mechanical energy and then into electrical energy through blades. Blades are key components of wind turbines. Generally, blades and hubs are connected as one through bolts. Therefore, during the blade manufacturing process, a high-strength bolt sleeve is embedded in the end face of the blade root. The end face of the bolt sleeve is assembled with the hub flange, and then the two flange surfaces are locked by a high-strength screw. However, the blades need to withstand wind sweeping in different directions, and the stress they bear is very large. If the connection surface between the blades and the hub is uneven, it will cause the blades to shake, or even damage the entire wind turbine. Therefore, the connection strength between the blades and the hub is very high.

[0003] Since the size of the blade end face is very large, there is no positioning reference, and due to the limitation of its shape, it cannot be placed on an ordinary processing machine tool for processing, which further increases the difficulty of processing. The existing wind turbine blade end face processing equipment generally includes a rotating component, a feeding component, a supporting and positioning component and a milling component component. The rotating component includes an inner ring, an outer ring and a rotating arm. The two ends of the rotating arm are provided with a feeding component, and the milling component component is controlled by the feeding component to extend or retract. The milling component component performs milling on the root end face of the wind turbine blade. The supporting and positioning component is evenly arranged in a ring on the rear end face of the outer ring, and is supported inside the wind turbine blade so that when the milling component component performs milling on the root end face of the wind turbine blade, the wind turbine blade processing equipment as a whole will not shake relative to the root end face of the wind turbine blade. It can improve the processing efficiency of the root end face of the blade while ensuring that the end face has good flatness and finish.

[0004] However, in the existing equipment, when the wind turbine blade processing equipment is moved to support the inside of the wind turbine blade, the rotating arm is made parallel to the end face of the wind turbine blade through manual adjustment, which has low safety and low manual adjustment accuracy. In addition, when the wind turbine blade milling equipment is moved by the existing equipment, a hook is connected to the top of the outer ring and a wire rope is manually hung on the hook to realize the movement of the wind turbine blade milling equipment, which has low safety. Summary of the invention

[0005] The purpose of the present invention is to provide a self-leveling wind turbine blade end milling machine, which has high safety and high adjustment accuracy, while ensuring that the end face has good flatness and smoothness, and can process blades of different specifications.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A self-leveling wind turbine blade end milling machine comprises a rotating assembly, the rotating assembly comprises an inner ring, an outer ring and a rotating arm, the inner ring is rotatably arranged inside the outer ring, a rotating disk is fixedly connected to the positive end surface of the inner ring, the rotating arm is fixed to the rotating disk along the diameter direction of the rotating disk, a milling assembly and a laser rangefinder are arranged on the rotating arm, and a positioning magnetic suction assembly is also arranged on the rotating disk, the positioning magnetic suction assembly is used to be adsorbed on the external wind turbine blade end surface; three groups of main support legs are evenly arranged on the periphery of the outer ring, the main support legs comprise a first telescopic rod, the first telescopic rod is connected to a worm screw elevator through a servo motor to realize the first telescopic rod along the diameter direction The wind turbine blade is telescopically extended and retracted, and a sliding component is provided on the side of the first telescopic rod close to the inner surface of the wind turbine blade. The sliding component includes a first slide rail, which is connected to the first telescopic rod. A first ball screw is provided in the first slide rail, and one end of the first ball screw is fixedly connected to the output end of the servo motor and can rotate under the drive of the servo motor; a first slide seat is provided on the first slide rail, and the first slide seat is fixedly connected to the first support plate. An anti-skid pad is provided on the end surface of the first support plate, and the anti-skid pad is supported on the inner surface of the blade. The first slide seat is screwed on the first ball screw and can slide on the first slide rail under the drive of the first ball screw.

[0008] Preferably, latch teeth are provided circumferentially inside the inner ring, and the inner ring is connected to a gear via a servo motor and the inner ring is driven to rotate by meshing the gear with the latch teeth.

[0009] Preferably, the magnetic attraction component comprises a magnetic attraction support connected to the turntable, and a magnet is provided on one side of the end of the magnetic attraction support close to the wind turbine blade.

[0010] Preferably, the magnetic supports are provided in three groups, and the three groups of magnetic supports have the same length.

[0011] Preferably, a feed assembly is also provided between the rotating arm and the milling assembly, the feed assembly includes a first mounting plate, a second slide rail is fixedly connected to the first mounting plate, the second slide rail is arranged at both ends of the rotating arm, a second ball screw is provided in the second slide rail, a second slide seat is also provided on the second slide rail, the second slide seat is screwed to the second ball screw and can slide on the second slide rail driven by the second ball screw; the milling assembly includes a milling motor, the milling motor is connected to the second slide seat, and the milling motor is fixedly connected to the milling cutter.

[0012] Preferably, a base is provided at both ends of the rotating arm, a third slide rail is provided on the base, a third ball screw is provided inside the third slide rail, a third slide seat is also provided on the third slide rail, the third slide seat is fixedly connected to the mounting plate, the third slide seat is screwed on the third ball screw and can slide on the third slide rail driven by the third ball screw.

[0013] Preferably, it also includes an auxiliary supporting leg, the auxiliary supporting leg includes a second telescopic rod, the second telescopic rod is connected to the first cylinder and is controlled by the first cylinder to extend and retract the second telescopic rod radially, and a second support plate is provided at the end of the second telescopic rod.

[0014] Preferably, an anti-falling assembly is provided on the turntable, and the anti-falling assembly includes a fourth slide rail, a fourth slide seat is provided on the fourth slide rail, a tightening member is provided at one end of the fourth slide seat, the fourth slide seat is connected to the second cylinder, and the tightening member is controlled by the second cylinder to contact with the inner surface of the wind turbine blade.

[0015] Preferably, it also includes a lifting assembly, which includes a connecting part fixedly connected to the turntable, a second mounting plate is provided on the top of the connecting part, and a first hook and an electric push rod are provided on the second mounting plate. When the external steel wire passes through the first hook, the electric push rod moves to one side of the first hook and locks the external steel wire in the first hook.

[0016] Preferably, it also includes a transfer vehicle, on which an electrical control device and a mounting frame are provided; and a second hook is provided on the top of the outer ring.

[0017] In the above technical solution, an electric push rod and an electromagnetic induction switch are arranged on the lifting assembly. When the wire rope is passed through the first hook, the electromagnetic induction switch receives a signal and transmits the signal to the PLC controller. The PLC controls the electric push rod to move toward the hook and lock the wire rope inside the bucket so that it is connected to the first hook. The wire rope will not come out during the movement. The solution is highly practical, does not require manual intervention, and is safe to lift.

[0018] Furthermore, by setting the main support leg, when the positioning magnetic suction component is adsorbed on the end face of the wind turbine blade, the self-leveling wind turbine blade end face milling machine is pushed to move as a whole through the main support leg, and the wind turbine blade end face milling machine is pushed out until the magnetic suction component is not adsorbed on the end face of the wind turbine blade, so as to ensure that when the inner ring rotates, the magnetic suction component will not contact the end face of the wind turbine blade. The main support leg includes a first telescopic rod, which is connected to a reducer through a servo motor, and is connected to a worm screw elevator through the reducer to realize radial extension and contraction of the first telescopic rod. A first support plate is provided at the end of the first telescopic rod. When the milling machine is fixed on the inner surface of the wind turbine blade, the first support plate abuts against the inner surface of the wind turbine blade. At this time, the rotation of the first ball screw is controlled by the servo motor. The first ball screw is fixedly connected to the first support plate. Since the first support plate abuts against the inner surface of the wind turbine blade and does not slip, the first ball screw drives the first slide rail to slip relative to the first slide seat when it rotates, so as to push the milling machine to move outward as a whole, so that the positioning magnetic suction component is separated from the end face of the wind turbine blade. There is no need for manual placement and leveling, and the automation and safety are improved.

[0019] The second cylinder is set to control the tightening or loosening of the anti-falling assembly. When the leveling operation of the milling machine is completed, the second cylinder is controlled by PLC to push the fourth slide to slide on the four slide rails, so that the tightening member is supported on the inner surface of the wind turbine blade. In the event of an operational error or a power outage, the second cylinder will not be affected. The anti-falling assembly controls the tightening member through the second cylinder to contact and support the inner surface of the wind turbine blade, which can effectively prevent the wind turbine blade from falling and causing danger.

[0020] The wind turbine blades are supported simultaneously by providing main supporting legs and auxiliary supporting legs, thereby increasing the contact with the inside of the wind turbine blades and improving the stability of the support. In addition, anti-skid pads are provided on the main supporting legs and the auxiliary supporting legs. When the milling machine moves to the inside of the wind turbine blades and supports the wind turbine blades, the anti-skid pads are against the inner surface of the wind turbine blades, thereby increasing friction and enhancing stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a three-dimensional structural schematic diagram of another angle of the present invention;

[0023] Figure 3 It is a schematic diagram of the three-dimensional structure without a turntable of the present invention;

[0024] Figure 4 It is a schematic diagram of the internal connection structure of the present invention;

[0025] Figure 5 It is a schematic diagram of the enlarged structure of the top of the hoisting assembly of the present invention;

[0026] Figure 6 It is a schematic diagram of the connection structure between the feeding assembly and the milling assembly of the present invention;

[0027] Figure 7 is a schematic diagram of the position of the second electromagnetic induction switch of the present invention;

[0028] Figure 8 It is a schematic diagram of the connection relationship of the sliding assembly of the present invention;

[0029] Fig. 9 It is a schematic diagram of the structure of the anti-fall assembly of the present invention;

[0030] Fig.10 is a schematic diagram of the position of the second hook of the present invention;

[0031] In the figure, 1 is a rotating assembly; 11 is an inner ring; 12 is a rotating disk; 121 is a conductive slip ring; 122 is a latching tooth; 123 is a first servo motor; 124 is a gear; 13 is an outer ring; 131 is a second electromagnetic induction switch; 132 is a second hook; 14 is a rotating arm; 141 is a base; 142 is a third slide rail; 143 is a third ball screw; 144 is a third slide seat; 145 is a bolt; 146 is an end of the third ball screw; 147 is a laser rangefinder; 2 is a feed assembly; 21 is a first mounting plate; 22 is a first electromagnetic induction switch; 23 is a second slide rail; 24 is a second ball screw; 25 is a second servo motor; 26 is a second slide seat; 3 is a milling assembly; 31 is a milling motor; 32 is a milling cutter; 33 is a dust suction pipe ; 4 positioning magnetic suction component; 41 magnetic suction support; 42 magnet; 5 main support leg; 51 first telescopic rod; 52 third servo motor; 53 reducer; 54 worm screw lift; 6 sliding component; 61 first slide rail; 62 first ball screw; 63 first slide seat; 64 first support plate; 65 anti-slip pad; 66 fourth servo motor; 7 auxiliary support leg; 71 second telescopic rod; 72 first cylinder; 73 second support plate; 8 anti-fall component; 81 fourth slide rail; 82 fourth slide seat; 83 tightening member; 84 second cylinder; 9 lifting component; 91 connecting part; 92 second mounting plate; 93 first hook; 94 electric push rod; 95 third electromagnetic induction switch. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings:

[0033] like Figures 1 to 10 As shown, a self-leveling wind turbine blade end face milling machine includes a rotating component 1, a feeding component 2, a positioning magnetic attraction component 4, a milling component 3 and a main support leg 5.

[0034] The rotating assembly 1 comprises an inner ring 11, an outer ring 13 and a rotating arm 14. The inner ring 11 is rotatably connected to the inner part of the outer ring 13. A latching tooth 122 is provided along the inner circumference of the inner ring 11. The inner ring 11 is connected to a reducer via a first servo motor 123. The reducer is connected to a gear 124 and drives the inner ring 11 to rotate via the engagement of the gear 124 with the latching tooth 122. The positive end surface of the inner ring 11 is fixedly connected to a rotating disk 12. The rotating arm 14 is fixedly connected to the middle position of the rotating disk 12 along the radial direction of the rotating disk 12. Bases 141 are provided at both ends of the rotating arm 14. A third slide rail 142 is provided on the base 141 along the radial direction of the rotating arm 14. A third ball screw 143 is provided inside the third slide rail 142. A third slide seat 144 is also provided on the third slide rail 142. The third slide seat 144 is screwed to the third ball screw 143 and can move on the third slide rail 142 under the drive of the third ball screw 143. When controlling the movement of the third slide 144, first loosen the bolt 145 at the end of the third ball screw 143, and connect it to the end 146 of the third ball screw through a wrench or other tools and drive the third ball screw 143 to rotate by rotating, so that the third slide 144 slides on the third slide rail 142 to the milling position that matches the wind turbine blade, and then tighten it with the bolt 145. Compared with direct manual adjustment, adding a ball screw saves more effort. The mechanical connection method fixed by bolt 145 here can improve the stability and reliability of the connection and avoid the deviation caused by shaking during work and affecting the processing accuracy.

[0035] The feeding assembly 2 includes a first mounting plate 21, which is fixedly connected between the third slide 144 and the second slide rail 23. A second ball screw 24 is arranged in the second slide rail 23, and the end of the second ball screw 24 is connected to a second servo motor 25. A second slide 26 is also arranged on the second slide rail 23, and the second slide 26 is screwed on the second ball screw 24 and can slide on the second slide rail 23 under the drive of the second ball screw 24. The milling assembly 3 includes a milling motor 31, which is connected to the second slide 26 and fixedly connected to a milling cutter 32. A protective cover (not shown in the figure) is arranged at the end of the milling cutter 32, which can prevent the dust from milling from being discharged and splashed. At the same time, a dust suction pipe 33 is connected to the protective cover, and the dust suction pipe 33 is also connected to a vacuum cleaner, which can absorb and collect the dust from milling to keep the working environment clean and sanitary. In this embodiment, two first electromagnetic induction switches 22 are provided on the first mounting plate, and the two first electromagnetic induction switches 22 are respectively located at the original position and the feeding position of the feeding assembly 2 .

[0036] A positioning magnetic suction component 4 is also provided on the turntable 12. The positioning magnetic suction component 4 is used to adsorb on the end face of the external wind turbine blade and lock the initial position of the milling machine connected to the wind turbine blade. The positioning magnetic suction component 4 includes a magnetic suction support 41 connected to the turntable 12. The magnetic suction support 41 is provided in three groups, and the lengths and intervals of the three groups of magnetic suction supports 41 are the same. A magnet 42 is provided on the side of the end of the magnetic suction support 41 close to the wind turbine blade. The three groups of magnetic suction supports 41 are used to accurately position the milling machine when connected to the end face of the wind turbine blade. When the three groups of magnets 42 are completely attached to the end face of the wind turbine blade, the rotating arm 14 is flush with the end face of the wind turbine blade.

[0037] A main support leg 5 is provided on the periphery of the outer ring 13. The main support legs 5 are provided with three groups, and the three groups of main support legs 5 all include a first telescopic rod 51. The first telescopic rod 51 is connected to a reducer 53 through a third servo motor 52, and is connected to a worm screw elevator 54 through the reducer 53 to realize the radial extension and contraction of the first telescopic rod 51 along the inner ring 11. A sliding assembly 6 is provided on the side of the first telescopic rod 51 close to the inner surface of the wind turbine blade. The sliding assembly 6 includes a first slide rail 61, which is connected to the first telescopic rod 51. A first ball screw 62 is provided in the first slide rail 61. One end of the first ball screw 62 is fixedly connected to one end of the reducer 53 and can rotate under the drive of the fourth servo motor 66 and the reducer 53. A first slide seat 63 is provided on the first slide rail 61. The first slide seat 63 is fixedly connected to a first support plate 64. An anti-skid pad 65 is provided on the first support plate 64. When the first support plate 64 is supported on the inner surface of the blade, slippage between the first support plate 64 and the inner surface of the blade is prevented. The first slide 63 is screwed on the first ball screw 62 and can slide on the first slide rail 61 driven by the first ball screw 62. When the milling machine is fixed on the inner surface of the wind turbine blade, the first support plate 64 abuts against the inner surface of the wind turbine blade. At this time, the first ball screw 62 is controlled to rotate by the motor connected to the reducer 53. The first ball screw 62 is fixed to the first support plate 64. Since the first support plate 64 abuts against the inner surface of the wind turbine blade and does not slip, the first ball screw 62 drives the first slide rail 61 to slip relative to the first slide 63 when it rotates, that is, to push the milling machine as a whole to move outward until the positioning magnetic suction component 4 is separated from the end face of the wind turbine blade. There is no need for manual placement and leveling, which improves automation and safety. In this embodiment, a second electromagnetic induction switch 131 is provided on the end face of the outer ring 13. When the main support leg 5 retracts to the origin, the second electromagnetic induction switch transmits a signal to the PLC, which is convenient for the PLC to identify whether the milling machine has the conditions for hoisting. In this embodiment, an elevator cylinder sleeve is provided on the outer periphery of the worm screw elevator, and the first telescopic rod of the elevator is not used to directly support the axial force, so the structure is more stable.

[0038] In a preferred embodiment, it also includes auxiliary support legs 7, which include two groups and the two groups of auxiliary support legs 7 are arranged above the rotating arm 14 at intervals. Both groups of auxiliary support legs 7 include a second telescopic rod 71, which is connected to the first cylinder 72 and controls the second telescopic rod 71 to expand and contract radially through the first cylinder 72. The end of the second telescopic rod 71 is provided with a second support plate 73, and an anti-skid pad 65 is provided on the second support plate 73 to strengthen the friction with the inner wall of the wind turbine blade. By setting the main support legs 5 and the auxiliary support legs 7 to support the wind turbine blade at the same time, the contact with the inside of the wind turbine blade is increased while the stability of the support is improved. In addition, the main support legs 5 and the auxiliary support legs 7 are provided with anti-skid pads 65. When the milling machine moves to the inside of the wind turbine blade and supports the wind turbine blade, the anti-skid pads 65 are against the inner surface of the wind turbine blade to further fix and support the position of the milling machine. In this embodiment, a cylinder sleeve is provided on the outer periphery of the first cylinder, and the second telescopic rod of the cylinder is not used directly as the support of the axial force, so that the structure is more stable.

[0039] In a preferred embodiment, an anti-falling assembly 8 is provided on the positive end face of the inner ring 11, and the anti-falling assembly 8 includes a fourth slide rail 81, a fourth slide seat 82 is provided on the fourth slide rail 81, a top fastener 83 is provided at one end of the fourth slide seat 82, the fourth slide seat 82 is connected to the second cylinder 84, and the top fastener 83 is controlled by the second cylinder 84 to contact with the inner surface of the wind turbine blade, and the second cylinder 84 controls the pressure relief operation through an induction valve. When the leveling operation of the milling machine is completed, the second cylinder 84 is controlled by the PLC to push the fourth slide seat 82, and slide on the four slide rails, so that the top fastener 83 is supported on the inner surface of the wind turbine blade. When an operation error or a power outage occurs, the second cylinder 84 will not be affected. The anti-falling assembly 8 controls the top fastener 83 to contact and support the inner surface of the wind turbine blade through the second cylinder 84, which can effectively prevent the wind turbine blade from falling and causing danger.

[0040] In a preferred embodiment, it also includes a hoisting assembly 9, which includes a connecting portion 91 fixed to the turntable, a second mounting plate 92 is provided on the top of the connecting portion 91, and a first hook 93 and an electric push rod 94 are provided on the second mounting plate 92. When the external steel wire passes through the first hook 93, the electric push rod 94 moves to the side of the first hook 93 and locks the external steel wire in the first hook 93. By arranging the electric push rod 94 on the hoisting assembly 9, when the steel wire rope is passed through the first hook 93, the third electromagnetic induction switch 95 receives a signal and transmits the signal to the PLC controller, and the electric push rod 94 is controlled by the PLC to move to the side close to the first hook 93 and lock the steel wire rope inside the first hook 93, so that it is connected to the first hook 93, and the steel wire rope will not fall out during the movement. It is highly practical and does not require manual participation, which improves safety.

[0041] In a preferred case, a transfer vehicle is also included. The transfer vehicle is provided with an electrical control device and a mounting frame. A conductive slip ring 121 is provided in the center of the rotating arm 14. The cable of the electrical control device passes through the conductive slip ring 121 to transmit electricity and signals to the milling machine, ensuring the normal operation of the milling machine and enabling the operation of the machine to be more stable and efficient, thereby enabling the continuous rotation of the rotating arm 14 and comprehensive and continuous milling of the blade end face. When the milling machine is not in use, it can be placed and fixed on the mounting frame. The transfer vehicle can conveniently transport the milling machine. A second hook 132 is also provided on the top of the outer ring 13 to ensure that the second hook 132 is always facing upward. When the turntable 12 stops unexpectedly, the turntable 12 can be moved by hoisting it on the second hook 132 through a wire rope.

[0042] When the above embodiment is in use, a transfer vehicle is used to transport the milling machine to the vicinity of the end face of the blade root, and then a lifting device is used to hang the wire rope on the first hook 93 and receive a signal through the electromagnetic induction switch, and the signal is transmitted to the PLC controller, and the electric push rod 94 is controlled by the PLC to move toward the side close to the first hook and lock the wire rope inside the first hook. At this time, the milling machine is hoisted to the root of the blade, so that the two lower groups of main support legs 5 are against the lower side of the inner wall of the blade root, and the milling machine is initially supported and positioned, and then the milling machine is continued to be brought close to the end face of the blade, and at the same time, the two lower groups of magnetic suction components are adsorbed on the end face of the wind turbine blade, and then the top magnetic suction component is also adsorbed on the end face of the wind turbine blade through the mobile lifting device. At this time, the top group of main support legs 5 extends out and contacts the inner surface of the wind turbine blade. At this time, the three groups of main support legs 5 are supported from the inside of the wind turbine blade, so that the wind turbine blade and the milling machine are in a connected state, and the end face of the wind turbine blade is parallel to the rotating arm 14. The reducer 53 is further connected through the third servo motor 52, and the first ball screw 62 is driven by the reducer 53 to rotate to realize the overall translation of the milling machine until the distance between the positioning magnetic suction component 4 and the end face of the wind turbine blade is 20 mm. Then, the inner ring 11 is controlled to rotate and the rotating arm 14 is driven to rotate synchronously through the first servo motor 123, and the leveling operation is performed through the laser rangefinder 147 arranged at the end of the rotating arm 14. After the leveling operation is completed, the second cylinder 84 pushes the tightening member 83 to be fixed on the inner surface of the wind turbine blade, and the auxiliary support leg 7 is supported on the inner surface of the wind turbine blade. Further adjust the position of the third slide on the third slide rail so that the milling cutter 32 corresponds to the end face of the wind turbine blade and use the bolt 145 to fix the third slide on the third slide rail. Then, the swing arm 14 rotates under the drive of the inner ring 11. The milling cutter 32 accurately controls the feed amount under the action of the second ball screw to mill the end face of the wind turbine blade to ensure the consistency of milling. The milling cutter 32 quickly mills the uneven position to make its flatness smoother and smoother. The processing process is fast and convenient. After the processing is completed, the milling machine is hoisted to the fixed frame of the transfer vehicle for fixed placement.

[0043] This embodiment is only an illustration of the concept and implementation of the present invention, and does not limit it. Under the concept of the present invention, technical solutions that have not been substantially changed are still within the scope of protection.

Claims

1. A self-leveling wind turbine blade end milling machine, comprising a rotating assembly, the rotating assembly comprising an inner ring, an outer ring and a rotating arm, the inner ring is rotatably arranged inside the outer ring, a rotating disk is fixedly connected to the positive end surface of the inner ring, the rotating arm is fixed on the rotating disk along the diameter direction of the rotating disk, a milling assembly and a laser rangefinder are arranged on the rotating arm, characterized in that: A positioning magnetic attraction component is also provided on the turntable, and the positioning magnetic attraction component is used to be adsorbed on the external end face of the wind turbine blade; three groups of main support legs are evenly arranged on the periphery of the outer ring, and the main support legs include a first telescopic rod, and the first telescopic rod is connected to a worm screw elevator through a servo motor to realize radial extension and retraction of the first telescopic rod, and a sliding component is provided on the side of the first telescopic rod close to the inner surface of the wind turbine blade, and the sliding component includes a first slide rail, and the first slide rail is connected to the first telescopic rod, and a first ball screw is provided in the first slide rail, and one end of the first ball screw is fixedly connected to the output end of the servo motor and can rotate under the drive of the servo motor; a first slide seat is provided on the first slide rail, and the first slide seat is fixedly connected to the first support plate, and an anti-skid pad is provided on the end face of the first support plate, and the anti-skid pad is supported on the inner surface of the blade, and the first slide seat is screwed on the first ball screw and can slide on the first slide rail under the drive of the first ball screw.

2. The self-leveling wind turbine blade end milling machine according to claim 1, characterized in that: The inner ring is provided with latch teeth in the circumferential direction. The inner ring is connected to the gear through the servo motor and the inner ring is driven to rotate through the meshing of the gear and the latch teeth.

3. The self-leveling wind turbine blade end milling machine according to claim 1, characterized in that: The magnetic attraction component comprises a magnetic attraction support connected to a rotating disk, and a magnet is arranged on one side of the end of the magnetic attraction support close to the wind turbine blade.

4. The self-leveling wind turbine blade end milling machine according to claim 3, characterized in that: The magnetic supports are provided in three groups, and the three groups of magnetic supports have the same length.

5. The self-leveling wind turbine blade end milling machine according to claim 1, characterized in that: A feeding assembly is also provided between the rotating arm and the milling assembly, and the feeding assembly includes a first mounting plate, and a second slide rail is fixedly connected to the first mounting plate, and the second slide rail is arranged at both ends of the rotating arm, and a second ball screw is provided in the second slide rail, and a second slide seat is also provided on the second slide rail, and the second slide seat is screwed on the second ball screw and can slide on the second slide rail under the drive of the second ball screw; the milling assembly includes a milling motor, and the milling motor is connected to the second slide seat, and the milling motor is fixedly connected to the milling cutter.

6. The self-leveling wind turbine blade end milling machine according to claim 5, characterized in that: A base is also provided at both ends of the rotating arm, a third slide rail is provided on the base, a third ball screw is provided inside the third slide rail, a third slide seat is also provided on the third slide rail, the third slide seat is fixedly connected to the mounting plate, the third slide seat is screwed on the third ball screw and can slide on the third slide rail under the drive of the third ball screw.

7. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: It also includes an auxiliary supporting leg, which includes a second telescopic rod. The second telescopic rod is connected to the first cylinder and is controlled by the first cylinder to extend and retract radially. A second supporting plate is provided at the end of the second telescopic rod.

8. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: An anti-falling assembly is provided on the turntable, and the anti-falling assembly includes a fourth slide rail, a fourth slide seat is provided on the fourth slide rail, a tightening piece is provided at one end of the fourth slide seat, the fourth slide seat is connected to the second cylinder, and the tightening piece is controlled by the second cylinder to contact with the inner surface of the wind turbine blade.

9. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: It also includes a lifting assembly, which includes a connecting portion fixedly connected to the turntable, a second mounting plate is provided on the top of the connecting portion, a first hook and an electric push rod are provided on the second mounting plate, and when the external steel wire passes through the first hook, the electric push rod moves to one side of the first hook and locks the external steel wire in the first hook.

10. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: It also includes a transfer vehicle, on which an electrical control device and a mounting frame are arranged; and a second hook is arranged on the top of the outer ring.

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