Automated tool setting system for square-type wind turbine blade end milling machine

Abstract

This invention provides an automated tool setting system for a square-type wind turbine blade end-face milling machine. The system includes a motion controller, a three-axis linkage device, a milling head mounted on the three-axis linkage device and including a milling cutter head for rotating and milling studs on the wind turbine blade end-face, and a ranging laser head mounted on the milling head for sensing the actual drop of the studs relative to the wind turbine blade end-face. The three-axis linkage device is vertically and vertically movable on the square frame of the square-type wind turbine blade end-face milling machine. It is configured to, under the control of the motion controller, drive the milling head to move along the Z and X axes and feed along the Y axis based on the actual drop sensed by the ranging laser head. Furthermore, the system ensures that the movement trajectory of the milling head along the Z and X axes is a circular trajectory adapted to the distribution shape of the studs, thereby enabling the milling head to complete the milling of the studs on the wind turbine blade end-face under the control of the motion controller. This invention automates the entire milling process—ranging measurement, tool setting, and milling—while ensuring milling accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power blade end face processing, and particularly relates to an automatic tool setting system for a square frame type wind power blade end face milling machine. BACKGROUND

[0002] A wind turbine generally comprises a tower, wind turbine blades, a hub, a nacelle, a drive train within the nacelle, a control system, a generator and the like. The wind turbine blades and the hub are generally connected by a threaded connection, so that a pre-embedded part, i.e. a bolt, is arranged at the root end of the blade during the manufacturing process of the blade. Before the blade is connected to the hub, the root end of the blade, i.e. the root end face of the blade, needs to be ensured a certain accuracy, i.e. the entire end face and the pre-embedded part need to reach a unified accuracy, which is generally achieved by a milling processing method to make the flatness meet the specified requirements.

[0003] The existing wind power blade end face milling machine generally needs to support the blade from the inside and then perform milling, but due to the large diameter of the blade root end, the internal supporting fixation method is not only unsafe and unreliable, but also increases the difficulty of positioning and processing the end face of the blade root end. Therefore, the applicant designs a square frame type wind power blade end face milling machine, which is fixed and clamped from the outside by a fixed clamping device installed on each corner of the square frame. However, the existing automatic milling system is no longer suitable for this milling machine, so it is urgent to design a new automatic milling system to complete the milling. SUMMARY

[0004] Therefore, it would be advantageous to provide an automatic tool setting system for a square frame type wind power blade end face milling machine.

[0005] To achieve the above-mentioned purpose, the present application provides an automatic tool setting system for a square frame type wind power blade end face milling machine, which comprises a motion controller, a three-axis linkage device, a milling head and a distance measuring laser head, the three-axis linkage device, the milling head and the distance measuring laser head are electrically connected with the motion controller, wherein the milling head is installed on the three-axis linkage device and comprises a milling cutter head for rotating and milling the studs on the end face of the wind power blade; the distance measuring laser head is installed on the milling head for sensing the actual drop of the studs relative to the end face of the wind power blade; the three-axis linkage device is vertically and upwardly movably installed on the square frame of the square frame type wind power blade end face milling machine, and is arranged to be able to drive the milling head to move along the Z-axis and the X-axis and to feed along the Y-axis under the control of the motion controller according to the actual drop sensed by the distance measuring laser head, and to enable the movement trajectory of the milling head along the Z-axis and the X-axis to be a circular trajectory adapted to the distribution shape of the studs on the end face of the wind power blade, so that the milling head completes the milling of the studs on the end face of the wind power blade under the control of the motion controller.

[0006] In this invention, the motion controller can process the actual drop of the stud relative to the end face of the wind turbine blade measured by the ranging laser head and control the three-axis linkage device and the milling head to perform actions. The circular trajectory motion formed by the three-axis linkage device driving the milling head to move simultaneously along the Z and X axes can enable the milling head to cover all studs. The movement of the milling head along the Y axis driven by the three-axis linkage device can enable the milling head to feed towards the studs. The rotation of the milling cutter head can complete the milling of the studs. The entire milling process is automated under the control of the motion controller.

[0007] Furthermore, the motion controller includes an information acquisition module electrically connected to the ranging laser head, a data processing module electrically connected to the information acquisition module, and a control module electrically connected to the data processing module. The information acquisition module is configured to acquire the actual drop, and the data processing module is configured to calculate the actual distance between the milling head and the stud and the number of circular motions required by the milling head based on the actual drop, so that the control module controls the three-axis linkage device and the movement of the milling head.

[0008] With the above structural setup, the laser sensor can transmit the actual drop on the stud to the information acquisition module. The data processing module calculates the highest point of the stud and the actual distance between the highest point and the milling head. Then, the control module guides the three-axis linkage device to move and guides the milling head to start milling from the highest point.

[0009] Furthermore, the three-axis linkage device includes an X-axis crossbeam assembly, a Z-axis moving mechanism, an X-axis moving mechanism, and a Y-axis feed mechanism. The Z-axis moving mechanism is fixed to the rear side of the X-axis crossbeam assembly and is movably connected to the left and right sides of the frame along the Z-axis. The X-axis moving mechanism is movably mounted on the front side of the X-axis crossbeam assembly along the X-axis. The Y-axis feed mechanism is mounted on the top of the X-axis crossbeam assembly via the X-axis moving mechanism and is movably supported by the milling head along the Y-axis.

[0010] In this invention, through the above structure, the milling head can be driven by the Y-axis feed mechanism to feed along the Y-axis direction. The Y-axis feed mechanism can be driven by the X-axis moving mechanism and the Z-axis moving mechanism to move in a circular trajectory along the vertical plane where the X-axis and Z-axis are located, thereby milling the studs on the end face of the entire wind turbine blade.

[0011] Furthermore, position sensors are installed on the Z-axis moving mechanism, X-axis moving mechanism, and Y-axis feed mechanism, and these position sensors are electrically connected to the motion controller.

[0012] The above structural design enables the motion controller to control and realize the movement of the milling head in the X, Y, and Z axes in real time.

[0013] Furthermore, the Z-axis moving mechanism, X-axis moving mechanism, and Y-axis feeding mechanism each include a Z-axis servo motor, an X-axis servo motor, and a Y-axis servo motor equipped with a position sensor, wherein the position sensor is an encoder.

[0014] With the above settings, the motion controller can control the position in the X, Y, and Z axes based on the encoder information on these motors, and then control the start and stop of each motor as needed.

[0015] Furthermore, the X-axis crossbeam assembly includes an X-axis crossbeam, a left crossbeam connecting seat and a right crossbeam connecting seat mounted on the left and right sides of the X-axis crossbeam, and an X-axis slide rail mounted on the top of the X-axis crossbeam.

[0016] The above structural design enables the X-axis beam assembly to support the X-axis moving mechanism, the Y-axis feed mechanism, and the milling head, while also connecting them to the Z-axis moving mechanism.

[0017] Furthermore, the Z-axis moving mechanism also includes a left connecting seat and a right connecting seat that are fixedly connected to the left crossbeam connecting seat and the right crossbeam connecting seat respectively; a Z-axis moving long shaft that is rotatably mounted on the left connecting seat and the right connecting seat at both ends respectively; a left Z-axis gear and a right Z-axis gear that are mounted on the inside of the left connecting seat and the right connecting seat respectively; and a left Z-axis rack and a right Z-axis rack that are mounted on the left and right sides of the frame and are adapted to mesh with the left Z-axis gear and the right Z-axis gear respectively. The Z-axis servo motor is mounted on the right connecting seat and drives the Z-axis moving long shaft. The left connecting seat and the right connecting seat are both provided with X-axis open slides and Y-axis open slides that are adapted to slide and connect the left and right sides of the frame.

[0018] With the above structural arrangement, the front side of the Z-axis moving mechanism is fixed to the rear side of the X-axis crossbeam assembly. The rear side of the Z-axis moving mechanism is slidably connected to one side of the left and right sides of the frame via the X-direction open slide and the Y-direction open slide on each of the left and right connecting seats. On the other hand, the left Z-direction gear and the right Z-direction gear driven by the Z-direction moving long shaft mesh with the left Z-direction rack and the right Z-direction rack set on the left and right sides of the frame respectively to achieve Z-direction movement, thereby enabling the Z-axis moving mechanism to move vertically up and down along the frame.

[0019] Furthermore, the Z-axis servo motor is driven by a Z-axis reducer to connect to the Z-axis moving long shaft, and the Z-axis reducer is mounted on the outside of the right-side connecting seat via a reducer connecting seat.

[0020] With the above structural configuration, the Z-axis servo motor can drive the Z-axis moving long shaft via the Z-axis reducer. Then, the Z-axis moving long shaft drives the left Z-axis gear and the right Z-axis gear on it to rotate together. As a result, the Z-axis moving mechanism moves up and down along the left Z-axis rack and the right Z-axis rack fixed on the left and right sides of the frame, thereby driving the X-axis crossbeam assembly and the X-axis moving mechanism and Y-axis feed mechanism on it to move up and down.

[0021] Furthermore, the X-axis moving mechanism also includes an X-axis moving seat that is slidably connected to the X-axis slide rail, an X-axis gear that is rotatably mounted on the X-axis moving seat, and an X-axis rack that is fixedly mounted on the front side of the X-axis beam and meshes with the X-axis gear. The bottom of the X-axis moving seat is provided with a front motor seat, and an X-axis servo motor is mounted on the front motor seat and drives the X-axis gear located on the rear side of the front motor seat. The Y-axis feed mechanism is mounted on the top of the X-axis beam assembly via the X-axis moving seat.

[0022] With the above structural design, the X-axis servo motor can drive the X-axis gear to move along the X-axis rack, thereby the entire X-axis moving seat drives the Y-axis feed mechanism to move along the X-axis direction.

[0023] Furthermore, the Y-axis feed mechanism also includes a Y-axis moving base that is slidably mounted on the X-axis moving base, a Y-axis servo motor that is fixedly mounted on the front side of the X-axis moving base and drives the Y-axis moving base, and a milling head that is mounted on the Y-axis moving base.

[0024] With the above structural design, the Y-axis feed mechanism can drive the milling head to feed along the Y-axis direction via the Y-axis moving seat.

[0025] Furthermore, the milling head includes a milling mounting bracket, a milling power box mounted on the milling mounting bracket, and a milling cutter head driven by the milling power box to rotate, wherein the aforementioned ranging laser head is mounted on the milling power box.

[0026] The above structural design enables the milling cutter head to mill the studs on the entire end face of the wind turbine blade, and the placement of the ranging laser head on the milling head allows for precise control of the milling amount.

[0027] These and other aspects of the present invention will be more clearly illustrated by referring to the embodiments described below. Attached Figure Description

[0028] The structure of the invention, as well as further objects and advantages, will be better understood from the following description taken in conjunction with the accompanying drawings, wherein like reference numerals identify like elements:

[0029] Figure 1This is a three-dimensional schematic diagram of an automated tool setting system for a square-type wind turbine blade end milling machine according to a specific embodiment of the present invention, applied to a square-type wind turbine blade end milling machine.

[0030] Figure 2 yes Figure 1 The diagram shows a three-dimensional schematic of most of the structures of the automated tool setting system for a block-type wind turbine blade end milling machine.

[0031] Figure 3 yes Figure 2 An exploded 3D view of an automated tool setting system for a block-shaped wind turbine blade end milling machine.

[0032] Figure 4 yes Figure 2 Another exploded view of the automated tool setting system for a block-shaped wind turbine blade end milling machine;

[0033] Figure 5 yes Figure 1 A magnified schematic diagram of part D of the block-shaped wind turbine blade end milling machine shown.

[0034] Figure 6 yes Figure 1 The right-side plan view of the box-type wind turbine blade end milling machine shown.

[0035] Figure 7 yes Figure 6 A magnified schematic diagram of part E of the block-shaped wind turbine blade end milling machine shown.

[0036] Figure 8 yes Figure 2 The diagram shows the three-dimensional structure of the automated tool setting system for the square-shaped wind turbine blade end milling machine after removing the Z-axis moving mechanism and the X-axis crossbeam assembly.

[0037] Figure 9 yes Figure 8 Exploded view of the three-dimensional structure shown;

[0038] Figure 10 yes Figure 2 A three-dimensional schematic diagram of the right connecting seat of the Z-axis moving mechanism of the three-axis linkage device of the automated tool setting system for the end milling machine of the square wind turbine blade.

[0039] Figure 11 yes Figure 2 The diagram shows a three-dimensional view of the left connecting seat of the Z-axis moving mechanism of the three-axis linkage device of the automated tool setting system for the end milling machine of the square wind turbine blade. Detailed Implementation

[0040] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0041] like Figures 1 to 9 As shown, an automated tool setting system for a square wind turbine blade end milling machine 100 according to a specific embodiment of the present invention includes a motion controller (not shown), a three-axis linkage device 200, a milling head 9, and a ranging laser head 91, which are electrically connected to the motion controller. The milling head 9 is mounted on the three-axis linkage device 200 and includes a milling cutter head 94 for rotating and milling studs (not shown) on the end face of the wind turbine blade; a ranging laser head 91 is mounted on the milling head 9 for sensing the actual drop of the studs relative to the end face of the wind turbine blade; the three-axis linkage device 200 is vertically movable on the frame 101 of the frame-type wind turbine blade end face milling machine 100 and is configured to drive the milling head 9 to move along the Z-axis and X-axis and feed along the Y-axis according to the actual drop sensed by the ranging laser head 91 under the control of the motion controller, and to make the movement trajectory of the milling head 9 along the Z-axis and X-axis a circular trajectory that matches the distribution shape of the studs on the end face of the wind turbine blade, so that the milling head 9 completes the milling of the studs on the end face of the wind turbine blade under the control of the motion controller.

[0042] It should be noted that, in this embodiment, the motion controller includes an information acquisition module (not shown) electrically connected to the ranging laser head 91, a data processing module (not shown) electrically connected to the information acquisition module, and a control module (not shown) electrically connected to the data processing module. The information acquisition module is configured to acquire the actual drop, and the data processing module is configured to calculate the actual distance between the milling head 9 and the stud and the number of revolutions required for the milling head 9 to move along the circular trajectory based on the actual drop, so that the control module controls the movement of the three-axis linkage device 200 and the milling head 9.

[0043] For example Figures 1 to 9 As shown, the three-axis linkage device 200 includes an X-axis crossbeam assembly 1, a Z-axis moving mechanism 3, an X-axis moving mechanism 5, and a Y-axis feed mechanism 7. The Z-axis moving mechanism 3 is fixed to the rear side of the X-axis crossbeam assembly 1 and is movably connected to the left and right sides of the frame 101 along the Z-axis. The X-axis moving mechanism 5 is movably mounted on the front side of the X-axis crossbeam assembly 1 along the X-axis. The Y-axis feed mechanism 7 is mounted on the top of the X-axis crossbeam assembly 1 via the X-axis moving mechanism 5 and is movably supported along the Y-axis by the milling head 9. Specifically, in this embodiment, the Z-axis moving mechanism 3 and the X-axis moving mechanism 5 are configured to drive the Y-axis feed mechanism 7 and its milling head 9 to move along a circular trajectory adapted to the stud distribution shape on the end face of the wind turbine blade under the control of the motion controller. Simultaneously, the Y-axis feed mechanism 7 is configured to drive its milling head 9 to feed along the Y-axis direction.

[0044] like Figures 2 to 4As shown, in this embodiment, the X-axis crossbeam assembly 1 includes an X-axis crossbeam 10, a left crossbeam connecting seat 11 and a right crossbeam connecting seat 12 installed on the left and right sides of the X-axis crossbeam 10, and an X-axis slide rail 15 installed on the top of the X-axis crossbeam 10.

[0045] like Figures 2 to 4 As shown, and refer to Figure 1 , Figures 5 to 7 The Z-axis moving mechanism 3 is fixed to the rear side of the X-axis beam 10 of the X-axis beam assembly 1, and is configured to be movably connected to the left and right sides of the square frame 101 of the square end milling 100, i.e., the left column 102 and the right column 104 of the square frame 101, in the Z-axis direction (i.e., movably connected along the Z-axis direction).

[0046] like Figures 1 to 7 as well as Figure 10 and Figure 11 As shown, in this embodiment, the Z-axis movement mechanism 3 includes a Z-axis servo motor 30, a left connecting seat 31 and a right connecting seat 32, a Z-axis moving long shaft 33, a left Z-axis gear 34 and a right Z-axis gear 35, a left Z-axis rack 36 and a right Z-axis rack 37. The Z-axis servo motor 30 is mounted on the right connecting seat 32 and drives the Z-axis moving long shaft 33. The left connecting seat 31 and the right connecting seat 32 are fixedly connected to the left crossbeam connecting seat 11 and the right crossbeam connecting seat 12, respectively. The two ends of the Z-axis moving long shaft 33 are rotatably mounted on the left connecting seat 31 and the right connecting seat 32, respectively. The left Z-axis gear 34 and the right Z-axis gear 35 are mounted on the Z-axis moving long shaft 33 on the inner sides of the left connecting seat 31 and the right connecting seat 32, respectively. The left Z-axis rack 36 and the right Z-axis rack 37 are respectively installed on the left column 102 and the right column 104 of the frame 101, and are adapted to mesh with the left Z-axis gear 34 and the right Z-axis gear 35 respectively.

[0047] like Figure 5 , Figure 10 and Figure 11 As shown, both the left connecting seat 31 and the right connecting seat 32 are provided with an X-direction open slide 38 and a Y-direction open slide 39. Figure 5 As shown, taking the right-side connecting seat 32 as an example, its X-direction open slide 38 and Y-direction open slide 39 are respectively slidably connected to the first slide rail 184 and the second slide rail 194 on the right column 104 of the frame 101. Additionally, as... Figure 5 As shown, and refer to Figure 2 and Figure 4 The Z-axis servo motor 30 is driven by the Z-axis reducer 40 and connected to the Z-axis moving long shaft 33. The Z-axis reducer 40 is mounted on the outside of the right-side connecting seat 32 via the reducer connecting seat 41.

[0048] like Figures 2 to 4 As shown, and with reference Figure 8 andFigure 9 The X-axis moving mechanism 5 is movably mounted on the front side of the X-axis crossbeam assembly 1 along the X-axis (i.e., movably along the X-axis direction), and includes an X-axis servo motor 50, an X-axis moving seat 55, an X-axis gear 57, and an X-axis rack 59. The X-axis moving seat 55 is slidably connected to the X-axis slide rail 15; the X-axis gear 57 is rotatably mounted on the X-axis moving seat 55; and the X-axis rack 59 is fixedly mounted on the front side of the X-axis crossbeam 10. Figure 5 (This is clearly shown), and it meshes with the X-axis gear 57. Specifically, as... Figure 8 and Figure 9 As shown, in this embodiment, a front motor mount 56 is provided at the bottom of the X-axis moving seat 55, the X-axis servo motor 50 is mounted on the front side of the front motor mount 56, and the X-axis gear 57 is located on the rear side of the front motor mount 56 and is driven and connected by the X-axis servo motor 50.

[0049] For example Figure 8 and Figure 9 As shown, the Y-axis feed mechanism 7 is mounted on the top of the X-axis beam assembly 1 via the X-axis moving mechanism 5 and is configured to movably support the milling head 9 along the Y-axis (i.e., movably along the Y-axis direction). Specifically, in this embodiment, the Y-axis feed mechanism 7 includes a Y-axis servo motor 70 and a Y-axis moving seat 75. The Y-axis servo motor 70 is fixedly mounted on the front side of the X-axis moving seat 55 and drives the Y-axis moving seat 75. Meanwhile, the Y-axis moving seat 75 is slidably mounted on the X-axis moving seat 55, thereby being able to move back and forth relative to the X-axis moving seat 55 along the Y-axis direction under the drive of the Y-axis servo motor 70.

[0050] It should be noted that in this embodiment, encoders (not shown) are provided on the Z-axis servo motor 30, X-axis servo motor 50 and Y-axis servo motor 70. These encoders are electrically connected to the motion controller as position sensors, so that the motion controller can accurately control the movement of the three-axis linkage device 200 in the X-axis, Y-axis and Z-axis directions by controlling the start and stop of the Z-axis servo motor 30, X-axis servo motor 50 and Y-axis servo motor 70.

[0051] In addition, for example Figure 8 and Figure 9 As shown, it should be noted that the milling head 9 is mounted on the Y-axis moving base 75, and the milling head 9 includes a milling mounting support 92, a milling power box 90 mounted on the milling mounting support 92, and the aforementioned milling cutter head 94 driven by the milling power box 90. In this embodiment, the ranging laser head 91 is mounted on the milling power box 90 and moves together with the milling head 9, thereby enabling the measurement of the milled end face of the workpiece before and after processing.

[0052] This invention enables the motion controller to accurately calculate the amount of milling required for the stud and the number of milling revolutions (i.e., the number of revolutions of the aforementioned circular trajectory) by setting a ranging laser head on the milling head. Through three-axis linkage motion control, it is no longer necessary to rotate the electrode for power supply as in the traditional circular method. Instead, the power line and signal line can be connected by a cable chain. The advantage of this is that the signal is stable and interference-free, thus making the entire milling machine safe and reliable.

[0053] Additionally, it should be noted that in this article, "X-direction," "Y-direction," and "Z-direction" refer to the directions along the X-axis, Y-axis, and Z-axis, respectively.

[0054] The following is for reference. Figures 1 to 11 Here is a brief introduction to the working process of the automated tool setting system for the end milling machine of the square wind turbine blade of this invention:

[0055] First, the motion controller controls the three-axis linkage device 200 to move, driving the ranging laser head 91 to move in a circular arc (i.e., a circular trajectory) with the center of the root end face of the wind turbine blade as the center. The ranging laser head 91 transmits the actual drop of the studs on the root end face of the wind turbine blade relative to the root end face to the information acquisition module of the motion controller, and the data processing module processes it to calculate the highest point of all studs on the root end face of the wind turbine blade, thereby obtaining the absolute position of the highest point and the actual distance between the milling head 9 and the milling cutter head 94 of the milling head 9. Based on this, the control module of the motion controller guides the three-axis linkage device 200 to move the milling head 9 in three axes, while the milling cutter head 94 of the milling head 9 rotates to mill the studs from the highest point.

[0056] Since both the information acquisition module and the data processing module of the motion controller have data on the actual drop mentioned above, the data processing module automatically calculates how many milling revolutions (i.e., the predetermined number of revolutions) are needed to mill the surface. In this case, once the milling head 9 completes the predetermined number of milling revolutions, the milling head 9 automatically stops milling (by controlling the milling power box 90 to stop via the motion controller) and automatically returns to a safe distance (by controlling the three-axis linkage device 200 via the motion controller).

[0057] After the milling head 9 is milled flat and then retracts to a safe distance, the motion controller can drive the ranging laser head 91 to move around the center of the root end face of the wind turbine blade in an arc program, thereby obtaining the actual drop of the stud relative to the root end face, and thus knowing the peak and valley values ​​of the stud, that is, the plane machining accuracy, to verify whether the plane machining accuracy is qualified.

[0058] This invention uses a ranging laser head 91 to measure and evaluate the studs on the root end face of the wind turbine blade before and after milling, ensuring milling accuracy. At the same time, through three-axis linkage control, unlike the traditional winding method which requires rotating electrodes for power supply, both power lines and signal lines can be connected via cable chains. This has the advantage of stable and interference-free signals, thus demonstrating the safety and reliability of this invention.

[0059] The technical content and features of this invention have been disclosed above. However, it is understood that, under the inventive concept of this invention, those skilled in the art can make various changes and improvements to the above structure, including combinations of the technical features disclosed or claimed herein, as well as other combinations that explicitly include these features. These modifications and / or combinations all fall within the technical field of this invention and are within the scope of protection of the claims of this invention.

Claims

1. An automated tool setting system for a square-frame wind turbine blade end face milling machine, characterized in that... include: The system includes a motion controller, a three-axis linkage device, a milling head, and a ranging laser head. The three-axis linkage device, milling head, and ranging laser head are electrically connected to the motion controller. The milling head is mounted on the three-axis linkage device and includes a milling cutter for rotating and milling studs on the end face of the wind turbine blade. The ranging laser head is mounted on the milling head to sense the actual drop of the studs relative to the end face of the wind turbine blade. The three-axis linkage device is vertically movable and mounted on the frame of the square-type wind turbine blade end face milling machine. It is configured to, under the control of the motion controller, drive the milling head to move along the Z and X axes and feed along the Y axis according to the actual drop sensed by the ranging laser head. Furthermore, the movement trajectory of the milling head along the Z and X axes is a circular trajectory adapted to the distribution shape of the studs on the end face of the wind turbine blade, thereby enabling the milling head to complete the milling of the studs on the end face of the wind turbine blade under the control of the motion controller.

2. The automated tool setting system for the end face milling machine of the square-shaped wind turbine blade as described in claim 1, characterized in that, The motion controller includes an information acquisition module electrically connected to the ranging laser head, a data processing module electrically connected to the information acquisition module, and a control module electrically connected to the data processing module. The information acquisition module is configured to acquire the actual drop, and the data processing module is configured to calculate the actual distance between the milling head and the stud and the number of revolutions the milling head needs to make along the circular trajectory based on the actual drop, so that the control module can control the movement of the three-axis linkage device and the milling head.

3. The automated tool setting system for the end face milling machine of the square-shaped wind turbine blade as described in claim 1 or 2, characterized in that, The three-axis linkage device includes an X-axis crossbeam assembly, a Z-axis moving mechanism, and a Y-axis feed mechanism. The Z-axis moving mechanism is fixed to the rear side of the X-axis crossbeam assembly and is movably connected to the left and right sides of the frame along the Z-axis. The X-axis moving mechanism is movably mounted on the front side of the X-axis crossbeam assembly along the X-axis. The Y-axis feed mechanism is mounted on the top of the X-axis crossbeam assembly via the X-axis moving mechanism and is movably supported by the milling head along the Y-axis.

4. The automated tool setting system for the end face milling machine of the square-shaped wind turbine blade as described in claim 3, characterized in that, Position sensors are provided on the Z-axis moving mechanism, the X-axis moving mechanism and the Y-axis feeding mechanism, and these position sensors are electrically connected to the motion controller.

5. The automated tool setting system for the end face milling machine of the square-shaped wind turbine blade as described in claim 4, characterized in that, The Z-axis moving mechanism, the X-axis moving mechanism, and the Y-axis feeding mechanism each include a Z-axis servo motor, an X-axis servo motor, and a Y-axis servo motor on which the position sensor is mounted, wherein the position sensor is an encoder.

6. The automated tool setting system for the end face milling machine of the square-shaped wind turbine blade as described in claim 5, characterized in that, The X-axis crossbeam assembly includes an X-axis crossbeam, a left crossbeam connecting seat and a right crossbeam connecting seat installed on the left and right sides of the X-axis crossbeam, and an X-axis slide rail installed on the top of the X-axis crossbeam.

7. The automated tool setting system for the end face milling machine of the square-shaped wind turbine blade as described in claim 6, characterized in that, The Z-axis moving mechanism further includes a left connecting seat and a right connecting seat fixedly connected to the left crossbeam connecting seat and the right crossbeam connecting seat, a Z-axis moving long shaft rotatably mounted on the left connecting seat and the right connecting seat at both ends, a left Z-axis gear and a right Z-axis gear mounted on the inner side of the left connecting seat and the right connecting seat respectively, and a left Z-axis rack and a right Z-axis rack mounted on the left and right sides of the frame respectively and adapted to mesh with the left Z-axis gear and the right Z-axis gear respectively. The Z-axis servo motor is mounted on the right connecting seat and drives the Z-axis moving long shaft. The left connecting seat and the right connecting seat are both provided with an X-axis open slide and a Y-axis open slide adapted to slide between the left and right sides of the frame.

8. The automated tool setting system for the end face milling machine of the square-shaped wind turbine blade as described in claim 7, characterized in that, The Z-axis servo motor is driven by a Z-axis reducer and connected to the Z-axis moving long shaft. The Z-axis reducer is mounted on the outside of the right-side connecting seat via a reducer connecting seat.

9. The automated tool setting system for a square-frame wind turbine blade end milling machine as described in claim 6, characterized in that, The X-axis moving mechanism further includes an X-axis moving seat slidably connected to the X-axis slide rail, an X-axis gear rotatably mounted on the X-axis moving seat, and an X-axis rack fixedly mounted on the front side of the X-axis crossbeam and meshing with the X-axis gear. The bottom of the X-axis moving seat is provided with a front motor seat, the X-axis servo motor is mounted on the front motor seat and drives the X-axis gear located on the rear side of the front motor seat, and the Y-axis feed mechanism is mounted on the top of the X-axis crossbeam assembly via the X-axis moving seat.

10. The automated tool setting system for a square-frame wind turbine blade end face milling machine as described in claim 9, characterized in that, The Y-axis feed mechanism further includes a Y-axis moving base that is slidably mounted on the X-axis moving base, a Y-axis servo motor that is fixedly mounted on the front side of the X-axis moving base and drives the Y-axis moving base, and a milling head that is mounted on the Y-axis moving base.

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