Wind turbine blade end face milling machine

Abstract

The application provides a wind power blade end face milling machine, which comprises a support frame with vertical square frames, fixing and pressing devices installed at each corner of the vertical square frames for fixing wind power blades radially from the outside, a three-axis linkage device, a milling head and a motion controller, the three-axis linkage device comprises a Z-axis moving mechanism, X-axis beam assemblies movably installed on the left and right sides of the vertical square frames through the Z-axis moving mechanism on the back side, X-axis moving mechanisms movably installed on the front side of the X-axis beam assemblies and Y-axis feeding mechanisms installed on the top of the X-axis beam assemblies through the X-axis moving mechanisms; the milling head is movably installed on the Y-axis feeding mechanism and comprises a milling cutter head. The application can radially clamp the wind power blade from the outside, so that the fixing is easy to operate and the production is safe; the three-axis linkage device enables the milling head to move and feed along the Y-axis, the X-axis and the Z-axis to complete the milling.

Description

Technical Field

[0001] This invention relates to the field of wind turbine blade processing technology, specifically to a wind turbine blade end face milling machine. Background Technology

[0002] A wind turbine typically consists of a tower, wind turbine blades mounted on the tower, a hub, a nacelle, and a transmission system, control system, and generator within the nacelle. The wind turbine blades and hub are generally connected as a single unit by threads, therefore, embedded parts, i.e., bolts, are installed at the blade root end during blade manufacturing. Before the blade and hub are connected, the blade root end face (also called the blade root face) needs to maintain a certain level of precision; that is, the entire blade root face and the embedded parts must achieve uniform precision. This is generally achieved through milling to ensure its flatness meets specified requirements.

[0003] Existing wind turbine blade end milling machines are usually installed inside the wind turbine blade, where the blade is held in place before milling. However, due to the large diameter of the blade root end, the internal holding method is not only unsafe and unreliable, but also increases the difficulty of positioning and processing the blade root end face.

[0004] Therefore, there is an urgent need to design a new wind turbine blade end milling machine. Summary of the Invention

[0005] To overcome the above-mentioned defects, the present invention provides an advantageous wind turbine blade end face milling machine that can automatically complete milling by fixing and clamping the wind turbine blade from the outside and performing three-axis upward linkage.

[0006] Therefore, the present invention provides a wind turbine blade end face milling machine, which includes:

[0007] A support frame, which includes a vertical rectangular box for receiving wind turbine blades therein;

[0008] The fixing and clamping device is installed at each corner of the vertical frame. Two fixing and clamping devices at every two opposite corners are arranged radially opposite each other to fix and clamp the wind turbine blades radially from the outside.

[0009] 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 feeding mechanism. The X-axis crossbeam assembly is movably mounted on the left and right sides of the vertical frame via the Z-axis moving mechanism at its rear. The X-axis moving mechanism is movably mounted on the front side of the X-axis crossbeam assembly. The Y-axis feeding mechanism is mounted on the top of the X-axis crossbeam assembly via the X-axis moving mechanism.

[0010] A milling head, whose Y-axis is movably mounted on a Y-axis feed mechanism and includes a milling cutter for rotating and milling a stud on the root end face of a wind turbine blade;

[0011] The motion controller is electrically connected to the fixing and clamping device, the three-axis linkage device and the milling head, respectively, so as to realize the fixing and clamping of wind turbine blades and the automated milling of studs.

[0012] In this invention, since the four corners of the vertical frame are equipped with fixing and clamping devices, the wind turbine blades can be clamped radially from the outside, making the fixing and clamping easy to operate and making production safe. Due to the setting of the three-axis linkage device, the milling head can move along the Y-axis, X-axis and Z-axis to complete the milling under its drive.

[0013] Furthermore, position sensors are installed on the Z-axis moving mechanism, X-axis moving mechanism, and Y-axis feed mechanism. A ranging laser head is installed on the milling head to sense the actual drop of the stud relative to the root end face of the wind turbine blade. The motion controller is configured to control the three-axis linkage device according to the actual drop sensed by the ranging laser head. This allows the Z-axis moving mechanism and X-axis moving mechanism to move along the Z-axis and X-axis directions respectively, thereby driving the Y-axis feed mechanism and the milling head to move in a circular trajectory that matches the distribution shape of the stud on the root end face of the wind turbine blade. The Y-axis feed mechanism moves along the Y-axis direction, thereby driving the milling head to feed along the Y-axis and causing the milling cutter head to rotate and mill the stud.

[0014] By setting up position sensors, the motion controller can accurately control the movement positions of the Z-axis moving mechanism, X-axis moving mechanism, and Y-axis feed mechanism in real time. By setting up a ranging laser head, the motion controller can process information based on the actual drop of the studs relative to the root 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 move. The circular trajectory formed by the three-axis linkage device driving the milling head to move simultaneously along the Z-axis and X-axis can make the milling head cover all studs. The movement of the milling head along the Y-axis can make the milling head 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.

[0015] 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.

[0016] 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.

[0017] 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. The left crossbeam connecting seat and the right crossbeam connecting seat are fixedly connected to the Z-axis moving mechanism on their rear sides.

[0018] 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.

[0019] Furthermore, the Z-axis moving mechanism includes a left connecting seat and a right connecting seat fixedly connected to the left crossbeam connecting seat and the right crossbeam connecting seat, respectively; a Z-axis moving long shaft rotatably mounted on the left connecting seat and the right connecting seat at both ends; a Z-axis servo motor mounted on the right connecting seat and driving the Z-axis moving long shaft; 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 on the Z-axis moving long shaft; and a left Z-axis rack and a right Z-axis rack mounted on the left and right sides of the vertical 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 equipped with a Z-axis encoder as a position sensor, and both the left and right connecting seats are provided with X-axis open slides and Y-axis open slides adapted to slide and connect the left and right sides of the vertical frame.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Furthermore, the X-axis moving mechanism includes an X-axis servo motor, an X-axis moving seat slidably connected to an 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 X-axis servo motor is equipped with an X-axis encoder as a position sensor.

[0024] 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.

[0025] Furthermore, the Y-axis feed mechanism includes a Y-axis servo motor fixedly mounted on the front side of the X-axis moving base, and a Y-axis moving base slidably mounted on the X-axis moving base. The Y-axis servo motor drives the Y-axis moving base, and the milling head is mounted on the Y-axis moving base.

[0026] 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.

[0027] Furthermore, the support frame also includes a horizontal frame for mounting a vertical rectangle thereon. The horizontal frame includes a lower fixed frame for placement on the work platform and an upper movable frame slidably mounted on the lower fixed frame along the Y-axis, wherein the vertical rectangle is mounted on the upper movable frame.

[0028] The above structural design allows the vertical frame to be adjusted along the wind turbine blade axis by adjusting the position of the upper movable frame along the Y-axis when needed.

[0029] Furthermore, the vertical frame includes a left column, a right column, an upper beam, and a lower beam, wherein the Z-axis moving mechanism is movably mounted on the left and right columns along the Z-axis.

[0030] With the above structural design, the left and right connecting seats on the Z-axis moving mechanism can be movably mounted on the left and right columns along the Z-axis, respectively.

[0031] Furthermore, the aforementioned wind turbine blade end milling machine also includes a motion balancing system for the three-axis linkage device. This motion balancing system includes a nitrogen tank, a pair of balance cylinders, a pair of balance chains, a pair of cylinder head moving sprockets, and two pairs of fixed angle sprockets. Each balance cylinder is connected to the nitrogen tank's gas path. Each cylinder head moving sprocket is mounted on the cylinder head of the corresponding balance cylinder. Each pair of fixed angle sprockets is mounted on the top of one side of the vertical frame. One end of each balance chain is connected to the back of one side of the vertical frame, and the other end is connected to the top side of the Z-axis moving mechanism of the three-axis linkage device. The balance chain between the one end and the other end sequentially meshes with the cylinder head moving sprocket and the pair of fixed angle sprockets, thereby enabling the three-axis linkage device to move vertically up and down in a balanced manner on the vertical frame by means of its Z-axis moving mechanism.

[0032] Through the aforementioned structural configuration of the motion balancing system, when the Z-axis moving mechanism of the three-axis linkage device needs to move upward along the vertical frame under the drive of an external force (driven by the Z-axis servo motor of the Z-axis moving mechanism), the motion balancing system can apply an upward pulling force to the Z-axis moving mechanism through the balancing chain (this pulling force can balance the downward gravity and upward inertia of the Z-axis moving mechanism), thereby causing the entire three-axis linkage device to move upward at a uniform speed under the drive of the Z-axis moving mechanism; and when the Z-axis moving mechanism of the three-axis linkage device needs to move downward along the frame under the drive of an external force, the motion balancing system can apply another upward pulling force to the Z-axis moving mechanism through the balancing chain (this pulling force can balance the downward gravity and downward inertia of the Z-axis moving mechanism), thereby causing the entire three-axis linkage device to move downward at a uniform speed under the drive of the Z-axis moving mechanism.

[0033] Furthermore, one end of each balance chain is connected to a fixed support foot set on the back of one side of the vertical frame; the other end of the balance chain is connected to a lifting lug on the top side of the Z-axis moving mechanism of the three-axis linkage device; each pair of fixed corner sprockets is slidably mounted on the top of one side of the vertical frame via the corner of the balance cylinder.

[0034] The above structural design allows the three segments of the balance chain along the Z-axis to be parallel to each other and perpendicular to the segment of the balance chain at the top of the vertical rectangle.

[0035] Furthermore, the fixing and clamping device includes a mounting base, a radial clamping mechanism including a radially conforming pressure plate mounted on the mounting base, and an axial positioning mechanism including an axial backing plate. The radially conforming pressure plate is configured to be radially movable between a non-working position that is radially retracted outward and a working position that is radially extended inward to clamp the outer circumferential surface of the wind turbine blade. The axial backing plate is configured to be rotatably movable between an axially released position that is detached from the axial positioning of the wind turbine blade root end face and an axially positioned position that is axially abutting against the wind turbine blade root end face.

[0036] The radial clamping mechanism and the axial positioning mechanism can be used to axially position and radially clamp the wind turbine blades. By converting the radial movement of the radial conformal pressure plate between the two positions, the wind turbine blades can be clamped on the outside of the blades, which is time-saving, labor-saving and easy to observe.

[0037] Furthermore, the radial clamping mechanism is configured such that its radial conforming pressure plate clamps the wind turbine blade radially from the outside of the blade when it is in the working position, and the axial positioning mechanism is configured such that when the radial conforming pressure plate extends radially inward from its non-working position to its working position, the axial backing plate rotates from its axial positioning position to its axial release position.

[0038] With the above structural design, the wind turbine blades can first be axially positioned by the axial positioning mechanism, and then the fixing and clamping device starts to work so that the radial conformal pressure plate enters its working position.

[0039] Furthermore, the mounting base includes a base body and mounting beams located on both sides of the base body, wherein a radial clamping mechanism and an axial positioning mechanism are mounted on the base body, and the mounting beams are configured to be mounted in an adjustable position on the corners of the vertical frame.

[0040] The above structural design allows the mounting beam to be adjusted to the corner of the vertical frame according to the diameter of the wind turbine blade.

[0041] Furthermore, the mounting beam is equipped with waist-shaped assembly holes.

[0042] The waist-shaped assembly hole makes it easy to adjust the installation position of the mounting beam, and the structure is simple.

[0043] Furthermore, the radial clamping mechanism also includes a clamping electric cylinder, which is drivably connected to a radial conformal pressure plate, wherein a pressure sensor is mounted on the radial conformal pressure plate.

[0044] The above structural design allows the radial conformal pressure plate to change position under the drive of the clamping electric cylinder. Furthermore, the pressure sensor enables the clamping electric cylinder to be stopped based on the force exerted by the radial conformal pressure plate on the outer circumference of the wind turbine blade.

[0045] Furthermore, the radial conformal pressure plate includes a pressing arc plate and a buffer rubber pad attached to the pressing arc plate.

[0046] By setting up a buffer rubber pad, the radial conformal pressure plate and the outer circumference of the wind turbine blade are in flexible contact, which avoids damage to the outer circumference of the wind turbine blade and at the same time increases the friction.

[0047] Furthermore, the dimensions of the clamping arc plate are designed to match the dimensions of the outer circumference of the workpiece.

[0048] Furthermore, the axial positioning mechanism also includes a positioning servo motor, a positioning reducer, and a positioning shaft. The positioning servo motor is driven by the positioning reducer and connected to the positioning shaft. The positioning shaft is connected to the axial support plate, and a touch-type limit switch is provided on the axial support plate.

[0049] With the above structural design, when the touch limit switch senses the end face of the wind turbine blade (especially the stud on the blade root end face), the axial support plate can rotate between two positions under the drive of the positioning servo motor and the positioning shaft.

[0050] These and other aspects of the present invention will be more clearly illustrated by referring to the embodiments described below. Attached Figure Description

[0051] 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:

[0052] Figure 1 This is a three-dimensional schematic diagram of a wind turbine blade end milling machine according to a specific embodiment of the present invention;

[0053] Figure 2 yes Figure 1 An exploded 3D view of a wind turbine blade end milling machine.

[0054] Figure 3 yes Figure 1 The enlarged three-dimensional structural diagram of the three-axis linkage device (with a milling head mounted on it) of the wind turbine blade end milling machine shown.

[0055] Figure 4 yes Figure 3 An exploded 3D view of the three-axis linkage device (on which a milling head is mounted);

[0056] Figure 5 yes Figure 3 Another exploded perspective view of the three-axis linkage device shown (on which a milling head is mounted);

[0057] Figure 6 yes Figure 1 A magnified schematic diagram of part D of the wind turbine blade end milling machine shown;

[0058] Figure 7 yes Figure 1 The right-side plan view of the wind turbine blade end milling machine shown;

[0059] Figure 8 yes Figure 7 An enlarged schematic diagram of part E of the wind turbine blade end face milling machine shown;

[0060] Figure 9 yes Figure 3 The enlarged three-dimensional structure of the three-axis linkage device (with a milling head mounted on it) after removing the Z-axis moving mechanism and the X-axis crossbeam assembly is shown.

[0061] Figure 10 yes Figure 9 Exploded view of the three-dimensional structure shown;

[0062] Figure 11 yes Figure 3 A three-dimensional enlarged schematic diagram of the right connecting seat of the Z-axis moving mechanism of the three-axis linkage device shown.

[0063] Figure 12 yes Figure 3 A three-dimensional enlarged schematic diagram of the left connecting seat of the Z-axis moving mechanism of the three-axis linkage device shown;

[0064] Figure 13 yes Figure 1 The diagram shows the structural layout of the motion balance system of the wind turbine blade end milling machine in one state.

[0065] Figure 14 yes Figure 13 A schematic diagram of the structural layout of the motion balance system in another state;

[0066] Figure 15 yes Figure 7 An enlarged view of the portion of the rectangular end milling machine shown above the FF line;

[0067] Figure 16 yes Figure 2 The diagram shows a three-dimensional enlarged schematic of the fixed clamping device, in which the axial support plate is in the axial positioning position.

[0068] Figure 17 yes Figure 16 Exploded three-dimensional view of the fixed clamping device shown;

[0069] Figure 18 yes Figure 16 Another perspective view of the fixed clamping device shown, in which the axial support plate is in the axial release position;

[0070] Figure 19 yes Figure 16 Another perspective view of the fixed clamping device shown;

[0071] Figure 20 yes Figure 19 A cross-sectional view of the fixed clamping device shown along line AA;

[0072] Figure 21 yes Figure 19 A cross-sectional view of the fixed clamping device shown along line BB;

[0073] Figure 22 yes Figure 1 The rear view of the wind turbine blade end milling machine shown clearly illustrates the layout of the fixing and clamping device.

[0074] Figure 23 yes Figure 22 Enlarged cross-sectional view along line CC of the wind turbine blade end milling machine shown;

[0075] Figure 24 yes Figure 22 The diagram shows the structure of a wind turbine blade end milling machine in operation. Detailed Implementation

[0076] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0077] First, it needs to be clarified that the terms "X-axis," "Y-axis," and "Z-axis" used in this article refer to the directions along the X-axis, Y-axis, and Z-axis, respectively. The X-axis direction refers to the extension direction of the X-beam, i.e., the left-right direction; the Y-axis direction refers to the front-back direction; and the Z-axis direction refers to the vertical up-down direction. Additionally, the term "radial outward" refers to the radial conforming pressure plate moving away from the wind turbine blade along its radial direction, while "radial inward" refers to the radial conforming pressure plate moving closer to the wind turbine blade along its radial direction.

[0078] like Figure 1 As shown, and refer to Figures 2 to 24 According to a specific embodiment of the present invention, a wind turbine blade end milling machine 100 includes a support frame 6, a fixing and clamping device 8, a three-axis linkage device 200, a milling head 9, a motion controller, and a motion balancing system 4 for the three-axis linkage device 200. The support frame 6 includes a vertical frame 101 for receiving a wind turbine blade 399 therein. The support frame 6 also includes a horizontal frame 60 for mounting the vertical frame 101 thereon. The horizontal frame 60 includes a lower fixed frame 61 for placement on a work platform (e.g., the ground) and an upper movable frame 62 slidably mounted on the lower fixed frame 61 along the Y-axis. The vertical frame 101 is mounted on the upper movable frame 62. The vertical frame 101 includes a left column 102, a right column 104, a lower crossbeam 107, and an upper crossbeam 108.

[0079] like Figure 1 As shown, and with particular reference Figures 16 to 24The fixing and clamping devices 8 are installed on each corner 103 of the vertical frame 101. Two fixing and clamping devices 8 on every two opposite corners 103 are arranged radially opposite each other for fixing and clamping the wind turbine blade 300 radially from the outside (see...). Figure 24 ).

[0080] like Figures 1 to 9 As shown, and refer to Figure 22 and Figure 24 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 X-axis crossbeam assembly 1 is movably mounted on the left and right sides (i.e., the left column 102 and the right column 104) of the vertical frame 101 via the Z-axis moving mechanism 3 at its rear side. 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. The milling head 9 is movably mounted on the Y-axis feed mechanism 7 along the Y-axis and includes studs 301 for rotating and milling the root end face of the wind turbine blade 300 (see...). Figure 24 Milling cutter head 94 (see) Figure 10 The motion controller is electrically connected to the motion balance system 4, the fixing and clamping device 8, the three-axis linkage device 200 and the milling head 9 respectively, thereby realizing the fixing and clamping of the wind turbine blade 300 and the automated and precise milling of the stud 301.

[0081] refer to Figure 1 and Figure 24 It should be noted that in this embodiment, position sensors (not shown) are provided on the Z-axis moving mechanism 3, X-axis moving mechanism 5, and Y-axis feed mechanism 7. A ranging laser head 91 is mounted on the milling head 9 to sense the actual drop of the stud 301 relative to the root end face of the wind turbine blade 300. Furthermore, the motion controller is configured to control the three-axis linkage device 200 based on the actual drop sensed by the ranging laser head 91. This allows the Z-axis moving mechanism 3 and X-axis moving mechanism 5 to move along the Z-axis and X-axis directions respectively, thereby driving the Y-axis feed mechanism 7 and the milling head 9 to align with the distribution shape of the studs 301 on the root end face of the wind turbine blade 300 (circular, see figure). Figure 24 The machine employs a circular trajectory motion to adapt to the Y-axis, causing the Y-axis feed mechanism 7 to move along the Y-axis, thereby driving the milling head 9 to feed along the Y-axis and causing the milling cutter head 94 to rotate and mill the stud 301. It should be noted that, in this embodiment, the motion controller, the three-axis linkage device 200, the milling head 9, and the ranging laser head 91 constitute the automated tool setting system of the wind turbine blade end face milling machine 100.

[0082] Additionally, 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 mentioned above, and the data processing module is configured to calculate the actual distance between the milling head 9 and the stud 301 and the number of revolutions required for the milling head 9 to move along the circular trajectory based on the actual drop mentioned above, so that the control module controls the movement of the three-axis linkage device 200 and the milling head 9.

[0083] like Figures 2 to 4 As 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.

[0084] 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 vertical frame 101, i.e., the left column 102 and the right column 104 of the vertical frame 101, along the Z-axis direction.

[0085] 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 vertical frame 101, and are adapted to mesh with the left Z-axis gear 34 and the right Z-axis gear 35 respectively.

[0086] 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 5As 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 vertical 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 330 and connected to the Z-axis moving long shaft 33. The Z-axis reducer 330 is mounted on the outside of the right-side connecting seat 32 via the reducer connecting seat 332.

[0087] like Figures 2 to 4 As shown, and with reference Figure 8 and Figure 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] The following is for reference. Figures 1 to 12 Here is a brief introduction to the automated ranging, tool setting, and milling process of this embodiment:

[0093] 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.

[0094] 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).

[0095] 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.

[0096] This invention uses a ranging laser head 91 to measure and evaluate the studs 301 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.

[0097] In addition, to ensure that the three-axis linkage device 200 maintains balance during its vertical movement using the Z-axis moving mechanism 3, or in other words, maintains a stable (uniform) speed, this embodiment employs a motion balancing system 4, which will be described in detail below. However, it should be understood that this is not the only way to maintain the vertical balance of the three-axis linkage device 200; the Z-axis servo motor 30 of the Z-axis moving mechanism 3 can also be configured as a torque motor, or other balancing methods can be adopted.

[0098] like Figures 13 to 15 and combined Figure 1 , Figures 6 to 8 As shown, in this embodiment, the motion balancing system 4 includes a nitrogen tank 41, a pair of balancing cylinders 43, and a pair of balancing chains 45. Figure 13 and Figure 14 The diagram only shows the balance chain 45 corresponding to one balance cylinder 43, a pair of cylinder head moving sprockets 47, and two pairs of fixed angle sprockets 49. Each balance cylinder 43 is connected to a nitrogen tank 41 through a gas passage 413 (i.e., connected by pressure). Each cylinder head moving sprocket 47 is mounted on the cylinder head 430 of the corresponding balance cylinder 43. Each pair of fixed angle sprockets 49 is mounted on the top of one side of the vertical frame 101. One end 451 of each balance chain 45 is connected to the back of one side of the vertical frame 101, and the other end 452 is connected to the top side of the Z-axis moving mechanism 3 of the three-axis linkage device 200. The balance chain 45 between the one end 451 and the other end 452 sequentially meshes with the cylinder head moving sprocket 47 and a pair of fixed angle sprockets 49, thereby enabling the three-axis linkage device 200 to move vertically up and down in a balanced manner on the vertical frame 101 by means of the Z-axis moving mechanism 3.

[0099] like Figure 13 and Figure 14As shown, in this embodiment, one end 451 of each balance chain 45 is connected to a fixed support 105 provided on the back of one side of the vertical square 101. Figure 15 This is shown more clearly in the text, only Figure 15 The figure shows one of the balance chains 45 installed on the right side of the vertical frame 101 (i.e., the right column 104) (the other balance chain 45 is installed on the left side of the vertical frame 101, i.e., the left column 102, but is not shown in the figure). Correspondingly, the fixed support 105 in the figure is also installed on the right column 104.

[0100] like Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown, in this embodiment, the other end 452 of the balance chain 45 is connected to a lug 44 on the top side of the Z-axis moving mechanism 3 of the three-axis linkage device 200. Specifically, in this embodiment, the lug 44 is a side connecting seat (in the Z-axis moving mechanism 3 of the three-axis linkage device 200) provided with the side connecting seat (in the Z-axis moving mechanism 3 of the three-axis linkage device 200). Figure 6 (Identified by the numbers 31 and 32 in the middle). Figure 6 and Figure 8 Only the right-side connecting seat 32 of the Z-axis moving mechanism 3 is shown. (See attached image.) Figure 15 As shown, and refer to Figure 1 and Figure 7 As shown, in this embodiment, each pair of fixed-angle sprockets 49 is mounted on the top of one side of the vertical frame 101 via the upper sprocket 46 of the balance cylinder.

[0101] For example Figure 1 and Figure 7 As shown, in this embodiment, the motion balancing system 4 is configured to maintain balance during the vertical up-and-down movement of the Z-axis moving mechanism 3 of the three-axis linkage device 200, that is, to maintain uniform speed during the vertical up-and-down movement of the Z-axis moving mechanism 3, thereby ensuring the motion balance of the entire three-axis linkage device 200 and effectively ensuring the normal operation of the milling machine. Figure 1 As shown, and refer to Figures 6 to 8 as well as Figures 13 to 15 In this embodiment, the top of the left connecting seat 31 and the right connecting seat 32 of the Z-axis moving mechanism 3 of the three-axis linkage device 200 are provided with lifting lugs 44, and the top of the left column 102 and the right column 104 are provided with balance cylinder upper rotation angle 46.

[0102] It should be noted that, in this embodiment, as Figure 1 As shown and referenced Figures 6 to 8 as well as Figures 13 to 15Nitrogen tank 1 is mounted on the horizontal frame 60 and located on one side of the right column 104. A pair of balance cylinders 43, connected to the nitrogen tank 41, are respectively arranged on the back side of the left column 102 and the right column 104. The three-axis linkage device 200 is located on the front side of the vertical frame 101. It should be understood that because the three-axis linkage device 200 has a large mass and needs to move vertically up and down during operation, it moves easily downwards due to gravity, but moves upwards with more effort. The motion balance system 4 in this embodiment solves this problem of the three-axis linkage device 200, balancing its vertical movement and ensuring that both vertical movements maintain a uniform speed. In addition, it should be noted that... Figure 13 (Only one balance chain and related structure are shown) The three-axis linkage 200 is shown in the lower limit position (i.e., low position). Figure 2 (Only one balance chain and related structure are shown) The three-axis linkage 200 is shown in the upper limit position (i.e., high position), while the cylinder head drive sprocket 47 is correspondingly in its high and low positions respectively.

[0103] It should be noted that the pair of balance cylinders 43 and the left column 102 and right column 104 of the vertical square frame 101 are all fixedly installed on the upper movable frame 62 of the horizontal frame 60, so they can move along the Y-axis relative to the lower fixed frame 61 together with the upper movable frame 62.

[0104] It should be understood that, due to the arrangement of the cylinder head moving sprocket 47 and the fixed angle sprocket 49 in this embodiment, the vertical up-down movement range of the three-axis linkage device 200 is twice the movement range of the balance cylinder head 430. For example, when the stroke of the balance cylinder head 430 is 1.8 meters, the vertical up-down movement range of the three-axis linkage device 200 (i.e., the distance between the upper limit position and the lower limit position) is 3.6 meters.

[0105] Furthermore, it should be understood that the three-axis linkage device 200 is not an innovation of this invention, therefore its other specific structures will not be described in detail here. Similarly, the balance cylinder 43 is a standard part, and its structure and operation are not innovative aspects of this invention, therefore it will not be described in detail here either.

[0106] The following is combined with Figure 1 , Figures 6 to 8 as well as Figures 13 to 15 The working process of the motion balance system 4 of this invention will be described below:

[0107] When the three-axis linkage device 200 moves vertically upward (i.e., moves upward) under the control of the motion controller (not shown) of the wind turbine blade end milling machine 100, it uses its Z-axis moving mechanism 3 to achieve this. The balance cylinder 43, connected to the nitrogen tank 41, rapidly adjusts its internal pressure, allowing the tension applied by the balance cylinder 43 to the lugs 44 of the left connecting seat 31 and right connecting seat 32 of the Z-axis moving mechanism 3 via the balance chain 45 to balance the weight and upward inertia of the three-axis linkage device 200. This allows the entire three-axis linkage device 200 to move upward to its upper limit position under the drive of the Z-axis servo motor 30 of its Z-axis moving mechanism 3 (see figure). Figure 1 );

[0108] When the three-axis linkage device 200 moves vertically downward (i.e., moves down) under the control of the motion controller and with the aid of its Z-axis moving mechanism 3, the balance cylinder 43 quickly adjusts its internal pressure through the gas passage connected to the nitrogen tank 41. This allows the tension applied by the balance cylinder 43 to the lugs 44 of the left connecting seat 31 and the right connecting seat 32 of the Z-axis moving mechanism 3 via the balance chain 45 to balance the gravity and downward inertia of the three-axis linkage device 200. At the same time, the balance chain 45 moves downward with the Z-axis moving mechanism 3, and the entire three-axis linkage device 200 enters its lower limit position under the drive of the Z-axis servo motor 30 of its Z-axis moving mechanism 3 (see...). Figure 2 ).

[0109] like Figures 16 to 21 As shown, in this embodiment, the fixing and clamping device 8 includes a mounting base 81, a radial clamping mechanism 83, and an axial positioning mechanism 85.

[0110] like Figure 17 , Figures 19 to 21 As shown, and refer to Figures 22 to 24 The mounting base 81 includes a base body 810 and mounting beams 812 located on both sides of the base body 810. A radial clamping mechanism 83 and an axial positioning mechanism 85 are mounted on the base body 810. The mounting beams 812 are configured to be adjustablely mounted at the corners 103 of the vertical frame 101 (see...). Figure 23 On. Specifically, such as Figure 19 As shown, and refer to Figure 23 In this embodiment, the mounting beam 812 is provided with a waist-shaped mounting hole 813, which facilitates the use of fastening bolts 105 to adjust the position of the mounting beam 812 to the corner 103 of the vertical frame 101.

[0111] For example Figure 17 , Figures 19 to 21 As shown, and refer to Figure 16 and Figure 18The radial clamping mechanism 83 includes a clamping electric cylinder 830 and a radial conformal clamping plate 832. The clamping electric cylinder 830 is fixedly mounted on the base body 810 of the mounting base 81 and is drivably connected to the radial conformal clamping plate 832 (i.e., the radial conformal clamping plate 832 is connected to the electric cylinder head 831 of the clamping electric cylinder 830, see...). Figure 21 This allows the radial conformal pressure plate 832 to be in a non-working position where it is radially retracted outwards (see...). Figure 19 ) and radially inwardly extending to compress the wind turbine blade 300 (see Figure 24 Working position of the outer circumferential surface (see) Figure 18 , Figure 24 The two can be radially moved between each other.

[0112] For example Figures 16 to 21 As shown, the axial positioning mechanism 85 includes a positioning servo motor 850, a positioning reducer 852, a positioning shaft 854, and an axial support plate 856. The axial support plate 856 is equipped with a touch-type limit switch (not shown). The positioning servo motor 850 is mounted on the base body 810 of the mounting base 81 via the pressure reducer 852 and can drive the positioning shaft 854. The axial support plate 856 is fixed to the end of the positioning shaft 854, thus enabling the positioning servo motor 850 to reach the axial release position (see figure) when disengaging from the axial positioning of the wind turbine blade 300, driven by the positioning servo motor 850 via the positioning shaft 854. Figure 18 ) and the axial positioning position of the axial upper abutment against the wind turbine blade 300 (see Figure 16 , Figure 19 and Figure 24 The two can be rotated between each other. It should be noted that, as... Figure 17 As shown, the base body 810 is provided with a shaft hole 814 for the positioning shaft 854 to pass through. One end of the positioning shaft 854 is connected to the pressure reducer 853, and the other end is connected to the axial support plate 856.

[0113] In this embodiment, reference Figure 22 and Figure 24 The fixed clamping devices are used in pairs, and the radial clamping mechanisms 83 of the paired fixed clamping devices are arranged radially opposite each other, so that the radial conformal clamping plate 832 clamps the wind turbine blade 300 radially from the outside of the wind turbine blade 300 when it is in its working position; and the axial backing plate 856 of the axial positioning mechanism 85 is configured such that when the radial conformal clamping plate 832 extends radially inward from its non-working position to its working position, that is, when clamping the wind turbine blade 300, the axial backing plate 856 can rotate from its axial positioning position to its axial release position, thereby opening the milling path so that the milling head 9 can mill the wind turbine blade 300.

[0114] Furthermore, such as Figure 17 and Figure 19As shown, in this embodiment, the radial conformal pressure plate 832 includes a pressing arc plate 831 and a buffer rubber pad 833 attached to the pressing arc plate 831. A pressure sensor (not shown) is mounted on the buffer rubber pad 833 to sense whether the radial pressing mechanism 83 has pressed the wind turbine blade 300. It should be understood that the dimensions of the pressing arc plate 831 and the buffer rubber pad 833 are adapted to the dimensions of the outer circumference of the wind turbine blade 300. Furthermore, the use of a pressure sensor in this embodiment can be replaced by a torque current sensor in another embodiment. The latter can sense the magnitude of the torque current of the servo motor and control the start and stop of the pressing electric cylinder 830 accordingly.

[0115] The following is for reference. Figure 16 and Figure 24 Here is a brief description of the working process of the fixing and clamping device 8 in this invention:

[0116] First, the wind turbine blade 300 (through lifting point 109, see...) Figure 1 The vertical frame 101 is hoisted to the work position and moved as a whole toward the tip of the wind turbine blade 300 until the axial support plate 856 of the fixing and clamping device 8 contacts the root stud 301 of the wind turbine blade 300. After the touch limit switch on the axial support plate 856 senses the contact of the root stud 301, it transmits the information to the motion controller, which then controls the positioning servo motor 850 of the axial positioning mechanism 85 to stop.

[0117] Next, the four fixed clamping devices 8 located at the four corners 103 of the vertical frame 101 operate simultaneously. The radial conformal pressure plate 832 of each fixed clamping device 8 extends radially inward from the non-working position toward the wind turbine blade 300 and enters the working position. When the motion controller determines that the pressure sensed by the pressure sensor on the radial conformal pressure plate 832 has reached the predetermined threshold, it controls the clamping electric cylinder 830 to stop operating.

[0118] Then, the motion controller controls the positioning servo motor 850 on each fixed clamping device 8 to drive the positioning shaft 854 to rotate 90° with the axial backing plate 856, from its axial positioning position to its axial release position, that is, the axial backing plate 856 is retracted to a safe distance, giving up the milling head working area.

[0119] Compared with existing technologies, the present invention presses the outer circumference of the blade root from the outside of the wind turbine blade 300, which is simple to operate, easy to observe, time-saving, labor-saving, safe and reliable.

[0120] 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. A wind turbine blade end face milling machine, characterized in that... include: A support frame, which includes a vertical rectangular box for receiving wind turbine blades therein; The fixing and clamping device is installed at each corner of the vertical frame. Two fixing and clamping devices at every two opposite corners are arranged radially opposite each other to fix and clamp the wind turbine blades radially from the outside. 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 feeding mechanism. The X-axis crossbeam assembly is movably mounted on the left and right sides of the vertical frame via the Z-axis moving mechanism at its rear. The X-axis moving mechanism is movably mounted on the front side of the X-axis crossbeam assembly. The Y-axis feeding mechanism is mounted on the top of the X-axis crossbeam assembly via the X-axis moving mechanism. A milling head, whose Y-axis is movably mounted on a Y-axis feed mechanism and includes a milling cutter for rotating and milling a stud on the root end face of a wind turbine blade; The motion controller is electrically connected to the fixing and clamping device, the three-axis linkage device and the milling head, respectively, so as to realize the fixing and clamping of wind turbine blades and the automated milling of studs.

2. The wind turbine blade end face milling machine as described in claim 1, characterized in that, Position sensors are provided on the Z-axis moving mechanism, the X-axis moving mechanism, and the Y-axis feed mechanism. A ranging laser head is installed on the milling head to sense the actual drop of the stud relative to the root end face of the wind turbine blade. The motion controller is configured to control the three-axis linkage device according to the actual drop sensed by the ranging laser head, so that the Z-axis moving mechanism and the X-axis moving mechanism can move along the Z-axis and X-axis directions respectively, thereby driving the Y-axis feed mechanism and the milling head to move in a circular trajectory adapted to the distribution shape of the stud on the root end face of the wind turbine blade. The Y-axis feed mechanism moves along the Y-axis direction, thereby driving the milling head to feed along the Y-axis, and causing the milling cutter head to rotate and mill the stud.

3. The wind turbine blade end face milling machine as described in claim 2, characterized in that, 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. The left crossbeam connecting seat and the right crossbeam connecting seat are fixedly connected to the Z-axis moving mechanism on their rear sides.

4. The wind turbine blade end face milling machine as described in claim 3, characterized in that, The Z-axis moving mechanism includes a left connecting seat and a right connecting seat fixedly connected to the left crossbeam connecting seat and the right crossbeam connecting seat, respectively; a Z-axis moving long shaft rotatably mounted on the left connecting seat and the right connecting seat at both ends; a Z-axis servo motor mounted on the right connecting seat and driving the Z-axis moving long shaft; 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 vertical frame and adapted to mesh with the left Z-axis gear and the right Z-axis gear, respectively. The Z-axis servo motor is equipped with a Z-axis encoder as a position sensor. The left connecting seat and the right connecting seat are each provided with an X-axis open slide and a Y-axis open slide adapted to slide between the left and right sides of the vertical frame.

5. The wind turbine blade end face milling machine as described in claim 4, characterized in that, The X-axis moving mechanism includes an X-axis servo motor, 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 X-axis servo motor is equipped with an X-axis encoder as the position sensor.

6. The wind turbine blade end face milling machine as described in claim 5, characterized in that, The Y-axis feed mechanism includes a Y-axis servo motor fixedly mounted on the front side of the X-axis moving base, and a Y-axis moving base slidably mounted on the X-axis moving base. The Y-axis servo motor drives the Y-axis moving base, and the milling head is mounted on the Y-axis moving base.

7. The wind turbine blade end face milling machine as described in claim 1, characterized in that, The support frame also includes a horizontal frame for mounting the vertical rectangle thereon. The horizontal frame includes a lower fixed frame for placement on the work platform and an upper movable frame slidably mounted on the lower fixed frame along the Y-axis, wherein the vertical rectangle is mounted on the upper movable frame.

8. The wind turbine blade end face milling machine as described in claim 7, characterized in that, The vertical frame includes a left column, a right column, an upper beam, and a lower beam, wherein the Z-axis moving mechanism is movably mounted on the left column and the right column along the Z-axis.

9. The wind turbine blade end face milling machine as described in claim 8, characterized in that, It also includes a motion balancing system for the three-axis linkage device, which includes a nitrogen tank, a pair of balancing cylinders, a pair of balancing chains, a pair of cylinder head moving sprockets, and two pairs of fixed angle sprockets. Each balancing cylinder is connected to the nitrogen tank's gas path, each cylinder head moving sprocket is mounted on the cylinder head of the corresponding balancing cylinder, each pair of fixed angle sprockets is mounted on the top of one side of the vertical frame, and one end of each balancing chain is connected to the back of one side of the vertical frame and the other end is connected to the top side of the Z-axis moving mechanism of the three-axis linkage device. The balancing chain between the one end and the other end sequentially engages the cylinder head moving sprocket and the pair of fixed angle sprockets, thereby enabling the three-axis linkage device to move vertically up and down in a balanced manner on the vertical frame by means of its Z-axis moving mechanism.

10. The wind turbine blade end face milling machine as described in claim 9, characterized in that, One end of each balance chain is connected to a fixed support foot provided on the back of the vertical frame; the other end of the balance chain is connected to a lifting lug on the top side of the Z-axis moving mechanism of the three-axis linkage device; each pair of fixed corner sprockets is slidably mounted on the top of the vertical frame via the upper corner of the balance cylinder.

11. The wind turbine blade end face milling machine as described in any one of claims 1 to 10, characterized in that, The fixing and clamping device includes a mounting base, a radial clamping mechanism including a radially conforming pressure plate mounted on the mounting base, and an axial positioning mechanism including an axial backing plate. The radially conforming pressure plate is configured to be radially movable and switchable between a non-working position where it is radially retracted outward and a working position where it is radially extended inward to clamp the outer circumferential surface of the wind turbine blade. The axial backing plate is configured to be rotatably switchable between an axially released position where it is detached from the axial positioning of the root end face of the wind turbine blade and an axially positioned position where it abuts the root end face of the wind turbine blade.

12. The wind turbine blade end face milling machine as described in claim 11, characterized in that, The radial clamping mechanism is configured such that its radial conforming pressure plate clamps the wind turbine blade radially from the outside of the wind turbine blade when the working position is such that the axial positioning mechanism is configured such that when the radial conforming pressure plate extends radially inward from its non-working position to its working position, the axial backing plate rotates from its axial positioning position to its axial release position.

13. The wind turbine blade end face milling machine as described in claim 12, characterized in that, The mounting base includes a base body and mounting beams located on both sides of the base body. The radial clamping mechanism and the axial positioning mechanism are mounted on the base body, and the mounting beams are configured to be mounted in an adjustable position on the corner of the vertical frame.

14. The wind turbine blade end face milling machine as described in claim 13, characterized in that, The mounting beam is provided with waist-shaped assembly holes.

15. The wind turbine blade end face milling machine as described in claim 12, characterized in that, The radial clamping mechanism further includes a clamping electric cylinder, which is drivably connected to the radial conformal pressure plate, wherein a pressure sensor is mounted on the radial conformal pressure plate.

16. The wind turbine blade end face milling machine as described in claim 15, characterized in that, The radial conformal pressure plate includes a pressing arc plate and a buffer rubber pad attached to the pressing arc plate.

17. The wind turbine blade end face milling machine as described in claim 12, characterized in that, The axial positioning mechanism further includes a positioning servo motor, a positioning reducer, and a positioning shaft. The positioning servo motor is driven and connected to the positioning shaft via the positioning reducer. The positioning shaft is connected to the axial support plate. Furthermore, a touch-type limit switch is provided on the axial support plate.

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