A robot for staggered grinding of the inner surface of a blade and a grinding method

Abstract

The present invention discloses a staggered grinding robot for the inner surface of a blade and a grinding method. The grinding robot includes a frame, a sucker positioning device, a four-axis motion platform, a grinding mechanism, and a laser scanning positioning mechanism. The sucker positioning device includes a plurality of intermediate suckers and a plurality of auxiliary suckers; the four-axis motion platform includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and an R-axis swinging mechanism; the grinding mechanism includes a grinding motor and a grinding cutter; the laser scanning positioning mechanism includes a laser sensor. The present invention can well adapt to the blade surface through the sucker positioning device, can stably fix the entire frame and the blade, and ensure the grinding quality of the inner staggered layer; through the cooperation of the four-axis motion platform and the laser scanning positioning mechanism, the inner staggered layer can be quickly and effectively positioned, improving the precision of grinding; the dust generated during the grinding process can be quickly sucked away and collected by using a vacuum cleaner, avoiding the influence of the dust generated by grinding on the workshop environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind turbine blades, and particularly relates to a robot for staggered grinding of the inner surface of a blade and a grinding method. Background Art

[0002] The blades of wind turbines are dozens of meters long. The production process includes vacuum degassing and constant-temperature mixing of colloids through specific equipment, pouring them into a mold and curing them after heating. When producing wind turbine blades, first produce half of the blade, and then bond the two halves together to form a complete wind turbine blade. The surface quality of the wind turbine blade determines its service life. After pouring, some staggered defects will appear on both the outer surface and the inner surface of the blade, and the defective parts need to be ground for secondary repair. The repair of the staggered defects on the inner surface of the blade is carried out before the two halves are bonded. Due to the large size of the blade and the complex internal structure, traditional manual grinding requires a high level of grinding skills for workers, takes a long time, cannot guarantee the quality, and generates a large amount of dust pollution during the grinding process. Therefore, it is necessary to design an automatic grinding device that can adapt to the inner surface of the blade, automatically grind the staggered layers on the inner surface of the blade, and ensure the grinding accuracy according to the characteristics of the inner surface of the wind turbine blade. Summary of the Invention

[0003] To solve the above technical problems, the technical solution adopted by the present invention is: a robot for staggered grinding of the inner surface of a blade, including a frame, a suction cup positioning device, a four-axis motion platform, a grinding mechanism, and a laser scanning and positioning mechanism;

[0004] The suction cup positioning device includes main columns located at both ends of the frame. The upper ends of the main columns are fixedly connected to the frame, and several intermediate suction cups are installed at the lower ends of the main columns. Several auxiliary columns are respectively arranged on both sides of the main columns. The upper ends of the auxiliary columns are respectively fixedly connected to the frame. Guide rails and telescopic cylinders are installed on the auxiliary columns. The guide rails are vertically arranged, and the telescopic cylinders are located above the guide rails. Sliders are fitted on the guide rails. The telescopic cylinders are connected to the sliders and drive the sliders to move on the guide rails. A swing connection seat is arranged at the lower end of the slider. The swing connection seat includes a vertical plate and a horizontal plate. The horizontal plate is fixedly connected to the lower end of the vertical plate. The vertical plate is rotatably connected to the slider through a swing shaft, and an auxiliary suction cup is installed on the horizontal plate;

[0005] The four-axis motion platform includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and an R-axis swinging mechanism. The X-axis moving mechanism drives the Y-axis moving mechanism to move in the X-axis direction. The Y-axis moving mechanism drives the Z-axis moving mechanism to move in the Z-axis direction. The Z-axis moving mechanism drives the R-axis swinging mechanism to move in the Z-axis direction. The R-axis swinging mechanism drives the grinding mechanism to swing in the vertical plane;

[0006] The grinding mechanism includes a fixed mounting plate, a grinding motor, and a grinding cutter. The grinding motor is fixedly mounted on the fixed mounting plate, and the grinding motor drives the grinding cutter to rotate;

[0007] The laser scanning and positioning mechanism includes a laser sensor and a circuit module. The circuit module is connected to and controls the operation of the four-axis motion platform. The laser sensor is mounted on the fixed mounting plate.

[0008] As a preference of the above technical solution, a horizontal bending portion is connected to the fixed mounting plate. A through hole for the rotation shaft of the grinding motor to pass through is provided on the horizontal bending portion. After the rotation shaft of the grinding motor passes through the through hole, it is connected to the grinding cutter. A dust-proof baffle is provided around the grinding cutter, and the dust-proof baffle is connected to the horizontal bending portion.

[0009] As a preference of the above technical solution, a dust suction port is provided on the horizontal bending portion, and the dust suction port is connected to a vacuum cleaner through a pipeline.

[0010] As a preference of the above technical solution, a blowing and condensing port is provided on the horizontal bending portion. The blowing and condensing port is connected to an air compressor through a blowing and condensing pipe, and the air compressor supplies air to the telescopic cylinder.

[0011] As a preference of the above technical solution, a vacuum pump is further included. The auxiliary suction cup and the intermediate suction cup are respectively connected to the vacuum pump through air pipes.

[0012] As a preference of the above technical solution, the X-axis moving mechanism includes an X-axis moving frame, an X-axis lead screw, an X-axis slide rail, an X-axis moving motor, and an X-axis moving mounting plate. The X-axis lead screw is rotatably mounted on the X-axis moving frame. The X-axis slide rail is provided on the X-axis moving frame. The X-axis moving mounting plate is mounted on the X-axis slide rail. The X-axis moving motor drives the X-axis lead screw to rotate. An X-axis lead screw nut is fitted on the X-axis lead screw, and the X-axis lead screw nut is fixedly connected to the X-axis moving mounting plate; the Y-axis moving mechanism includes a Y-axis moving frame, a Y-axis lead screw, a Y-axis slide rail, a Y-axis moving motor, and a Y-axis moving mounting plate. The Y-axis moving frame is fixedly connected to the X-axis moving mounting plate. The Y-axis lead screw is rotatably mounted on the Y-axis moving frame. The Y-axis slide rail is provided on the Y-axis moving frame. The Y-axis moving mounting plate is mounted on the Y-axis slide rail. The Y-axis moving motor drives the Y-axis lead screw to rotate. A Y-axis lead screw nut is fitted on the Y-axis lead screw, and the Y-axis lead screw nut is fixedly connected to the Y-axis moving mounting plate; the Z-axis moving mechanism includes a Z-axis moving frame, a Z-axis slide rail, a Z-axis moving electric cylinder, and a Z-axis moving mounting plate. The Z-axis moving frame is fixedly connected to the Y-axis moving mounting plate. The Z-axis slide rail is provided on the Z-axis moving frame. The Z-axis moving mounting plate is mounted on the Z-axis slide rail. The Z-axis moving electric cylinder drives the Z-axis moving mounting plate to move on the Z-axis slide rail; the R-axis swinging mechanism includes an R-axis swinging motor. The R-axis swinging motor is mounted on the Z-axis moving mounting plate, and the R-axis swinging motor drives the fixed mounting plate to swing.

[0013] Preferably, as the above technical solution, it further includes a trolley, on which there are several support rods, the frame is placed on the support rods, and several lifting lugs are provided on the frame.

[0014] For the method of staggered grinding of the inner surface of the blade, using the above-mentioned robot for staggered grinding of the inner surface of the blade, the grinding method includes: lifting the frame and placing it at the position on the inner surface of the blade that needs to be ground; lowering the frame so that the middle suction cup contacts the inner surface of the blade and adsorbs on the inner surface of the blade; the telescopic cylinder drives the auxiliary suction cup to descend, and after the auxiliary suction cup swings at an angle, it automatically adapts to the inner surface of the blade and adsorbs on the inner surface of the blade; the four-axis motion platform drives the laser sensor to move, scans the inner surface of the blade, and obtains the accurate position information of the defective parts that need to be ground according to the scanning results; the four-axis motion platform grinds the defective parts according to the accurate position information of the parts to be ground; after grinding is completed, the four-axis motion platform resets, the auxiliary suction cup and the middle suction cup are successively separated from the blade surface, and the grinding robot is lifted to the next defective part.

[0015] The beneficial effects of the present invention are as follows: for the robot and grinding method for staggered grinding of the inner surface of the blade of the present invention, through the suction cup positioning device, the grinding robot can well adapt to the blade surface, can stably fix the entire frame and the blade, ensure the stability of the grinding force during the grinding process, and guarantee the grinding quality of the inner staggered layer; through the cooperation of the four-axis motion platform and the laser scanning and positioning mechanism, the inner staggered layer can be quickly and effectively positioned, improving the accuracy of the grinding robot for grinding the inner staggered layer; the dust generated during the grinding process can be quickly sucked away and collected by the vacuum cleaner, avoiding the dust generated by grinding from affecting the workshop environment. Description of the Drawings

[0016] Figure 1 is the structural schematic diagram of the present invention;

[0017] Figure 2 is the partial structural schematic diagram of the present invention;

[0018] Figure 3 is the structural schematic diagram of the suction cup positioning device;

[0019] Figure 4 is the structural schematic diagram of the grinding mechanism;

[0020] Figure 5 is the structural schematic diagram of the main column;

[0021] Figure 6 is the structural schematic diagram of the auxiliary column. Detailed Embodiments

[0022] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] As Figure 1-6 shown, a staggered grinding robot for the inner surface of a blade includes a frame 100, a suction cup positioning device, a four-axis motion platform, a grinding mechanism, and a laser scanning positioning mechanism.

[0026] The suction cup positioning device includes main columns 101 located at both ends of the frame 100. The upper ends of the main columns 101 are fixedly connected to the frame 100, and two intermediate suction cups 102 are installed at the lower ends of the main columns 101. Auxiliary columns 103 are respectively arranged on both sides of the main columns 101. The upper ends of the auxiliary columns 103 are respectively fixedly connected to the frame 100. A guide rail 104 and a telescopic cylinder 106 are installed on the auxiliary columns 103. The guide rail 104 is vertically arranged, and the telescopic cylinder 106 is located above the guide rail 104. A slider 105 is fitted and installed on the guide rail 104. The telescopic cylinder 106 is connected to the slider 105 and drives the slider 105 to move on the guide rail 104. A swing connection seat is arranged at the lower end of the slider 105. The swing connection seat includes a vertical plate 107 and a horizontal plate 108. The horizontal plate 108 is fixedly connected to the lower end of the vertical plate 107. The vertical plate 107 is rotatably connected to the slider 105 through a swing shaft 109. An auxiliary suction cup 110 is installed on the horizontal plate 108. During use, the frame 100 is placed on the blade, so that the four intermediate suction cups 102 adsorb on the blade surface, and the internal staggered layer to be polished is located below the polishing cutter 200. Then, the other positions of the blade are adsorbed by the four auxiliary suction cups 110 with adjustable height and angle, so as to improve the connection stability between the polishing robot and the blade. The intermediate suction cups 102 and the auxiliary suction cups 110 are respectively connected to a vacuum pump 400 through pipelines, so as to generate negative pressure and adsorb on the blade surface.

[0027] The four-axis motion platform includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and an R-axis swinging mechanism. The X-axis moving mechanism drives the Y-axis moving mechanism to move in the X-axis direction. The Y-axis moving mechanism drives the Z-axis moving mechanism to move in the Z-axis direction. The Z-axis moving mechanism drives the R-axis swinging mechanism to move in the Z-axis direction. The R-axis swinging mechanism drives the polishing mechanism to swing in the vertical plane.

[0028] The polishing mechanism includes a fixed mounting plate 202, a polishing motor 201, and a polishing cutter 200. The polishing motor 201 is fixedly installed on the fixed mounting plate 202, and the polishing motor 201 drives the polishing cutter 200 to rotate.

[0029] The laser scanning positioning mechanism includes a laser sensor 203 and a circuit module. The circuit module is connected to and controls the operation of the four-axis motion platform. The laser sensor 203 is installed on the fixed mounting plate 202. The laser sensor 203 scans the blade surface to obtain the accurate position information of the internal staggered layer, and then controls the four-axis motion platform to move the polishing cutter 200 to the specified position for polishing.

[0030] Further, a horizontal bending portion 204 is connected to the fixed mounting plate 202. A through hole for the rotation shaft of the grinding motor 201 to pass through is provided on the horizontal bending portion 204. After the rotation shaft of the grinding motor 201 passes through the through hole, it is connected to a grinding milling cutter 200. Dust-proof baffles 205 are provided around the grinding milling cutter 200, and the dust-proof baffles 205 are connected to the horizontal bending portion 204. The dust-proof baffles 205 can prevent dust from directly entering the workshop and affecting the physical health of workers, and at the same time will not cause damage to the surface of the blade.

[0031] Further, a dust suction port 206 is provided on the horizontal bending portion 204, and the dust suction port 206 is connected to a dust collector 410 through a pipeline. The dust suction port 206 sucks away the dust generated during the grinding process and collects it in the dust collector 410, avoiding a large amount of dust entering the workshop.

[0032] Further, a blowing and condensing port 207 is provided on the horizontal bending portion 204, and the blowing and condensing port 207 is connected to an air compressor 208 through a blowing and condensing pipe. The air compressor 208 supplies air to the telescopic cylinder 106. The gas ejected from the blowing and condensing port 207 is used to cool the grinding part to avoid too high a temperature of the internal staggered layer being ground.

[0033] Further, a vacuum pump 400 is further included. The auxiliary suction cup 110 and the intermediate suction cup 102 are respectively connected to the vacuum pump 400 through air pipes. The vacuum pump 400 enables the auxiliary suction cup 110 and the intermediate suction cup 102 to effectively suck the blade.

[0034] Further, the X-axis moving mechanism includes an X-axis moving frame 300, an X-axis lead screw 301, an X-axis slide rail 302, an X-axis moving motor 303, and an X-axis moving mounting plate 304. The X-axis lead screw 301 is rotatably mounted on the X-axis moving frame 300. The X-axis slide rail 302 is provided on the X-axis moving frame 300. The X-axis moving mounting plate 304 is mounted on the X-axis slide rail 302. The X-axis moving motor 303 drives the X-axis lead screw 301 to rotate. An X-axis lead screw nut is cooperatively mounted on the X-axis lead screw 301, and the X-axis lead screw nut is fixedly connected to the X-axis moving mounting plate 304. The Y-axis moving mechanism includes a Y-axis moving frame 305, a Y-axis lead screw 306, a Y-axis slide rail 307, a Y-axis moving motor 320, and a Y-axis moving mounting plate 308. The Y-axis moving frame 305 is fixedly connected to the X-axis moving mounting plate 304. The Y-axis lead screw 306 is rotatably mounted on the Y-axis moving frame 305. The Y-axis slide rail 307 is provided on the Y-axis moving frame 305. The Y-axis moving mounting plate 308 is mounted on the Y-axis slide rail 307. The Y-axis moving motor 320 drives the Y-axis lead screw 306 to rotate. A Y-axis lead screw nut is cooperatively mounted on the Y-axis lead screw 306, and the Y-axis lead screw nut is fixedly connected to the Y-axis moving mounting plate 308. The Z-axis moving mechanism includes a Z-axis moving frame 309, a Z-axis slide rail 311, a Z-axis moving electric cylinder 310, and a Z-axis moving mounting plate 312. The Z-axis moving frame 309 is fixedly connected to the Y-axis moving mounting plate 308. The Z-axis slide rail 311 is provided on the Z-axis moving frame 309. The Z-axis moving mounting plate 312 is mounted on the Z-axis slide rail 311. The Z-axis moving electric cylinder 310 drives the Z-axis moving mounting plate 312 to move on the Z-axis slide rail 311. The R-axis swing mechanism includes an R-axis swing motor 313. The R-axis swing motor 313 is mounted on the Z-axis moving mounting plate 312, and the R-axis swing motor 313 drives the fixed mounting plate 202 to swing. The X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism respectively drive the X-axis, Y-axis, and Z-axis movements of the grinding and milling cutter 200. The R-axis swing mechanism drives the grinding and milling cutter 200 to rotate by a certain angle in the plane, so that it can adapt to different parts of the blade, and the profiling grinding of the grinding surface is simpler, more convenient for processing, installation, and adjustment.

[0035] Further, it further includes a trolley 401. A plurality of support rods 402 are provided on the trolley 401. The frame 100 is placed on the support rods 402. A plurality of lifting lugs 403 are provided on the frame 100. During use, a crane or a hoist is used to lift the frame 100 and transfer it above the blade. After the frame 100 descends, the auxiliary suction cup 110 and the intermediate suction cup 102 are used to fix the grinding robot to the blade. The trolley 401 can facilitate the transfer of the grinding robot. The trolley 401 can be moved by being towed by an electric trailer. When the grinding robot is not in use or needs to be transferred, it is placed in the trolley 401. The support rods 402 support the entire frame 100. In order to improve stability, positioning columns can be provided at the upper ends of the support rods 402, corresponding positioning holes are provided on the frame 100, and then quick-release handles are installed in cooperation. This can ensure the safety of the grinding robot during the transfer process.

[0036] It is worth mentioning that the technical features such as the air compressor 208, the vacuum cleaner 410, the motor, the electric cylinder, the suction cup, and the vacuum pump involved in this invention patent application should be regarded as the prior art. For the specific structures, working principles, and possible control methods and spatial arrangement methods of these technical features, conventional selections in the art can be adopted, and they should not be regarded as the inventive points of this invention patent. This invention patent will not be further specifically elaborated.

[0037] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations according to the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. A robot for staggered grinding of the inner surface of a blade, characterized in that, It includes a frame, a suction cup positioning device, a four-axis motion platform, a grinding mechanism, and a laser scanning positioning mechanism; The suction cup positioning device includes main columns located at both ends of the frame. The upper ends of the main columns are fixedly connected to the frame, and several intermediate suction cups are installed at the lower ends of the main columns. Several auxiliary columns are respectively arranged on both sides of the main columns. The upper ends of the auxiliary columns are fixedly connected to the frame. Guide rails and telescopic cylinders are installed on the auxiliary columns. The guide rails are vertically arranged, and the telescopic cylinders are located above the guide rails. Sliders are fitted on the guide rails. The telescopic cylinders are connected to the sliders and drive the sliders to move on the guide rails. A swing connection seat is arranged at the lower end of the slider. The swing connection seat includes a vertical plate and a horizontal plate. The horizontal plate is fixedly connected to the lower end of the vertical plate. The vertical plate is rotatably connected to the slider through a swing shaft, and an auxiliary suction cup is installed on the horizontal plate; The four-axis motion platform includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and an R-axis swinging mechanism. The X-axis moving mechanism drives the Y-axis moving mechanism to move in the X-axis direction. The Y-axis moving mechanism drives the Z-axis moving mechanism to move in the Z-axis direction. The Z-axis moving mechanism drives the R-axis swinging mechanism to move in the Z-axis direction. The R-axis swinging mechanism drives the grinding mechanism to swing on the vertical plane; The grinding mechanism includes a fixed mounting plate, a grinding motor, and a grinding milling cutter. The grinding motor is fixedly installed on the fixed mounting plate, and the grinding motor drives the grinding milling cutter to rotate; The laser scanning positioning mechanism includes a laser sensor and a circuit module. The circuit module is connected to and controls the operation of the four-axis motion platform. The laser sensor is installed on the fixed mounting plate, A horizontal bending part is connected to the fixed mounting plate. A through hole for the rotation shaft of the grinding motor to pass through is provided on the horizontal bending part. The rotation shaft of the grinding motor passes through the through hole and is connected to the grinding milling cutter. A dust-proof baffle is arranged around the grinding milling cutter, and the dust-proof baffle is connected to the horizontal bending part, A dust suction port is provided on the horizontal bending part. The dust suction port is connected to a vacuum cleaner through a pipeline, A blowing and condensing port is provided on the horizontal bending part. The blowing and condensing port is connected to an air compressor through a blowing and condensing pipe. The air compressor supplies air to the telescopic cylinder.

2. The staggered grinding robot for the inner surface of the blade according to claim 1, wherein It also includes a vacuum pump. The auxiliary suction cup and the intermediate suction cup are respectively connected to the vacuum pump through air pipes.

3. The blade inner surface staggered grinding robot according to claim 1, characterized in that, The X-axis moving mechanism includes an X-axis moving frame, an X-axis lead screw, an X-axis slide rail, an X-axis moving motor, and an X-axis moving mounting plate. The X-axis lead screw is rotatably installed on the X-axis moving frame. The X-axis slide rail is arranged on the X-axis moving frame. The X-axis moving mounting plate is installed on the X-axis slide rail. The X-axis moving motor drives the X-axis lead screw to rotate. An X-axis lead screw nut is cooperatively installed on the X-axis lead screw, and the X-axis lead screw nut is fixedly connected to the X-axis moving mounting plate. The Y-axis moving mechanism includes a Y-axis moving frame, a Y-axis lead screw, a Y-axis slide rail, a Y-axis moving motor, and a Y-axis moving mounting plate. The Y-axis moving frame is fixedly connected to the X-axis moving mounting plate. The Y-axis lead screw is rotatably installed on the Y-axis moving frame. The Y-axis slide rail is arranged on the Y-axis moving frame. The Y-axis moving mounting plate is installed on the Y-axis slide rail. The Y-axis moving motor drives the Y-axis lead screw to rotate. A Y-axis lead screw nut is cooperatively installed on the Y-axis lead screw, and the Y-axis lead screw nut is fixedly connected to the Y-axis moving mounting plate. The Z-axis moving mechanism includes a Z-axis moving frame, a Z-axis slide rail, a Z-axis moving electric cylinder, and a Z-axis moving mounting plate. The Z-axis moving frame is fixedly connected to the Y-axis moving mounting plate. The Z-axis slide rail is arranged on the Z-axis moving frame. The Z-axis moving mounting plate is installed on the Z-axis slide rail. The Z-axis moving electric cylinder drives the Z-axis moving mounting plate to move on the Z-axis slide rail. The R-axis swinging mechanism includes an R-axis swinging motor. The R-axis swinging motor is installed on the Z-axis moving mounting plate, and the R-axis swinging motor drives the fixed mounting plate to swing.

4. The blade inner surface staggered grinding robot according to claim 3, characterized in that, It further includes a trolley. A number of support rods are provided on the trolley. The frame is placed on the support rods, and a number of lifting lugs are provided on the frame.

5. Method for staggered grinding of inner surface of blade, characterized in that, When using the blade inner surface staggered grinding robot according to any one of claims 1-4, the grinding method includes: lifting the frame and placing it at the position on the inner surface of the blade that needs to be ground; lowering the frame so that the middle suction cup contacts the inner surface of the blade and adsorbs on the inner surface of the blade; the telescopic cylinder drives the auxiliary suction cup to descend. After the auxiliary suction cup swings by an angle, it automatically adapts to the inner surface of the blade and adsorbs on the inner surface of the blade; the four-axis motion platform drives the laser sensor to move, scans the inner surface of the blade, and obtains the accurate position information of the defective part that needs to be ground according to the scanning result; the four-axis motion platform grinds the defective part according to the accurate position information of the part that needs to be ground; after grinding is completed, the four-axis motion platform resets, and the auxiliary suction cup and the middle suction cup are successively separated from the blade surface, and the grinding robot is lifted to the next defective part.

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