frame miller

Abstract

This invention relates to a square-frame milling machine, comprising a bracket, a main frame, a fixing and clamping device, a milling execution mechanism, and a leveling mechanism. The fixing and clamping device and the milling execution mechanism are mounted on the main frame. The leveling mechanism is mounted on a pitch adjustment mechanism and a pair of heading adjustment mechanisms. Each heading adjustment mechanism includes a heading drive mechanism and a sliding support. The main frame is rotatably mounted on the sliding support on each of its left and right sides via a central pivot along the heading direction, thereby allowing its heading position to be adjusted by driving the sliding support through the heading drive mechanism. This invention enables the main frame to adjust its pitch position using a pair of central pivots as pivots under the drive of the pitch adjustment mechanism, and also to adjust its heading position using a central pivot on one side as a reference point under the drive of the heading drive mechanism on the other side, or to have both heading drive mechanisms simultaneously drive in the same or opposite directions to quickly achieve heading position adjustment of the main frame.

Description

Technical Field

[0001] This invention relates to the field of wind turbine blade milling machine technology, specifically to a square-type 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 during the blade manufacturing process. Before the blade and hub are connected, the blade root end face needs to maintain a certain level of precision; that is, the entire end face and the embedded parts must achieve uniform precision. This is generally achieved through milling to ensure its flatness meets specified requirements.

[0003] However, due to the large diameter of the blade root, especially in high-power wind turbines, the diameter of the mating surface where the blade root and hub are threaded together can reach more than two meters (even the height of two stories), which further increases the difficulty of positioning and machining the blade root end face. Due to the limitations of the blade shape, conventional end face milling machines cannot be used to complete the machining.

[0004] A square-frame end milling machine, also known as a square-frame milling machine, has been developed. The machine uses a fixed clamping device installed on each corner of the square frame (the main frame) to clamp the outer circumference of the blade from the outside. The three-axis linkage device installed on the square frame drives the milling head (i.e., through the milling execution mechanism) to complete the milling of the stud on the root end face of the blade.

[0005] However, existing frame-type milling machines are mostly used in a fixed configuration, as are the workpiece holders for wind turbine blades. This leads to inaccurate alignment between the milling machine and the blade end face, often requiring the blade to be moved to accommodate milling. In actual production, moving the blade is extremely time-consuming, labor-intensive, and dangerous.

[0006] In addition, in existing square milling machines, since the three-axis linkage device, namely the milling execution mechanism, is installed on the crossbeam assembly that needs to move up and down along the main frame during the milling process, the gravity when they move upward and the downward inertia when they move downward have a serious impact on their movement. Therefore, a motion balancing system is required to ensure the smooth up and down movement of the three-axis linkage device. This makes the entire square milling machine relatively large and can only be used in a fixed position.

[0007] In addition, existing square milling machines have four independent lifting platforms installed at the bottom to allow for height adjustment. When the height of the milling machine needs to be adjusted, the lifting height of each lifting platform can be manually adjusted to the required state individually. Summary of the Invention

[0008] To overcome the above-mentioned shortcomings of the prior art, the present invention provides a square milling machine that does not affect milling operations even when the processing blades are placed arbitrarily, is easy to move and use, and has an automatically adjustable height.

[0009] Therefore, the present invention provides a square-frame milling machine, which includes a bracket with a pair of supports, a square-shaped main frame, a fixing and clamping device for fixing wind turbine blades, a milling execution mechanism for milling the end face of wind turbine blades, and a leveling mechanism for supporting and adjusting the main frame to align it with the end face of the wind turbine blades. The fixing and clamping device and the milling execution mechanism are mounted on the main frame. The leveling mechanism is mounted between the main frame and the bracket and includes a pitch adjustment mechanism mounted on the bracket and driving and connecting to one side of the bottom of the main frame, and a pair of heading adjustment mechanisms correspondingly mounted on the pair of supports. Each heading adjustment mechanism includes a heading drive mechanism and a sliding support. The main frame is rotatably mounted on the sliding support on its left and right sides along the heading direction through a central pivot, so that its heading position can be adjusted by driving the sliding support through the heading drive mechanism.

[0010] In this invention, the above-described structure enables the main frame to adjust its pitch position using a pair of central pivots as pivots under the drive of the pitch adjustment mechanism. It can also adjust its yaw position using a central pivot on one side as a reference point under the drive of the yaw drive mechanism on the other side. Alternatively, both yaw drive mechanisms can be driven simultaneously in the same or opposite directions to quickly adjust the yaw position of the main frame.

[0011] Furthermore, the pitch adjustment mechanism includes a pitch drive mechanism and a fisheye bearing device. The pitch drive mechanism is a pitch servo electric cylinder, and the fisheye bearing device includes a fisheye bearing that is driven and connected to the pitch servo electric cylinder and a fixed support seat that is fixedly installed on the bottom side of the main frame. The fisheye bearing is rotatably installed on the fixed support seat through the electric cylinder pin.

[0012] With the above structural design, when the pitch position, i.e. the pitch angle, of the main frame needs to be adjusted, the bottom of the main frame can rotate counterclockwise or clockwise around the central axis under the drive of the pitch servo electric cylinder on the fisheye bearing to achieve the required pitch angle adjustment.

[0013] Furthermore, the pitch servo electric cylinder is provided with mounting shafts on both sides, and each mounting shaft is mounted on the pitch fixing frame via a bearing seat.

[0014] Furthermore, the bracket includes a bracket base and the aforementioned pair of supports, the aforementioned pair of heading adjustment mechanisms being arranged symmetrically left and right along the heading direction; the heading drive mechanism is fixedly installed on the supports, and the slidable support seat is slidably installed on the supports; the pitch fixing frame is fixedly installed on the bracket base or constitutes part of the bracket base.

[0015] This structural design allows the main frame to be movably supported on the bracket at its bottom and at the location where the two central pivots are installed.

[0016] Furthermore, the slidable support includes a slidable mounting plate and a ball-bearing vertical bearing fixed to the slidable mounting plate, wherein the slidable mounting plate is slidably mounted on the bracket by means of a mutually cooperating slider and slide rail structure; the ball-bearing vertical bearing is clearance-fitted with the central rotating shaft.

[0017] The above structural design allows the ball-bearing vertical bearing housing to move back and forth relative to the support via a slider and slide rail structure, thereby enabling the main frame to move in the yaw direction.

[0018] Furthermore, the central rotating shaft is installed in the ball-bearing vertical bearing housing via a bearing sleeve with clearance fit, and the ball-bearing vertical bearing housing includes a spherical bearing.

[0019] With the above structural configuration, when the pitch adjustment mechanism on one side works to push the main frame forward or backward along the heading direction by means of the central pivot on that side, the central pivot on the other side can make a slight movement in the gap of the spherical bearing in its corresponding ball-bearing vertical bearing seat, thereby avoiding stress concentration.

[0020] Furthermore, the heading drive mechanism is a heading servo electric cylinder, which is mounted on the bracket by means of a fixed support and drives the sliding mounting plate; the heading servo electric cylinder is mounted on the fixed support by mounting shafts on both sides and bearings with seats that cooperate with the mounting shafts.

[0021] With the above structural configuration, the heading servo electric cylinder can drive the ball bearing seat to move back and forth relative to the support along the heading direction via a sliding mounting plate during operation.

[0022] Furthermore, the milling actuator includes:

[0023] The X-axis transverse component includes a vertical beam assembly and an X-axis drive mechanism. The vertical beam assembly is movably connected to the upper and lower crossbeams of the main frame at its upper and lower ends, respectively. The X-axis drive mechanism is mounted on the vertical beam assembly and configured to drive the vertical beam assembly to move laterally along the X-axis direction on the upper and lower crossbeams.

[0024] Z-axis moving mechanism, which is mounted on the vertical beam assembly and configured to move up and down along the Z-axis;

[0025] The Y-axis feed mechanism is fixedly mounted on the Z-axis moving mechanism and a milling head is mounted on it. The Y-axis feed mechanism is configured to drive the milling head to feed along the Y-axis direction.

[0026] In this invention, by setting up a vertical beam assembly and driving the vertical beam assembly to move laterally through the X-axis transverse component, the instability caused by the upward resistance and downward inertia of the entire milling actuator moving up and down under load is avoided. It also eliminates the trouble of needing to add a motion balancing system, so that the entire square milling machine does not need to be used in a fixed position, which greatly saves costs and facilitates production.

[0027] Furthermore, the vertical beam assembly includes an upper mounting plate, a lower mounting plate, and a vertical beam connecting the upper mounting plate and the lower mounting plate. The upper mounting plate and the lower mounting plate are respectively connected to the upper crossbeam and the lower crossbeam via a slider and a slide rail structure.

[0028] The above-described structural design of the vertical beam assembly enables the vertical beam to be stably installed on the upper and lower horizontal beams and to move smoothly laterally.

[0029] Furthermore, the X-axis drive mechanism is mounted on one side of the vertical beam and includes an X-axis servo motor and an X-axis transmission mechanism. The X-axis transmission mechanism includes an upper drive rod and a lower drive rod, an upper steering gear and a lower steering gear, an upper gear and a lower gear, and an upper rack and a lower rack. The X-axis servo motor drives the inner ends of the upper and lower drive rods via longitudinal couplings at the upper and lower ends of its output shaft, respectively. The outer ends of the upper and lower drive rods are connected to one end of the upper and lower steering gears via longitudinal couplings, respectively. The other ends of the upper and lower steering gears are driven to the upper gear and the lower gear via transverse couplings, respectively. The upper rack and the lower rack are mounted on the upper and lower crossbeams and are adapted to mesh with the upper gear and the lower gear, respectively, so that the X-axis servo motor drives the vertical beam assembly to move laterally along the X-axis direction via the X-axis transmission mechanism.

[0030] The above structural design allows the driving force of the X-axis servo motor to be effectively transmitted to the upper and lower ends of the vertical beam, thereby stably driving the vertical beam assembly to move laterally.

[0031] Furthermore, the X-axis servo motor, the upper steering gear, and the lower steering gear are all fixedly mounted on the left side of the vertical beam; the slider and slide rail structure includes guide sliders disposed on the upper mounting plate and the lower mounting plate, and guide slide rails disposed on the upper crossbeam and the lower crossbeam; the upper crossbeam and the lower crossbeam are also respectively provided with an upper dust cover and a lower dust cover that extend along the X-axis direction and are inverted, and the slider and slide rail structure is located inside the upper dust cover and the lower dust cover.

[0032] With the above structural design, the X-axis drive mechanism can be stably installed on the vertical beam; the dust cover protects the slider and slide rail structure from dust and debris, preventing them from contaminating the slider and slide rail structure and affecting their smooth operation.

[0033] Furthermore, the Z-axis moving mechanism includes an L-shaped Z-axis mounting base that is inverted left to right, a Z-axis servo motor, and a gear and rack structure. The Z-axis mounting base is movably mounted on the right side of the vertical beam via a slider and slide rail structure on its right side. The Z-axis servo motor is mounted on the front side of the Z-axis mounting base. The gear and rack structure includes a Z-axis gear that is driven and connected to the output shaft of the Z-axis servo motor and a Z-axis rack that is fixedly mounted on the front side of the vertical beam. The Z-axis rack extends along the Z-axis direction and is adapted to mesh with the Z-axis gear, so that the Z-axis moving mechanism can move up and down along the Z-axis direction on the vertical beam under the drive of the Z-axis servo motor.

[0034] The above structural design allows the Z-axis moving mechanism to be mounted vertically on the vertical beam.

[0035] Furthermore, the Y-axis feed mechanism includes a Y-axis fixed base, a Y-axis servo motor, a lead screw and nut structure, a slider, and a slide rail structure. The Y-axis fixed base is fixedly installed on the right side of the Z-axis mounting base away from the vertical beam. The Y-axis servo motor is mounted on the Y-axis fixed base. The lead screw and nut structure includes a Y-axis lead screw driven and connected to the Y-axis servo motor and a Y-axis nut meshing with the Y-axis lead screw. The slider and slide rail structure includes a Y-axis slide rail disposed on the Y-axis fixed base and a Y-axis slider slidingly engaged with the Y-axis slide rail. Both the Y-axis nut and the Y-axis slider are fixedly installed on the milling head, so that the milling head can be fed along the Y-axis direction under the drive of the Y-axis servo motor.

[0036] With the above structural design, on the one hand, the entire Y-axis feed mechanism is driven by the Z-axis moving mechanism to move up and down along the Z-axis, and on the other hand, the milling head can be driven to feed along the Y-axis direction through the lead screw and nut structure to complete the milling. The structure is safe and stable.

[0037] Furthermore, the square milling machine of the present invention also includes a synchronous lifting device installed on the bottom of the bracket. The synchronous lifting device includes a drive mechanism, a transmission mechanism, and two pairs of turbine lifters. The drive mechanism includes a motor and a reducer. The transmission mechanism includes a longitudinal drive shaft, a pair of T-shaped corner joints, and two pairs of transverse drive shafts. The pair of T-shaped corner joints are symmetrically arranged on the front and rear sides of the reducer. The reducer is driven and connected to the pair of T-shaped corner joints at both ends via the longitudinal drive shaft. Each T-shaped corner joint is connected to a pair of turbine lifters via the pair of transverse drive shafts. The pair of turbine lifters are symmetrically arranged on the left and right sides of the T-shaped corner joints, so that the motor can drive the turbine lifters via the reducer, the longitudinal drive shaft, the T-shaped corner joints, and the transverse drive shafts to realize the lifting and lowering of the square milling machine.

[0038] Through the above structural design, the four turbine lifts are connected as one unit via the transmission mechanism and driven by the drive mechanism, so that the four turbine lifts can achieve automatic synchronous lifting, saving time and effort.

[0039] Furthermore, the longitudinal drive shaft is connected to the T-shaped angle device at both ends via a longitudinal coupling, and each of the transverse drive shafts is connected to the T-shaped angle device at one end via a transverse coupling and to the turbine lift at the other end via a transverse coupling.

[0040] With the above structural design, each turbine lift is connected to a reducer via multiple drive shafts, couplings, and reducers, thus enabling it to be driven synchronously by an electric motor.

[0041] Furthermore, the aforementioned square milling machine also includes a controller, which is electrically connected to at least the milling actuator, the leveling mechanism, and the synchronous lifting device to realize the synchronous lifting, leveling, and milling of the two pairs of turbine lifts of the square milling machine.

[0042] Furthermore, the two pairs of turbine lifts are respectively installed on the four corners of the bottom of the bracket base of the square milling machine.

[0043] The above structure allows the square milling machine to achieve balanced force and support at the four corners of the bottom of its bracket base.

[0044] Furthermore, each turbine lift includes a turbine housing, a turbine shaft, a turbine, a turbine rod, and a turbine cover. The turbine shaft is connected to the other end of a transverse drive shaft via a transverse coupling. The turbine meshes with a gear on the turbine shaft, and the turbine rod is connected to a turbine key.

[0045] The above structural design enables the drive shaft to drive the turbine shaft, which in turn drives the turbine to rotate. The turbine rod is then moved up and down by the turbine, thereby achieving the lifting and lowering adjustment of the turbine lift.

[0046] Furthermore, the turbine rod has a top foot plate at the bottom.

[0047] By setting up the top foot plates, the synchronous lifting device is stably supported on the ground or other support platforms through the four top foot plates.

[0048] These and other aspects of the present invention will be more clearly illustrated by referring to the embodiments described below. Attached Figure Description

[0049] 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:

[0050] Figure 1 This is a three-dimensional structural schematic diagram of a square milling machine according to a specific embodiment of the present invention;

[0051] Figure 2 yes Figure 1 The side view of the pitch adjustment mechanism of the leveling mechanism of the box-type milling machine shown.

[0052] Figure 3 yes Figure 2 A three-dimensional schematic diagram of the pitch adjustment mechanism shown;

[0053] Figure 4 yes Figure 3 An exploded 3D view of the pitch adjustment mechanism shown.

[0054] Figure 5 yes Figure 1 A three-dimensional structural diagram of a pair of heading adjustment mechanisms in the leveling mechanism of the box-type milling machine shown.

[0055] Figure 6 yes Figure 5 An exploded perspective view of the heading adjustment mechanism on the left side of the pair of heading adjustment mechanisms shown.

[0056] Figure 7 yes Figure 5 A schematic top view showing a pair of heading adjustment mechanisms with the heading adjustment mechanism on the left being pushed backward to make heading adjustments;

[0057] Figure 8 yes Figure 7 A cross-sectional view of a pair of heading adjustment mechanisms along line AA;

[0058] Figure 9 yes Figure 8 A magnified view of part I shown;

[0059] Figure 10 yes Figure 1 The diagram shows a three-dimensional structure of the milling mechanism of the rectangular milling machine located on the main frame.

[0060] Figure 11 yes Figure 10 The milling actuator shown is exploded three-dimensionally, detached from the main frame and viewed from another angle.

[0061] Figure 12 yes Figure 10 Front view of the structure shown;

[0062] Figure 13 yes Figure 12 A cross-sectional view of the structure shown along line AA;

[0063] Figure 14 yes Figure 13 The X-axis transmission mechanism of the milling actuator in the structure shown is shown as a separate view;

[0064] Figure 15 yes Figure 10 Top view of the X-axis transverse translation component of the milling actuator shown;

[0065] Figure 16 yes Figure 12 Right side view of the structure shown;

[0066] Figure 17 yes Figure 16 A magnified view of part I in the middle circle;

[0067] Figure 18 yes Figure 12 A cross-sectional view of the structure shown along line BB;

[0068] Figure 19 yes Figure 11 An exploded three-dimensional view of the Z-axis traverse mechanism, Y-axis feed mechanism, and milling head structure of the milling actuator shown.

[0069] Figure 20 It is similar to Figure 11 The view;

[0070] Figure 21 yes Figure 20 A magnified view of part E within the box;

[0071] Figure 22 yes Figure 1 A bottom view of the synchronous lifting device of the square milling machine shown;

[0072] Figure 23 yes Figure 22 Front view of the synchronous lifting device shown;

[0073] Figure 24yes Figure 22 The diagram shows a three-dimensional view of the synchronous lifting device as seen from the top front side, with one of the turbine lifts exploding open. Detailed Implementation

[0074] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0075] In this document, the directional representations used to explain the structure and / or operation of the various parts of the disclosed embodiments, such as "front," "rear," "left," "right," "up," and "down," are not absolute but relative. These representations are appropriate when the various parts of the disclosed embodiments are located in the positions shown in the figures, and these representations will also change according to the change in the position or reference frame of the disclosed embodiments.

[0076] Additionally, it should be noted that the X-axis direction in this article is the left-right direction in the figure, the Y-axis direction is the front-back direction in the figure, and the Z-axis direction is the up-down direction in the figure.

[0077] like Figure 1 , Figure 3 , Figure 5 , Figure 10 , Figure 11 and Figure 24 As shown, and refer to Figure 2 , Figure 4 , Figures 6 to 9 , Figures 12 to 23 According to a specific embodiment of the present invention, a square-type milling machine 1000 includes a milling execution mechanism 100, a square-shaped main frame 101, a bracket 111 having a pair of supports 11, a leveling mechanism 400, a fixing and clamping device 800, and a synchronous lifting device 900. In this embodiment, the fixing and clamping device 800 is mounted on the main frame 101 for fixing wind turbine blades (not shown), the milling execution mechanism 100 is mounted on the main frame 101 for milling the end face of the wind turbine blades, and the leveling mechanism 400 is used to support and adjust the main frame to align it with the end face of the wind turbine blades. The fixing and clamping device 800 and the milling execution mechanism 100 are mounted on the main frame 101, and the leveling mechanism 400 is installed between the main frame 101 and the bracket 111.

[0078] The following section will first introduce the 400 leveling mechanism. For example... Figures 1 to 9As shown, in this embodiment, the leveling mechanism 400 includes a pitch adjustment mechanism 43 mounted on the bracket 111 and drivingly connected to one side of the bottom of the main frame 101, and a pair of heading adjustment mechanisms 45 correspondingly mounted on a pair of brackets 11. The pair of heading adjustment mechanisms 45 are arranged symmetrically on the left and right sides along the heading direction, and each heading adjustment mechanism 45 includes a heading drive mechanism 451 and a sliding support 453. The main frame 101 is rotatably mounted on the sliding support 453 on its left and right sides through a central pivot 47 along the heading direction, so that the heading position of the main frame 101 can be adjusted by driving the sliding support 453 through the heading drive mechanism 451.

[0079] like Figure 2 , Figure 3 and Figure 4 As shown, in this embodiment, the pitch adjustment mechanism 43 includes a pitch drive mechanism and a fisheye bearing device. The pitch drive mechanism is configured as a pitch servo cylinder 430. The fisheye bearing device includes a fisheye bearing 432 that is driven and connected to the pitch servo cylinder 430 and a fixed support 434 that is fixedly installed on one side of the bottom of the main frame 101. The fisheye bearing 432 is rotatably installed on the fixed support 434 through the cylinder pin 436, so that the main frame 101 can be adjusted in pitch position around the central axis 47 by means of the fisheye bearing 432 under the drive of the pitch servo cylinder 430.

[0080] like Figure 4 As shown, and refer to Figure 2 and Figure 3 In this embodiment, the pitch servo cylinder 430 is provided with mounting shafts 431 on both sides. Each mounting shaft 431 is mounted on the pitch fixing frame 435 via a bearing 433. This can avoid stress generated during the installation of the pitch servo cylinder 430 on the pitch fixing frame 435.

[0081] For example Figure 1 As shown, and refer to Figure 5 and Figure 6 In this embodiment, the bracket 111 includes a bracket base 110 and a pair of supports 11 arranged on the left and right sides, which correspond one-to-one with the pair of heading adjustment mechanisms 45. The heading drive mechanism 451 is fixedly mounted on the support 11, and the slidable support 453 is slidably mounted on the support 11. The pitch fixing bracket 435 is fixedly mounted on the bracket base 110. Of course, in other embodiments, the pitch fixing bracket 435 may be configured as part of the bracket base 110.

[0082] like Figure 5 , Figure 6 and Figure 7 As shown, and refer to Figure 8and Figure 9 In this embodiment, the slidable support 453 includes a slidable mounting plate 452 and a ball-bearing vertical bearing seat 454 fixed to the slidable mounting plate 452. The slidable mounting plate 452 is slidably mounted on the bracket 11 by means of a cooperating slider and slide rail structure; the ball-bearing vertical bearing seat 454 is clearance-fitted with the central rotating shaft 47. Figure 6 and Figure 9 As shown, in this embodiment, the slider and slide rail structure includes a slider 455 and a slide rail 456.

[0083] like Figure 8 and Figure 9 As shown, in this embodiment, the central rotating shaft 47 is installed in the ball-mounted vertical bearing housing 454, which is a standard part, via the bearing sleeve 470 with clearance fit. Specifically, the central rotating shaft 47 is installed in the spherical bearing 457 inside the ball-mounted vertical bearing housing 454 with clearance fit via the bearing sleeve 470.

[0084] For example Figure 6 As shown, in this embodiment, the heading drive mechanism 451 is configured as a heading servo electric cylinder. The heading servo electric cylinder is mounted on one side of the bracket 11 by means of a fixed support 450 and drives the slidable mounting plate 452. Preferably, the heading servo electric cylinder is mounted on the fixed support 50 by mounting shafts 458 on its left and right sides and bearings 459 that cooperate with the mounting shafts.

[0085] It should be understood that, in order to achieve automated leveling of the present invention, both the pitch adjustment mechanism 3 and the heading adjustment mechanism 5 can be connected to the controller (not shown) of the square milling machine 1000 for automated adjustment. It should also be understood that the present invention can also be equipped with a laser data acquisition mechanism (not shown) to automatically acquire the pitch and heading position information that needs to be adjusted, and transmit this information to the controller to automatically control the pitch adjustment mechanism 3 and the heading adjustment mechanism 5 to achieve leveling.

[0086] The following is combined Figures 1 to 9 The working process of the leveling mechanism 400 in this embodiment is described below:

[0087] When the wind turbine blade is placed on the workpiece rack, the square milling machine 1000 is lifted to the side of the workpiece rack (not shown) through the lifting point 109. The main frame 101 faces the end face of the wind turbine blade. Then, the pitch adjustment mechanism 43 and a pair of heading adjustment mechanisms 45 are used to adjust the pitch and heading.

[0088] When the left-side heading position of the main frame 101 needs to be adjusted, that is, when the left side of the main frame 101 needs to be moved backward along the heading direction, it can be done as follows: Figure 7The left-side heading drive mechanism 451 is activated, causing the corresponding left-side sliding support 453 to move backward. This, in turn, drives the main frame 101 to rotate counterclockwise around the right-side central axis 47 via the left-side central axis 47. Figure 7 As shown;

[0089] Of course, according to the heading position requirements of the main frame 101, the heading drive mechanisms 451 on the left and right sides can be activated at the same time to drive the corresponding sliding support seats 453 in the same (both forward or both backward) or opposite (one forward and one backward) directions along the heading direction, so that the heading position of the main frame 101 can be quickly adjusted into place.

[0090] When the pitch angle of the main frame 101 needs to be adjusted, for example... Figure 2 The bottom of the main frame 101 needs to move toward the pitch adjustment mechanism 43. The pitch servo cylinder 430 pulls the fisheye bearing 432 back, thereby causing the bottom of the main frame 101 to rotate counterclockwise around the central axis 47, so that the pitch angle of the main frame 101 is consistent with the pitch angle of the wind turbine blade end face.

[0091] Once the main frame 101 is leveled (i.e., flush with the end face of the wind turbine blade), the milling work can begin.

[0092] The following is for reference. Figures 10 to 21 The milling actuator 100 in this embodiment is described below, where the X-axis direction is... Figure 5 The left and right directions, the Y-axis direction is Figure 5 The front-back direction in the diagram, and the Z-axis direction is the up-down direction.

[0093] like Figures 10 to 21 As shown, in this embodiment, the milling execution mechanism 100 includes an X-axis lateral movement assembly 1, a Z-axis movement mechanism 3, and a Y-axis feed mechanism 5. The X-axis lateral movement assembly 1 includes a vertical beam assembly 2 and an X-axis drive mechanism 10. The vertical beam assembly 2 is movably connected at its upper and lower ends to the upper crossbeam 102 and lower crossbeam 104 of the main frame 101. The X-axis drive mechanism 10 is mounted on the vertical beam assembly 2 and is configured to drive the vertical beam assembly 2 to move laterally along the X-axis direction on the upper crossbeam 102 and lower crossbeam 104. The Z-axis movement mechanism 3 is mounted on the vertical beam assembly 2 and is configured to move up and down along the Z-axis direction. The Y-axis feed mechanism 5 is fixedly mounted on the Z-axis movement mechanism 3 and a milling head 7 is mounted on it. The Y-axis feed mechanism 5 is configured to drive the milling head 7 to feed along the Y-axis direction.

[0094] For example Figure 11 As shown, and refer to Figure 10 , Figure 16 , Figure 17 and Figure 21 The vertical beam assembly 2 includes a vertical beam 21, an upper mounting plate 22, and a lower mounting plate 24. The vertical beam 21 connects the upper mounting plate 22 and the lower mounting plate 24. The upper mounting plate 22 and the lower mounting plate 24 are respectively connected to the upper crossbeam 102 and the lower crossbeam 104 via a slider and a slide rail structure 20.

[0095] like Figures 13 to 17 As shown, and refer to Figures 10 to 12 In this embodiment, the X-axis drive mechanism 10 is located on one side of the vertical beam 21, i.e., the upper left side, and includes an X-axis servo motor 12 and an X-axis transmission mechanism. The X-axis transmission mechanism includes an upper transmission rod 112 and a lower transmission rod 114, an upper steering gear 132 and a lower steering gear 134, an upper gear 152 and a lower gear 154, and an upper rack 172 and a lower rack 174. Specifically, the X-axis servo motor 12 drives the inner ends of the upper transmission rod 112 and the lower transmission rod 114 respectively via longitudinal coupling 14 at the upper and lower ends of its output shaft. The outer ends of the upper transmission rod 112 and the lower transmission rod 114 are connected to one end of the upper steering gear 132 and the lower steering gear 134 respectively via longitudinal coupling 16. The other ends of the upper steering gear 132 and the lower steering gear 134 are driven to the upper gear 152 and the lower gear 154 respectively via transverse coupling 18. The upper rack 172 and the lower rack 174 are respectively mounted on the upper crossbeam 102 and the lower crossbeam 104 and are adapted to mesh with the upper gear 152 and the lower gear 154 respectively, thereby causing the X-axis servo motor 12 to drive the vertical beam assembly 2 to move laterally along the X-axis direction via the X-axis transmission mechanism.

[0096] like Figure 11 As shown, the X-axis servo motor 12, the upper steering gear 132, and the lower steering gear 134 are all fixedly mounted on the left side of the vertical beam 21. It should be understood that, as... Figure 14 As shown, the upper transmission rod 112 and the lower transmission rod 114 are also rotatably fixed to the vertical beam 21 via the bearing seat 19.

[0097] like Figure 16 and Figure 17 As shown, the slider and slide rail structure 20 between the upper mounting plate 22 and the upper crossbeam 102 includes a guide slider 202 disposed on the upper mounting plate 22 and a guide slide rail 122 disposed on the upper crossbeam 102. Similarly, the slider and slide rail structure 20 between the lower mounting plate 24 and the lower crossbeam 104 includes a guide slider (not shown) disposed on the lower mounting plate 24 and a guide slide rail (not shown) disposed on the lower crossbeam 104. Figure 17 As shown, the upper crossbeam 102 is also provided with an L-shaped upper dust cover 132 extending along the X-axis and inverted, with the guide slider 202 and guide rail 122 located inside the upper dust cover 132. Similarly, as Figure 16As shown, the lower crossbeam 104 is also provided with an L-shaped lower dust cover 134 that extends along the X-axis and is upside down, and the slider and slide rail structure 20 is located inside the lower dust cover 134.

[0098] like Figures 18 to 21 As shown, the Z-axis moving mechanism 3 includes an L-shaped Z-axis mounting base 30 that is inverted left to right, a Z-axis servo motor 32, and a gear and rack structure. The Z-axis mounting base 30 is movably mounted on the right side of the vertical beam 21 via a slider and slide rail structure on its right side 31. The Z-axis servo motor 32 is mounted on the front side 33 of the Z-axis mounting base 30. The gear and rack structure includes a Z-axis gear 34 that drives the output shaft of the Z-axis servo motor 32, and a Z-axis rack 36 fixedly mounted on the front side of the vertical beam 21. The Z-axis rack 36 extends along the Z-axis direction and is adapted to mesh with the Z-axis gear 34, so that the Z-axis moving mechanism 3 can move up and down along the Z-axis direction on the vertical beam 21 under the drive of the Z-axis servo motor 32. Figure 18 and Figure 19 As shown, the slider and slide rail structure includes a longitudinal slider 313 located on the right side 31 of the Z-axis mounting base 30 and a longitudinal slide rail 213 located on the vertical beam 21.

[0099] For example Figures 18 to 21 As shown, the Y-axis feed mechanism 5 includes a Y-axis fixed base 50, a Y-axis servo motor 52, a lead screw and nut structure, a slider and slide rail structure. The Y-axis fixed base 50 is fixedly installed on the right side 31 of the Z-axis mounting base 30 away from the vertical beam 21. The Y-axis servo motor 52 is installed on the Y-axis fixed base 50. The lead screw and nut structure includes a Y-axis lead screw 51 driven and connected to the Y-axis servo motor 52 and a Y-axis nut 53 meshing with the Y-axis lead screw 51. The slider and slide rail structure includes a Y-axis slide rail 55 disposed on the Y-axis fixed base 50 and a Y-axis slider 57 slidingly engaged with the Y-axis slide rail 55. The Y-axis nut 53 and the Y-axis slider 57 are both fixedly installed on the milling head 7 so that the milling head 7 can be fed along the Y-axis direction under the drive of the Y-axis servo motor 52.

[0100] Additionally, it should be noted that in this embodiment, the X-axis drive mechanism 10, Z-axis moving mechanism 3, Y-axis feed mechanism 5, and milling head 7 are all electrically connected to the controller (not shown) of the square milling machine 1000, thereby realizing automated feeding and milling of the milling head in the X-axis, Z-axis, and Y-axis directions.

[0101] The following is for reference. Figures 22 to 24 Let me introduce the synchronous lifting device 900 in this embodiment.

[0102] like Figures 22 to 24 As shown, and refer to Figure 1In this embodiment, the synchronous lifting device 900 includes a drive mechanism 91, a transmission mechanism 93, and two pairs of turbine lifters 95. The drive mechanism 91 includes a motor 910 and a reducer 912. The transmission mechanism 93 includes a pair of T-shaped corner joints 930, a longitudinal drive shaft 932, and two pairs of transverse drive shafts 934. The pair of T-shaped corner joints 930 are symmetrically arranged on the front and rear sides of the reducer 912. The reducer 912 is driven and connected to the pair of T-shaped corner joints 930 at both ends via the longitudinal drive shaft 932. Each T-shaped corner joint 930 is connected to a pair of turbine lifters 95 via a pair of transverse drive shafts 934. The pair of turbine lifters 95 are symmetrically arranged on the left and right sides of the T-shaped corner joints 930, so that the motor 910 can drive the turbine lifters 95 via the reducer 912, the longitudinal drive shaft 932, the T-shaped corner joints 930, and the transverse drive shafts 934 to achieve the lifting of the square milling machine 1000.

[0103] For example Figure 1 As shown, the longitudinal drive shaft 932 is connected to the T-shaped angle device 930 at both ends via a longitudinal coupling 931, and each transverse drive shaft 934 is connected to the T-shaped angle device 930 at one end via a transverse coupling 933 and to the turbine lift 95 at the other end via a transverse coupling 935.

[0104] like Figure 1 As shown, and refer to Figure 22 and Figure 23 The two pairs of turbine lifts 95 are respectively installed on the four corners of the bottom of the square milling machine 1000, that is, on the four corners of the bottom of the bracket 111.

[0105] like Figure 24 As shown, each turbine lift 95 includes a turbine housing 950, a turbine shaft 951, a turbine 952, a turbine rod 953, and a turbine cover 954. The turbine shaft 951 is connected to the other end of a transverse drive shaft 934 via a transverse coupling 936. The turbine 952 meshes with the turbine shaft 951 via gears, and the turbine rod 953 is keyed to the turbine 952. Furthermore, the turbine rod 953 has a top plate 955 at its bottom, which is adapted to abut against the ground 300.

[0106] It should be understood that, in this embodiment, the synchronous lifting device 900, specifically the motor 910, can also be electrically connected to the controller (not shown) of the square milling machine 1000. Thus, when the height of the square milling machine 1000 needs to be adjusted, the synchronous lifting device can be started and stopped by controlling the start and stop of the motor 910 through the controller, thereby realizing the lifting and lowering of the square milling machine 1000 relative to the ground 300.

[0107] The following is for reference. Figures 1 to 24Here is a brief introduction to the operation of the square milling machine 1000 in this embodiment: First, the entire square milling machine 1000 is hoisted to the workpiece rack via the lifting point 109. Then, the synchronous lifting device 900 is automatically controlled by the controller to adjust the square milling machine 1000 to a suitable height. Next, the leveling mechanism 400 is automatically controlled by the controller to adjust the pitch and yaw so that the main frame 101 is facing the end face of the wind turbine blade that needs to be milled. Then, the wind turbine blade is fixed by the fixing and clamping device 800. Finally, the milling execution mechanism 100 is started by the controller to perform milling.

[0108] 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 square-frame milling machine, characterized in that... The device includes a bracket with a pair of supports, a rectangular main frame, a fixing and clamping device for fixing wind turbine blades, a milling actuator for milling the end face of the wind turbine blades, and a leveling mechanism for adjusting the main frame to align it with the end face of the wind turbine blades. The fixing and clamping device and the milling actuator are mounted on the main frame, and the leveling mechanism is mounted between the main frame and the bracket. The device also includes a pitch adjustment mechanism mounted on the bracket and driving a connection to one side of the bottom of the main frame, and a pair of heading adjustment mechanisms correspondingly mounted on the pair of supports. Each heading adjustment mechanism includes a heading drive mechanism and a sliding support. The main frame is rotatably mounted on the sliding support along the heading direction on its left and right sides via a central pivot, so that its heading position can be adjusted by driving the sliding support through the heading drive mechanism.

2. The square-frame milling machine as described in claim 1, characterized in that, The pitch adjustment mechanism includes a pitch drive mechanism and a fisheye bearing device. The pitch drive mechanism is a pitch servo electric cylinder, and the fisheye bearing device includes a fisheye bearing that is driven and connected to the pitch servo electric cylinder and a fixed support seat that is fixedly installed on one side of the bottom of the main frame. The fisheye bearing is rotatably installed on the fixed support seat through the electric cylinder pin.

3. The square-frame milling machine as described in claim 2, characterized in that, The bracket includes a bracket base and the pair of brackets; the pair of heading adjustment mechanisms are symmetrically arranged left and right along the heading direction; the heading drive mechanism is fixedly installed on the brackets, and the slidable support is slidably installed on the brackets.

4. The square-frame milling machine as described in claim 1, characterized in that, The slidable support includes a slidable mounting plate and a ball-bearing vertical bearing fixed to the slidable mounting plate. The slidable mounting plate is slidably mounted on the bracket by means of a mutually cooperating slider and slide rail structure. The ball-bearing vertical bearing is clearance-fitted with the central rotating shaft.

5. The square-frame milling machine as described in claim 4, characterized in that, The central rotating shaft is installed in the ball bearing housing via a clearance fit with a bearing sleeve, and the ball bearing housing includes a spherical bearing.

6. The square-frame milling machine as described in claim 5, characterized in that, The heading drive mechanism is a heading servo electric cylinder, which is mounted on the bracket by means of a fixed support and drives the sliding mounting plate.

7. The square-frame milling machine as described in claim 1, characterized in that, The milling actuator includes: The X-axis transverse component includes a vertical beam assembly and an X-axis drive mechanism. The vertical beam assembly is movably connected to the upper and lower crossbeams of the main frame at its upper and lower ends, respectively. The X-axis drive mechanism is mounted on the vertical beam assembly and configured to drive the vertical beam assembly to move laterally along the X-axis direction on the upper and lower crossbeams. Z-axis moving mechanism, which is mounted on the vertical beam assembly and configured to move up and down along the Z-axis; The Y-axis feed mechanism is fixedly mounted on the Z-axis moving mechanism and a milling head is mounted on it. The Y-axis feed mechanism is configured to drive the milling head to feed along the Y-axis direction.

8. The square-frame milling machine as described in claim 7, characterized in that, The vertical beam assembly includes an upper mounting plate, a lower mounting plate, and a vertical beam connecting the upper mounting plate and the lower mounting plate. The upper mounting plate and the lower mounting plate are respectively connected to the upper crossbeam and the lower crossbeam via a slider and a slide rail structure.

9. The square-frame milling machine as described in claim 8, characterized in that, The X-axis drive mechanism is mounted on one side of the vertical beam and includes an X-axis servo motor and an X-axis transmission mechanism. The X-axis transmission mechanism includes an upper drive rod and a lower drive rod, an upper steering gear and a lower steering gear, an upper gear and a lower gear, and an upper rack and a lower rack. The X-axis servo motor drives the inner ends of the upper and lower drive rods via longitudinal couplings at the upper and lower ends of its output shaft, respectively. The outer ends of the upper and lower drive rods are connected to one end of the upper and lower steering gears via longitudinal couplings, respectively. The other ends of the upper and lower steering gears are driven to the upper gear and the lower gear via transverse couplings, respectively. The upper rack and the lower rack are mounted on the upper and lower crossbeams and are adapted to mesh with the upper gear and the lower gear, respectively, so that the X-axis servo motor drives the vertical beam assembly to move laterally along the X-axis direction via the X-axis transmission mechanism.

10. The square-frame milling machine as described in claim 9, characterized in that, The X-axis servo motor, the upper steering gear, and the lower steering gear are all fixedly mounted on the left side of the vertical beam. The slider and slide rail structure includes guide sliders disposed on the upper mounting plate and the lower mounting plate, and guide slide rails disposed on the upper crossbeam and the lower crossbeam. The upper crossbeam and the lower crossbeam are also respectively provided with an upper dust cover and a lower dust cover that extend along the X-axis direction and are inverted. The slider and slide rail structure is located inside the upper dust cover and the lower dust cover.

11. The square-frame milling machine as described in claim 8, characterized in that, The Z-axis moving mechanism includes an L-shaped Z-axis mounting base that is inverted left to right, a Z-axis servo motor, and a gear and rack structure. The Z-axis mounting base is movably mounted on the right side of the vertical beam via a slider and slide rail structure. The Z-axis servo motor is mounted on the front side of the Z-axis mounting base. The gear and rack structure includes a Z-axis gear that is driven and connected to the output shaft of the Z-axis servo motor and a Z-axis rack that is fixedly mounted on the front side of the vertical beam. The Z-axis rack extends along the Z-axis direction and is adapted to mesh with the Z-axis gear, so that the Z-axis moving mechanism can move up and down along the Z-axis direction on the vertical beam under the drive of the Z-axis servo motor.

12. The square-frame milling machine as described in claim 11, characterized in that, The Y-axis feed mechanism includes a Y-axis fixed base, a Y-axis servo motor, a lead screw and nut structure, a slider, and a slide rail structure. The Y-axis fixed base is fixedly installed on the right side of the Z-axis mounting base away from the vertical beam. The Y-axis servo motor is mounted on the Y-axis fixed base. The lead screw and nut structure includes a Y-axis lead screw driven and connected to the Y-axis servo motor and a Y-axis nut meshing with the Y-axis lead screw. The slider and slide rail structure includes a Y-axis slide rail disposed on the Y-axis fixed base and a Y-axis slider slidingly engaged with the Y-axis slide rail. The Y-axis nut and the Y-axis slider are both fixedly installed on the milling head, so that the milling head can be fed along the Y-axis direction under the drive of the Y-axis servo motor.

13. The square-type milling machine as described in any one of claims 1 to 12, characterized in that... It also includes a synchronous lifting device installed on the bottom of the bracket. The synchronous lifting device includes a drive mechanism, a transmission mechanism, and two pairs of worm gear lifters. The drive mechanism includes a motor and a reducer. The transmission mechanism includes a longitudinal drive shaft, a pair of T-shaped corner joints, and two pairs of transverse drive shafts. The pair of T-shaped corner joints are symmetrically arranged on the front and rear sides of the reducer. The reducer is driven and connected to the pair of T-shaped corner joints at both ends via the longitudinal drive shaft. Each T-shaped corner joint is connected to a pair of worm gear lifters via the pair of transverse drive shafts. The pair of worm gear lifters are symmetrically arranged on the left and right sides of the T-shaped corner joints, so that the motor can drive the worm gear lifters via the reducer, longitudinal drive shaft, T-shaped corner joints, and transverse drive shafts to achieve the lifting and lowering of the square milling machine.

14. The square-frame milling machine as described in claim 13, characterized in that, The longitudinal drive shaft is connected to the T-shaped angle device at both ends via a longitudinal coupling. Each transverse drive shaft is connected to the T-shaped angle device at one end via a transverse coupling and to the worm gear jack at the other end via a transverse coupling.

15. The square-frame milling machine as described in claim 14, characterized in that, It also includes a controller, which is electrically connected to at least the milling actuator, the leveling mechanism, and the synchronous lifting device.

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