Drilling machine drill bit position correction method based on laser tracker

Abstract

The invention discloses a drilling machine drill bit position correction method based on a laser tracker. The drilling machine drill bit position correction method comprises the steps that firstly, a detection system is built; step 2, correcting the spatial position of a drill bit: step 2.1, correcting the indexing of a drilling machine; 2.2, a drilling machine shaft is determined; step 2.3, equally dividing the root of the blade into a plurality of measurement areas, and selecting some preset hole sites in each measurement area; 2.4, axial drill bit axis correction and radial drill bit axis correction are sequentially carried out on each selected preset hole position; step 2.5, correcting the planeness of the root of the blade; 2.6, preset hole site correction is carried out; and step 2.7, correcting the surface deviation of the axial drill bit and the radial drill bit corresponding to each preset hole site. Therefore, it can be ensured that the axial bolt hole and the radial bolt hole formed by drilling in the blade root position of the wind power blade are matched with the theoretical bolt hole of the blade, and the drilling forming quality and precision are improved.

Description

Technical Field

[0001] The invention relates to a method for correcting the position of a drilling machine drill bit based on a laser tracker, which is suitable for pre-production detection and debugging of drilling machine equipment in the production process of wind turbine blades. Background Art

[0002] The commonly used debugging technology for existing drill bits is: use a tape measure to roughly adjust the radial position of the axial drill bit according to the diameter of the axial drill bit after one rotation, and use a steel ruler to measure the blade root surface. Install the blade to be drilled on the drilling machine bracket and move forward to the cutting position. Use a cutting disc to remove the excess auxiliary material structure of the blade root, retain a flat blade root surface, and use an axial drill bit to shallowly drill the blade root end face, leaving a shallow pit about 1-2mm deep to form a M-shaped area. Punch 3 points in each area, measure the hole center distance, hole outer wall, hole inner wall, and hole spacing corresponding to the pitch circle, and adjust the axial drill bit according to the measured value. The same method applies to radial drill bits.

[0003] This method has a long debugging cycle, and the drill bit position is inferred through the drilling results. With repeated trial drilling, the position available for trial drilling becomes smaller and smaller, and the blade root needs to be cut again. The amount of cutting that can be used for debugging of a blade is limited.

[0004] The existing blade length meter mark debugging technology is: use a plumb line to draw a vertical line from the drilling machine cutting disc to the ground, mark it, use a 100-meter tape measure to measure the specified blade length from the marked point to the blade tip direction, use a second tape measure to measure the distance to the same section of track, and keep the 100-meter tape measure parallel to one side of the track. Repeat the use of the plumb line to draw a vertical line from another point on the cutting disc, use the 100-meter tape measure to measure and mark another point, connect the front and back 2 points, and get the final straight line where the blade tip length meter mark is located. This method uses a 100-meter tape measure to measure the meter mark, which is prone to skew and has low accuracy.

[0005] Patent CN 205032765 U provides a laser hole positioning device for a drilling machine, but it still has the following defects:

[0006] This method requires test drilling and calibration, and is performed on a drilling machine that has completed preliminary debugging. It is not possible to perform detection and debugging before drilling.

[0007] In this method, the laser pen is manually fixed using yellow glue, which is an elastic fixing device and cannot guarantee good detection accuracy of the entire system.

[0008] Patent CN 113477976A provides a method for drilling holes in wind turbine blades and a method for positioning brackets, but does not involve the following contents:

[0009] 1. High-precision detection of the pitch circle of the axial drill bit of the blade drilling machine;

[0010] 2. The problem of axial drill bit angle interval of blade drilling machine and the problem of coaxial precision detection of radial drill bit and axial drill bit;

[0011] 3. Problems with precise detection of blade length. Summary of the invention

[0012] The purpose of the present invention is to provide a method for correcting the drill bit position of a drilling machine based on a laser tracker to correct the spatial position of the drill bit so that during the drilling process, at each preset hole position of the blade root, the axis of the axial drill bit of the axial drilling mechanism can be parallel to the axis of the drilling machine, and the axis of the radial drill bit of the radial drilling mechanism can be perpendicular to the axis of the axial drill bit in space, and the surface deviation between the axial drill bit and the radial drill bit is within an allowable range, so that at each preset hole position, the radial bolt hole formed by drilling the radial drill bit and the axial bolt hole formed by drilling the axial drill bit both meet the theoretical bolt hole requirements of the blade, thereby improving the forming quality of the blade bolt hole.

[0013] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0014] A method for correcting the position of a drilling machine drill bit based on a laser tracker comprises the following steps:

[0015] Step 1: Build a testing system:

[0016] The laser tracker and the drilling machine are placed at preset positions respectively; the drilling machine comprises a rotary arm and an axial drilling mechanism, a radial drilling mechanism and a cutting blade mechanism respectively mounted on the rotary arm;

[0017] Step 2: Drill bit spatial position correction:

[0018] Through the detection of the laser tracker, the spatial position correction of the drill bit is realized to ensure that during the drilling process, at each preset hole position of the blade root, the axis of the axial drill bit of the axial drilling mechanism can be parallel to the axis of the drilling machine, and the axis of the radial drill bit of the radial drilling mechanism can be vertical to the axis of the axial drill bit in space, and the surface deviation between the axial drill bit and the radial drill bit is within the allowable range, so that at each preset hole position, the radial bolt hole formed by the radial drill bit and the axial bolt hole formed by the axial drill bit can meet the theoretical bolt hole requirements of the blade;

[0019] The drill bit spatial position correction specifically includes the following steps:

[0020] Step 2.1, calibrate the drilling machine indexing;

[0021] Step 2.2, determine the axis of the drilling machine;

[0022] Step 2.3, divide the blade root into several measuring areas, and select some preset hole positions in each measuring area;

[0023] Step 2.4: for each selected preset hole position, axial drill bit axis correction and radial drill bit axis correction are performed in sequence;

[0024] Step 2.5, blade root flatness correction;

[0025] Step 2.6, preset hole position correction;

[0026] Step 2.7, correcting the surface deviation of the axial drill bit and the radial drill bit corresponding to each preset hole position.

[0027] Preferably, in step 2.1, when calibrating the drilling machine indexing, a laser tracker is used to measure the position between any two preset adjacent axial bolt holes through the automatic acquisition function of stable points to adjust the preset drilling machine indexing, so that the adjusted drilling machine indexing meets the design requirements, thereby realizing the drilling machine indexing correction.

[0028] Preferably, in step 2.1, calibrating the drilling machine indexing specifically includes the following steps:

[0029] Step 211, stick the magnetic base to the top of the axial drill bit, and ensure that the target ball can be connected to the laser tracker when the rotary arm rotates one circle;

[0030] Step 212, start the automatic acquisition function of the laser tracker stable point, start the slewing arm, and collect data according to the preset data acquisition cycle until the slewing arm completes one rotation driven by the slewing disk; the preset data acquisition cycle is the time required for the slewing arm to rotate step by step according to the preset drilling machine indexing;

[0031] Step 213, fitting the data points collected in step 212 to generate a circle, which is recorded as a first fitting circle, and displaying the center of the first fitting circle;

[0032] Step 214, connect each data point collected in step 212 with the center of the first fitting circle, generate several pitch circle radii and calculate the angle formed by two adjacent pitch circle radii, and then compare the calculated angle formed by two adjacent pitch circle radii with the preset drilling machine division. If the difference between the two is within the allowable range, there is no need to adjust the program start and end hole positions or replace the disk magnetic strip. Otherwise, adjust the program start and end hole positions or replace the disk magnetic strip until the difference between the calculated angle formed by two adjacent pitch circle radii and the preset drilling machine division is within the allowable range.

[0033] Preferably, in step 2.2, a laser tracker is used to measure, through a spatial acquisition mode, the data points of the first point on the turntable that changes dynamically with the rotation of the turntable and the data points of the second point on the turntable that changes dynamically with the rotation of the turntable when the turntable and the turntable arm rotate one circle, and then the data points of the first point that changes dynamically with the rotation of the turntable are coupled to form a circle, which is recorded as the second fitting circle, and the center of the second fitting circle is obtained. At the same time, the data points of the second point that changes dynamically with the rotation of the turntable are coupled to form a circle, which is recorded as the third fitting circle, and the center of the third fitting circle is obtained. The center of the second fitting circle and the center of the third fitting circle are connected to determine the axis of the drilling machine.

[0034] Preferably, in step 2.2, determining the axis of the drilling machine specifically includes the following steps:

[0035] Step 221, stick the magnetic base to the first position preset on the outer side of the rotating arm;

[0036] Step 222, rotate the rotary arm to the No. 1 axial hole, place the target ball on the magnetic base, and keep it connected to the laser tracker;

[0037] Step 223, the laser tracker uses a spatial acquisition mode, and after the acquisition is turned on, collects a circle of data points corresponding to the dynamic changes of the first point according to a preset data acquisition cycle;

[0038] Step 224: Fit a circle of collected data points corresponding to the dynamic change of the first point to generate a circle, record it as a second fitting circle, and obtain the center of the second fitting circle;

[0039] Step 225, after bonding the magnetic base to the second position on the rotary disk at the rear side of the rotary arm, refer to steps 222 and 223 to collect a circle of data points corresponding to the dynamic changes of the second position;

[0040] Step 226: Fit a circle of collected data points corresponding to the dynamic change of the second position to generate a circle, record it as a third fitting circle, and obtain the center of the third fitting circle;

[0041] Step 227, connect the center of the second fitting circle and the center of the third fitting circle and extend them to obtain the axis of the drilling machine.

[0042] Preferably, in step 2.4, when the axial drill bit axis is corrected, a laser tracker is used to measure several data points on the front end side and the rear end side of the axial drill bit when the axial drill bit is at the two extreme positions of the axial drill slide, so as to fit and generate a cylinder, which is recorded as the axial drill fitting cylinder, and the axis of the axial drill fitting cylinder is obtained, which is recorded as the first cylinder axis; then the distances between the two ends of the first cylinder axis relative to the drilling machine axis are measured, and it is determined whether the distances between the two ends of the first cylinder axis relative to the drilling machine axis are equal to the pitch circle radius; if there is a deviation between the distances between the two ends of the first cylinder axis relative to the drilling machine axis and the pitch circle radius, the position of the axial drill bit on the axial drill mounting seat is adjusted until the distances between the two ends of the first cylinder axis relative to the drilling machine axis are equal to the pitch circle radius.

[0043] Preferably, in step 2.4, the correction of the axial drill bit axis specifically comprises the following steps:

[0044] Step 2411, retract the axial drill bit to the first limit position of the axial drill slide rail, move the target ball to the rear end side of the axial drill bit, and use a laser tracker to measure at least three data points on the rear end side of the axial drill bit, wherein each data point is circumferentially distributed along the rear end side of the axial drill bit;

[0045] Step 2412, advance the axial drill bit to the second limit position of the axial drill slide rail, move the target ball to the front end side of the axial drill bit, and use a laser tracker to measure at least three data points on the front end side of the axial drill bit, wherein each data point is circumferentially distributed along the front end side of the axial drill bit;

[0046] Step 2413, fitting a cylinder based on the data points of the rear end side of the axial drill bit measured in step 2411 and the data points of the front end side of the axial drill bit measured in step 2412, which is recorded as the axial drill fitting cylinder, and obtaining the axis of the axial drill fitting cylinder, which is recorded as the first cylinder axis;

[0047] Step 2414, judging whether the axis of the first cylinder is parallel to the axis of the drilling machine. If the judgment result shows that the axis of the first cylinder is parallel to the axis of the drilling machine, proceed to step 2415. Otherwise, adjust the position of the axial drill bit on the axial drill mounting seat until the axis of the first cylinder is parallel to the axis of the drilling machine.

[0048] Step 2415, measure the distance between the two ends of the first cylindrical axis and the axis of the drilling machine, and determine whether the distance between the two ends of the first cylindrical axis and the axis of the drilling machine is equal to the pitch circle radius. If there is a deviation between the distance between the two ends of the first cylindrical axis and the axis of the drilling machine and the pitch circle radius, adjust the position of the axial drill bit on the axial drill mounting seat until the distance between the two ends of the first cylindrical axis and the axis of the drilling machine is equal to the pitch circle radius.

[0049] Preferably, in step 2.4, when the radial drill axis is calibrated, a laser tracker is used to measure several data points on the front end side and the rear end side of the radial drill when the radial drill is at the two extreme positions of the radial drill slide, so as to fit and generate a cylinder, which is recorded as the radial drill fitting cylinder, and the axis of the radial drill fitting cylinder is obtained, which is recorded as the second cylinder axis; then, it is determined whether the second cylinder axis intersects with the first cylinder axis at right angles in space. When the determination result shows that the second cylinder axis does not intersect with the first cylinder axis at right angles in space, the position of the radial drill on the radial drill mounting seat is adjusted until the second cylinder axis intersects with the first cylinder axis at right angles in space.

[0050] Preferably, in step 2.4, the correction of the radial drill bit axis specifically comprises the following steps:

[0051] Step 2421, retract the radial drill bit to the first limit position of the radial drill slide rail, move the target ball to the rear end side of the radial drill bit, and use a laser tracker to measure at least three data points on the rear end side of the radial drill bit, wherein each data point is circumferentially distributed along the rear end side of the radial drill bit;

[0052] Step 2422, advance the radial drill bit to the second limit position of the radial drill slide rail, move the target ball to the front end side of the radial drill bit, and use a laser tracker to measure at least three data points on the front end side of the radial drill bit, wherein each data point is circumferentially distributed along the front end side of the radial drill bit;

[0053] Step 2423, fitting a cylinder based on the data points on the rear end side of the radial drill bit measured in step 2421 and the data points on the front end side of the radial drill bit measured in step 2422, which is recorded as the radial drill fitting cylinder, and obtaining the axis of the radial drill fitting cylinder, which is recorded as the second cylinder axis;

[0054] Step 2424, determine whether the second cylindrical axis obtained in step 2423 intersects vertically with the first cylindrical axis at the same hole position in space. When the judgment result shows that the second cylindrical axis does not intersect vertically with the first cylindrical axis at the same hole position in space, adjust the position of the radial drill bit on the radial drill mounting seat based on the intersection position of the second cylindrical axis with the first cylindrical axis at the same hole position in space until the second cylindrical axis intersects vertically with the first cylindrical axis in space.

[0055] Preferably, in step 2.5, the flatness of the blade root is corrected by driving the rotating arm to rotate through the rotating disc, so that the position of the cutting blade will dynamically change with the rotation of the rotating arm. In this process, a laser tracker is used to collect the outer surface of the cutting blade in a cross shape to obtain a group of corresponding data points, and then a plane is generated by fitting, which is recorded as the fitting plane, and it is determined whether the flatness of the fitting plane is within the preset allowable range. When the flatness of the fitting plane exceeds the preset allowable range, the position of the cutting blade on the cutting blade mounting seat is adjusted until the flatness of the fitting plane is within the preset allowable range.

[0056] Preferably, in step 2.6, the correction of the preset hole position at the blade root position specifically includes the following steps:

[0057] Step 261, extending the first and second cylindrical axes corresponding to the preset hole positions obtained in step 2.4 to intersect with the fitting plane obtained in step 2.5 to obtain a plurality of intersection points, and numbering them according to the numbers of the preset hole positions;

[0058] Step 262: In the three-dimensional model of the wind turbine blade, the intersection points of the blade theoretical bolt hole axis and the blade end surface are numbered according to the numbers of the preset hole positions;

[0059] Step 263, using the point-to-point positioning function, use the intersection point obtained in step 262 to locate the corresponding intersection point obtained in step 261 in the laser tracker, and display the deviation between the two during the positioning process. When the deviation between the intersection point obtained in step 261 and the corresponding intersection point obtained in step 262 exceeds the preset range, return to step 2.4.

[0060] Preferably, in step 2.7, the surface deviation correction of the axial drill bit and the radial drill bit corresponding to each preset hole position specifically includes the following steps:

[0061] Step 271, based on the axial drill fitting cylinder obtained in step 2.4, obtain the axial bolt hole estimated value, and the radial drill fitting cylinder obtains the radial bolt hole estimated value; at the same time, based on the three-dimensional model of the blade theoretical bolt hole, query the corresponding axial bolt hole theoretical value and radial bolt hole theoretical value at the corresponding preset hole position; then obtain the deviation between the axial bolt hole estimated value and the corresponding axial bolt hole theoretical value based on the axial bolt hole estimated value and the corresponding radial bolt hole theoretical value, and obtain the deviation between the radial bolt hole estimated value and the corresponding radial bolt hole theoretical value, and then enter step 272;

[0062] Step 272: Use the monitoring function to check the surface deviations of all axial drills and radial drills, and make quick adjustments based on the deviations until they are adjusted within the tolerance range.

[0063] Preferably, the drilling machine drill bit position correction method based on laser tracker according to claim 10 is characterized in that it also includes step three, blade length marking measurement: taking the cutting blade fitting plane as a reference, the standard blade length of the wind turbine blade is measured by the monitoring function of the laser tracker to obtain a blade length marking parallel to the cutting blade fitting plane, so that the projection of the tip part of the wind turbine blade in the vertical direction can coincide with the blade length marking.

[0064] Preferably, the blade length marking measurement described in step 3 specifically includes the following steps:

[0065] Step 3.1, with the cutting disc fitting plane as the reference, move the target ball along the first straight line parallel to the axis of the drilling machine, and use the monitoring function of the laser tracker to check the distance of the target ball relative to the cutting disc fitting plane, until the distance of the target ball relative to the cutting disc fitting plane is equal to the standard blade length, stop moving the target ball and mark the position of the target ball at this moment as the first point;

[0066] Step 3.2, move the target ball in a direction perpendicular to the first straight line. During this process, use the monitoring function of the laser tracker to check whether the distance of the target ball relative to the cutting piece fitting plane is always equal to the standard blade length, until the distance of the target ball relative to the first point meets the requirement, stop moving the target ball and mark the position of the target ball at this moment as the second point;

[0067] Step 3.3: The straight line l formed by connecting and extending the first and second points is the leaf length mark.

[0068] Preferably, in the drilling machine, the axial drill bit used in the axial drilling mechanism and the radial drill bit used in the radial drilling mechanism are both edgeless drill bits, and the axial drill bit is a cylindrical drill bit with the same diameter and length as the axial bolt hole, and the radial drill bit is a cylindrical drill bit with the same diameter and length as the radial bolt hole.

[0069] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0070] 1. Compared with the original detection method of using steel ruler and tape measure to measure hole deviation and judge the parallelism of 100-meter tape measure, laser tracker provides higher detection accuracy, and adopts the drilling machine drill position correction method based on laser tracker described in the present invention, based on the sequential correction of drilling machine graduation, determination of drilling machine axis, measurement area division and preset hole position screening (dividing the blade root into several measurement areas, and selecting some preset hole positions in each measurement area), axial drill axis and radial drill axis correction at each preset hole position, blade root flatness correction, preset hole position correction and axial drill and radial drill surface deviation correction corresponding to each preset hole position, the drill space position correction is realized, and the drilling accuracy and drilling quality are effectively improved.

[0071] 2. In the process of calibrating the spatial position of the drill bit, the present invention uses the monitoring window function of the laser tracker to greatly reduce the number of repeated debugging and repeated detection. If the data in the monitoring window is consistent, the final result is consistent, which effectively improves the detection efficiency.

[0072] 3. The present invention adopts a laser tracker for data detection, which reduces the dependence on the skills and work attitude of the detection personnel. The detection data is traceable and has the advantage of reliable data.

[0073] 4. Small loss to blades: The original detection method uses a cutting disc, cuts out a neat end face, and then uses a drill to try to make shallow pits, and then uses a ruler to measure the distance between points, points and inner and outer walls, and points and the mold seam, and then analyzes. After multiple trials, the blade root needs to be cut again, and the margin that can be used for cutting is limited. The drilling machine drill position correction method based on a laser tracker described in the present invention can locate the blade length by measuring the blade length marking line, without cutting the blade root multiple times. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 It is a schematic diagram of the structure of the theoretical bolt hole of the blade;

[0075] Figure 2 It is a structural schematic diagram of the drilling machine of the present invention;

[0076] Figure 3 It is a schematic diagram of the structure of the laser tracker and target ball accessories;

[0077] Figure 4 It is a flow chart of the method for correcting the position of a drill bit of a drilling machine based on a laser tracker according to the present invention;

[0078] In the figure: 1-axial bolt hole; 2-radial bolt hole; 3-axial drill bit; 4-slide rail; 5-rotating arm; 6-rotating disk; 7-cutting disc; 8-radial drill bit; 9-base; 10-laser tracker; 11-target ball; 12-magnetic base. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means any limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement, expressions and numerical values ​​of the components and steps described in these embodiments do not limit the scope of the present invention. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but in appropriate cases, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0080] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0081] Figure 1 Disclosed is a blade theoretical bolt hole, which includes a radial bolt hole 2 and an axial bolt hole 1. The radial bolt hole 2 and the axial bolt hole 1 are both arranged at the root of the blade; the radial bolt hole 2 is used to install radial bolts, and there are several radial bolt holes 2, and each radial bolt hole 2 is arranged along the radius direction of the blade root cylinder; the axial bolt hole 1 is used to install axial bolts, and there are several axial bolt holes 1, and each axial bolt hole 1 is arranged along the cylindrical surface of the blade root, and the distance between each axial bolt hole 1 and the axis of the blade root cylinder is the same; the axial bolt assembled in the axial bolt hole 1 is connected to the radial bolt assembled in the radial bolt hole 2 one by one at one end, and the other end is connected to the fan hub, and the radial bolt hole 2 intersects the center line of the corresponding axial bolt hole 1 perpendicularly.

[0082] Figure 2A drilling machine is disclosed, which is modified based on the drilling machine disclosed in Chinese patent CN 113477976 A. Specifically, the drilling machine comprises: a base 9, a rotary disk 6, a rotary arm 5, an axial drilling mechanism, a radial drilling mechanism and a cutting blade mechanism; wherein:

[0083] A slewing disc 6 is provided in the middle area of ​​the base 9. The length direction of the slewing arm 5 is arranged along the radial direction of the slewing disc 6, and the middle position of the slewing arm 5 is connected to the power output end of the slewing disc 6 through a slewing shaft. Under the power provided by the slewing disc 6, the slewing arm 5 can rotate around the slewing shaft.

[0084] The axial drilling mechanism includes an axial drilling slide rail, an axial drill bit 3 and an axial drilling mounting seat; the axial drilling slide rail is laid on the rotating arm 5, and the laying direction of the axial drilling slide rail is parallel to the axial direction of the rotating disk 6. The axial drill bit 3 is installed on the axial drilling slide rail through the axial drilling mounting seat. The axial distance of the axial drill bit 3 relative to the medium-sized panel of the blade bracket can be adjusted by adjusting the axial drilling slide rail, and the position of the axial drill bit 3 in the plane perpendicular to the axial drilling slide rail can be adjusted by adjusting the axial drilling mounting seat.

[0085] The radial drilling mechanism includes a radial drilling slide rail, a radial drill bit 8 and a radial drilling mounting seat; the radial drilling slide rails are all laid on the rotary arm 5, and the laying direction of the radial drilling slide rails is parallel to the radial direction of the rotary disk 6, and the radial drill bit 8 is installed on the radial drilling slide rails through the radial drilling mounting seat. By adjusting the radial drilling slide rails, the radial distance of the radial drill bit 8 relative to the blade bracket can be adjusted, and by adjusting the radial drilling mounting seat, the position of the radial drill bit 8 in the plane perpendicular to the radial drilling slide rail can be adjusted.

[0086] The axial drilling slide and radial drilling slide together constitute the attached Figure 1 Slide rail 4 in.

[0087] The axial drill bit 3 and the radial drill bit 8 are both edgeless drill bits, wherein: the axial drill bit 3 is a cylindrical drill bit with the same diameter and length as the axial bolt hole 1, and the radial drill bit 8 is a cylindrical drill bit with the same diameter and length as the radial bolt hole 2.

[0088] The cutting blade mechanism includes a cutting blade slide rail, a cutting blade mounting seat and a cutting blade 7; the laying direction of the cutting blade slide rail is parallel to the axial direction of the turntable 6, and the cutting blade 7 is installed on the cutting blade slide rail through the cutting blade mounting seat. By adjusting the cutting blade slide rail, the axial distance of the cutting blade 7 relative to the blade bracket can be adjusted. By adjusting the cutting blade mounting seat, the position of the cutting blade 7 can be adjusted in a plane perpendicular to the cutting blade slide rail.

[0089] The specific structure of the blade bracket can be referred to Chinese patent CN 113477976 A, which will not be described in detail here.

[0090] The drilling machine drill bit position correction method based on the laser tracker 10 of the present invention specifically includes the following steps:

[0091] Step 1: Build a testing system:

[0092] The laser tracker 10 and the auxiliary detection device (i.e., the blade length and drilling machine drill position auxiliary detection device) are placed at the preset positions to complete the construction of the detection system. At this time, the blade bracket needs to be retreated to the farthest end from the auxiliary detection device, which specifically includes the following steps:

[0093] Step 1.1, move the blade bracket back to the farthest end from the auxiliary detection device;

[0094] Step 1.2: Set up the laser tracker 10 5 meters in front of the auxiliary detection device, and ensure that the farthest ends of the slewing arm 5 , the axial drill bit 3 and the radial drill bit 8 can be illuminated by the laser emitted by the laser tracker 10 .

[0095] Step 2: Drill bit spatial position correction:

[0096] Through the detection of the laser tracker 10, the spatial position correction of the drill bit is realized to ensure that during the drilling process, at each preset hole position of the blade root, the axis of the axial drill bit 3 can be parallel to the axis of the drilling machine, and the axis of the radial drill bit 8 can be perpendicular to the axis of the axial drill bit 3 in space, and the surface deviation between the axial drill bit 3 and the radial drill bit 8 is within the allowable range, so that at each preset hole position, the radial bolt hole 2 formed by drilling the radial drill bit 8 and the axial bolt hole 1 formed by drilling the axial drill bit 3 both meet the theoretical bolt hole requirements of the blade.

[0097] Therefore, the drill bit spatial position correction of this embodiment includes the following steps implemented in sequence:

[0098] Step 2.1, drilling machine indexing calibration:

[0099] The drilling machine indexing refers to the angle that the turntable 6 needs to drive the rotating arm 5 to rotate after the axial drill bit 3 completes drilling of the previous axial bolt hole 1 and before drilling the next axial bolt hole 1. Therefore, the drilling machine indexing correction described in the present invention refers to using the laser tracker 10 to measure the position between any two preset adjacent axial bolt holes 1 through the automatic acquisition function of the stable point to adjust the preset drilling machine indexing, so that the adjusted drilling machine indexing meets the design requirements, thereby ensuring that the axial drill bit 3 can be driven by the turntable 6 to correspond to the center point of each preset axial bolt hole 1 one by one, so as to promote the uniform distribution of the axial bolt holes 1 formed by drilling at the root of the blade.

[0100] Specifically, the drilling machine indexing calibration comprises the following steps:

[0101] Step 211, stick the magnetic base 12 to the top of the axial drill bit 3, and ensure that the target ball 11 can be connected to the laser tracker 10 when the rotary arm 5 rotates one circle.

[0102] Step 212, start the automatic acquisition function of the stable point of the laser tracker 10, start the slewing arm 5, and collect data according to the preset data acquisition cycle until the slewing arm 5 completes one rotation driven by the slewing disk 6. The preset data acquisition cycle is the time required for the slewing arm 5 to rotate step by step according to the preset drilling machine indexing, that is, the time required for the slewing arm 5 to drive the axial drill bit 3 to rotate from the previous preset axial bolt hole 1 to the next preset axial bolt hole 1. Specifically, each preset axial bolt hole 1 is numbered in sequence, corresponding to axial hole No. 1, axial hole No. 2... axial hole No. N, where N represents the total number of axial bolt holes 1. During the data acquisition process, the axial drill bit 3 rotates from axial hole No. 1 to axial hole No. N under the drive of the slewing arm 5, and pauses for 2 seconds at each hole position. At this time, the laser tracker 10 will collect a data at each hole position pause point, and automatically number it, and record it in sequence as data point No. 1, data point No. 2... data point No. N.

[0103] Step 213, fitting the data points No. 1, No. 2, ... No. N collected in step 212 to generate a circle, which is recorded as a first fitting circle, and displaying the center of the first fitting circle;

[0104] Step 214, connect data point 1, data point 2, ... data point N collected in step 212 with the center of the first fitting circle respectively, generate several pitch circle radii and calculate the angle formed by two adjacent pitch circle radii, and then compare the calculated angle formed by two adjacent pitch circle radii with the preset drilling machine division. If the difference between the two is within the allowable range, there is no need to adjust the position of the axial drill bit 3. Otherwise, adjust the program start and end hole positions or replace the disk magnetic strip until the difference between the calculated angle formed by two adjacent pitch circle radii and the preset drilling machine division is within the allowable range, indicating that the joint seam of the disk magnetic strip is on the front side of the program start and end hole positions (i.e., the above-mentioned axial hole No. 1), so as to avoid data collection distortion when the magnetic head senses the disk magnetic strip for drilling machine division control due to the existence of the joint seam of the disk magnetic strip during the drilling process, thereby causing the actual drilling position to deviate from the preset hole position.

[0105] Step 2.2, determine the axis of the drilling machine:

[0106] The axis of the drilling machine refers to the axis of the plane generated by the rotating arm 5 rotating one circle, the center of which is perpendicular to the axis of the plane generated by the rotating arm 5 rotating one circle. Therefore, the determination of the axis of the drilling machine described in the present invention refers to using the laser tracker 10 to measure the data points of the first point on the rotating disk 6 that changes dynamically with the rotation of the rotating disk 6 and the data points of the second point on the rotating arm 5 that change dynamically with the rotation of the rotating arm 5 when the rotating disk 6 and the rotating arm 5 rotate one circle through the spatial acquisition mode, and then coupling the data points of the first point that changes dynamically with the rotation of the rotating disk 6 to form a circle, which is recorded as the second fitting circle, and obtaining the center of the second fitting circle. At the same time, coupling the data points of the second point that changes dynamically with the rotation of the rotating arm 5 to form a circle, which is recorded as the third fitting circle, and obtaining the center of the third fitting circle, and connecting the center of the second fitting circle and the center of the third fitting circle to obtain the axis of the drilling machine. Specifically, in the present invention, the determination of the axis of the drilling machine includes the following steps:

[0107] Step 221, stick the magnetic base 12 to the first position preset on the outer side of the rotating arm 5;

[0108] Step 222 , rotate the swivel arm 5 to the No. 1 axial hole, place the target ball 11 on the magnetic base 12 , and keep it connected to the laser tracker 10 .

[0109] Step 223, set the detection software to use the spatial acquisition mode. After starting the acquisition, start the rotary arm 5 to rotate from the No. 1 axial hole to the No. N axial hole. The detection software will collect a circle of data points corresponding to the dynamic changes of the first point.

[0110] Step 224: Fit a circle of collected data points corresponding to the dynamic change of the first point to generate a circle, record it as a second fitting circle, and obtain the center of the second fitting circle.

[0111] Step 225, after the magnetic base 12 is bonded to the second position on the rotary disk 6 at the rear side of the rotary arm 5, refer to steps 222 and 223 to collect a circle of data points corresponding to the dynamic changes of the second position;

[0112] Step 226: Fit a circle of collected data points corresponding to the dynamic change of the second position to generate a circle, record it as a third fitting circle, and obtain the center of the third fitting circle.

[0113] Step 227, connect the center of the second fitting circle and the center of the third fitting circle and extend them to obtain the axis of the drilling machine.

[0114] Step 2.3: Divide the blade root into several measurement areas and select some preset hole positions in each measurement area:

[0115] In view of the large number of preset hole positions at the blade root, correcting the hole positions one by one will greatly increase the workload. Therefore, the blade root can be equally divided into several measurement areas, and some preset hole positions can be selected in each area for hole position correction. In the present invention, the blade root is divided into a cross shape, with a total of 8 measurement areas, and at least 3 preset hole positions are selected in each measurement area for data collection to provide data basis for subsequent hole position correction.

[0116] Step 2.4: For each selected preset hole position, perform axial drill 3 axis correction and radial drill 8 axis correction in sequence:

[0117] In the present invention, the axis correction of the axial drill bit 3 is carried out by adjusting the position of the axial drill bit 3 on the axial drill mounting seat to ensure that the axis of the axial drill bit 3 is parallel to the axis of the drilling machine, and to ensure that the distances between the two ends of the axis of the first cylinder relative to the axis of the drilling machine are equal to the radius of the pitch circle. The laser tracker 10 is used to respectively measure a number of data points on the front end side and the rear end side of the axial drill bit 3 when the axial drill bit 3 is at the two extreme positions of the axial drill slide seat to fit and generate a cylinder, which is recorded as the axial drill fitting cylinder, and the axis of the axial drill fitting cylinder is obtained, which is recorded as the first cylinder axis; then the distances between the two ends of the axis of the first cylinder relative to the axis of the drilling machine are measured, and it is determined whether the distances between the two ends of the axis of the first cylinder relative to the axis of the drilling machine are equal to the radius of the pitch circle. If there is a deviation between the distances between the two ends of the axis of the first cylinder relative to the axis of the drilling machine and the radius of the pitch circle, the position of the axial drill bit 3 on the axial drill mounting seat is adjusted until the distances between the two ends of the axis of the first cylinder relative to the axis of the drilling machine are equal to the radius of the pitch circle.

[0118] Specifically, the axial drill bit 3 axis correction is achieved through the following steps:

[0119] Step 2411, retract the axial drill bit 3 to the first extreme position of the axial drill slide (that is, the initial position of the axial drill slide), move the target ball 11 to the rear end side of the axial drill bit 3 (a robot can be used), and use a laser tracker 10 to measure at least 3 data points on the rear end side of the axial drill bit 3, and each data point is distributed circumferentially along the rear end side of the axial drill bit 3.

[0120] Step 2412, advance the axial drill bit 3 to the second extreme position of the axial drill slide (that is, the final position of the axial drill slide), move the target ball 11 to the front end side of the axial drill bit 3 (a robot can be used), and use a laser tracker 10 to measure at least 3 data points on the front end side of the axial drill bit 3, and each data point is distributed circumferentially along the front end side of the axial drill bit 3.

[0121] Step 2413, fitting a cylinder based on the data points of the rear end side of the axial drill bit 3 measured in step 2411 and the data points of the front end side of the axial drill bit 3 measured in step 2412, which is recorded as the axial drill fitting cylinder, and obtaining the axis of the axial drill fitting cylinder, which is recorded as the first cylinder axis;

[0122] Step 2414, judging whether the axis of the first cylinder is parallel to the axis of the drilling machine. If the judgment result shows that the axis of the first cylinder is parallel to the axis of the drilling machine, proceed to step 2415. Otherwise, adjust the position of the axial drill bit 3 on the axial drill mounting seat until the axis of the first cylinder is parallel to the axis of the drilling machine.

[0123] Step 2415, measure the distance between the two ends of the first cylindrical axis and the axis of the drilling machine, and determine whether the distance between the two ends of the first cylindrical axis and the axis of the drilling machine is equal to the pitch circle radius. If there is a deviation between the distance between the two ends of the first cylindrical axis and the axis of the drilling machine and the pitch circle radius, adjust the position of the axial drill bit 3 on the axial drill mounting seat until the distance between the two ends of the first cylindrical axis and the axis of the drilling machine is equal to the pitch circle radius.

[0124] In the present invention, the axis correction of the radial drill bit 8 is performed by adjusting the position of the radial drill bit 8 on the radial drill mounting seat to ensure that the axis of the radial drill bit 8 intersects perpendicularly with the axis of the first cylinder in space. A laser tracker 10 is used to respectively measure a number of data points on the front end side and the rear end side of the radial drill bit 8 when the radial drill bit 8 is at two extreme positions of the radial drill slide, so as to fit and generate a cylinder, which is recorded as the radial drill fitting cylinder, and obtain the axis of the radial drill fitting cylinder, which is recorded as the second cylinder axis; then, it is determined whether the axis of the second cylinder intersects perpendicularly with the axis of the first cylinder in space. When the determination result shows that the axis of the second cylinder does not intersect perpendicularly with the axis of the first cylinder in space, the position of the radial drill bit 8 on the radial drill mounting seat is adjusted until the axis of the second cylinder intersects perpendicularly with the axis of the first cylinder in space.

[0125] Specifically, the radial drill bit 8 axis correction is achieved through the following steps:

[0126] Step 2421, retract the radial drill bit 8 to the first extreme position of the radial drill slide (that is, the initial position of the radial drill slide), move the target ball 11 to the rear end side of the radial drill bit 8 (a robot can be used), and use a laser tracker 10 to measure at least 3 data points on the rear end side of the radial drill bit 8, and each data point is distributed circumferentially along the rear end side of the radial drill bit 8.

[0127] Step 2422, move the radial drill bit 8 to the second extreme position of the radial drill slide (that is, the final position of the radial drill slide), move the target ball 11 to the front end side of the radial drill bit 8 (a robot can be used), and use a laser tracker 10 to measure at least 3 data points on the front end side of the radial drill bit 8, and each data point is distributed circumferentially along the front end side of the radial drill bit 8.

[0128] Step 2423, fitting a cylinder based on the data points of the rear end side of the radial drill bit 8 measured in step 2421 and the data points of the front end side of the radial drill bit 8 measured in step 2422, which is recorded as the radial drill fitting cylinder, and obtaining the axis of the radial drill fitting cylinder, which is recorded as the second cylinder axis;

[0129] Step 2424, determine whether the second cylindrical axis obtained in step 2423 intersects vertically with the first cylindrical axis at the same hole position in space. When the judgment result shows that the second cylindrical axis does not intersect vertically with the first cylindrical axis at the same hole position in space, adjust the position of the radial drill bit 8 on the radial drill mounting seat based on the intersection position of the second cylindrical axis with the first cylindrical axis at the same hole position in space until the second cylindrical axis intersects vertically with the first cylindrical axis in space.

[0130] Step 2.5: Blade root flatness correction:

[0131] The swivel arm 5 is driven to rotate by the swivel disc, so that the position of the cutting blade 7 will dynamically change with the rotation of the swivel arm 5. In this process, the laser tracker 10 is used to collect the outer surface of the cutting blade 7 in a cross shape to obtain a group of corresponding data points, and then a plane is generated by fitting, which is recorded as the fitting plane, and it is judged whether the flatness of the fitting plane is within the preset allowable range. When the flatness of the fitting plane exceeds the preset allowable range, the position of the cutting blade 7 on the cutting blade mounting seat is adjusted until the flatness of the fitting plane is within the preset allowable range.

[0132] Step 2.6, preset hole position correction:

[0133] Step 261, extending the first and second cylindrical axes corresponding to the preset hole positions obtained in step 2.4 to intersect with the fitting plane obtained in step 2.5 to obtain a plurality of intersection points, and numbering them according to the numbers of the preset hole positions;

[0134] Step 262: In the three-dimensional model of the blade, the intersection points of the blade theoretical bolt hole axis and the blade end surface are numbered according to the numbers of the preset hole positions;

[0135] Step 263, using the point-to-point positioning function, the intersection point obtained in step 262 is used to locate the corresponding intersection point obtained in step 261 in the laser tracker 10, and the deviation between the two is displayed during the positioning process; and when the deviation between the intersection point obtained in step 261 and the corresponding intersection point obtained in step 262 exceeds the preset range, return to step 2.4;

[0136] Step 2.7, surface deviation correction of the axial drill bit 3 and the radial drill bit 8 corresponding to each preset hole position:

[0137] Step 271, based on the axial drill fitting cylinder obtained in step 2413, obtain the estimated value of axial bolt hole 1, and based on the radial drill fitting cylinder obtained in step 2423, obtain the estimated value of radial bolt hole 2; at the same time, based on the three-dimensional model of the blade theoretical bolt hole, query the corresponding axial bolt hole 1 theoretical value and radial bolt hole 2 theoretical value at the corresponding preset hole position; then obtain the deviation between the axial bolt hole 1 estimated value and the corresponding axial bolt hole 1 theoretical value, and obtain the deviation between the radial bolt hole 2 estimated value and the corresponding radial bolt hole 2 theoretical value, and enter step 272;

[0138] Step 272: Use the monitoring function to check the surface deviations of all axial drill bits 3 and radial drill bits 8, and make rapid adjustments based on the deviations until they are adjusted within the tolerance range.

[0139] Step 3: Blade length marking measurement:

[0140] In this step, the blade length marking measurement is based on the cutting blade fitting plane, and the standard blade length of the wind turbine blade is measured by the monitoring function of the laser tracker 10 to obtain a blade length marking parallel to the cutting blade fitting plane, so that the projection of the tip of the wind turbine blade in the vertical direction can coincide with the blade length marking, thereby positioning the cutting of the root part of the blade during the processing of the wind turbine blade. Specifically, the blade length marking measurement described in the present invention includes the following steps:

[0141] Step 3.1, with the cutting disc fitting plane as a reference, move the target ball 11 along the first straight line parallel to the axis of the drilling machine, and use the monitoring function of the laser tracker 10 to check the distance of the target ball 11 relative to the cutting disc fitting plane, until the distance of the target ball 11 relative to the cutting disc fitting plane is equal to the standard blade length, stop moving the target ball 11 and mark the position of the target ball 11 at this moment as the first point;

[0142] Step 3.2, move the target ball 11 in a direction perpendicular to the first straight line. During this process, use the monitoring function of the laser tracker 10 to check whether the distance of the target ball 11 relative to the fitting plane of the cutting piece is always equal to the standard blade length, until the distance of the target ball 11 relative to the first point meets the requirement, stop moving the target ball 11 and mark the position of the target ball 11 at this moment as the second point; usually, the distance of the second point relative to the first point is at least 1 meter, then when the target ball 11 is moved in a direction perpendicular to the first straight line, the target ball 11 can be stopped when the distance of the target ball 11 relative to the first point reaches 1 meter.

[0143] Step 3.3: The straight line l formed by connecting and extending the first and second points is the leaf length mark.

[0144] It can be seen that the blade length marking line is the second straight line in step 3.2, which is a straight line perpendicular to the axis of the drilling machine and parallel to the fitting plane of the cutting blade. In the actual implementation process, the target ball 11 moves along the first and second straight lines arranged on the ground respectively to obtain the first and second positions correspondingly, and the projection of the blade tip in the vertical direction will coincide with the blade length marking line.

Claims

1. A method for correcting the drill bit position of a drilling machine based on a laser tracker, characterized in that: The steps include: Step 1: Build a testing system: The laser tracker and the drilling machine are placed at preset positions respectively; the drilling machine comprises a rotary arm and an axial drilling mechanism, a radial drilling mechanism and a cutting blade mechanism respectively mounted on the rotary arm; Step 2: Drill bit spatial position correction: Through the detection of the laser tracker, the spatial position correction of the drill bit is realized to ensure that during the drilling process, at each preset hole position of the blade root, the axis of the axial drill bit of the axial drilling mechanism can be parallel to the axis of the drilling machine, and the axis of the radial drill bit of the radial drilling mechanism can be vertical to the axis of the axial drill bit in space, and the surface deviation between the axial drill bit and the radial drill bit is within the allowable range, so that at each preset hole position, the radial bolt hole formed by the radial drill bit and the axial bolt hole formed by the axial drill bit can meet the theoretical bolt hole requirements of the blade; The drill bit spatial position correction specifically includes the following steps: Step 2.1, calibrate the drilling machine indexing; Step 2.2, determine the axis of the drilling machine; Step 2.3, divide the blade root into several measuring areas, and select some preset hole positions in each measuring area; Step 2.4: for each selected preset hole position, axial drill bit axis correction and radial drill bit axis correction are performed in sequence; Step 2.5, blade root flatness correction; Step 2.6, preset hole position correction; Step 2.7, correcting the surface deviation of the axial drill bit and the radial drill bit corresponding to each preset hole position.

2. The method for correcting the drill bit position of a drilling machine based on a laser tracker according to claim 1, characterized in that: In step 2.1, when calibrating the drilling machine indexing, a laser tracker is used to measure the position between any two preset adjacent axial bolt holes through the automatic acquisition function of stable points to adjust the preset drilling machine indexing, so that the adjusted drilling machine indexing meets the design requirements, thereby realizing the drilling machine indexing correction.

3. The method for correcting the drill bit position of a drilling machine based on a laser tracker according to claim 2, characterized in that: In step 2.1, calibrating the drilling machine indexing specifically includes the following steps: Step 211, stick the magnetic base to the top of the axial drill bit, and ensure that the target ball can be connected to the laser tracker when the rotary arm rotates one circle; Step 212, start the automatic acquisition function of the laser tracker stable point, start the slewing arm, and collect data according to the preset data acquisition cycle until the slewing arm completes one rotation driven by the slewing disk; the preset data acquisition cycle is the time required for the slewing arm to rotate step by step according to the preset drilling machine indexing; Step 213, fitting the data points collected in step 212 to generate a circle, which is recorded as a first fitting circle, and displaying the center of the first fitting circle; Step 214, connect each data point collected in step 212 with the center of the first fitting circle, generate several pitch circle radii and calculate the angle formed by two adjacent pitch circle radii, and then compare the calculated angle formed by two adjacent pitch circle radii with the preset drilling machine division. If the difference between the two is within the allowable range, there is no need to adjust the program start and end hole positions or the disk magnetic strip. Otherwise, adjust the program start and end hole positions or replace the disk magnetic strip until the difference between the calculated angle formed by two adjacent pitch circle radii and the preset drilling machine division is within the allowable range.

4. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 1, characterized in that: In step 2.2, a laser tracker is used to measure, through the spatial acquisition mode, the data points of the first point on the turntable that changes dynamically with the rotation of the turntable and the data points of the second point on the turntable that changes dynamically with the rotation of the turntable when the turntable and the turntable arm rotate one circle, and then the data points of the first point that changes dynamically with the rotation of the turntable are coupled to form a circle, which is recorded as the second fitting circle, and the center of the second fitting circle is obtained. At the same time, the data points of the second point that changes dynamically with the rotation of the turntable are coupled to form a circle, which is recorded as the third fitting circle, and the center of the third fitting circle is obtained. The center of the second fitting circle and the center of the third fitting circle are connected to determine the axis of the drilling machine.

5. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 4, characterized in that: In step 2.2, the determination of the drilling machine axis specifically includes the following steps: Step 221, stick the magnetic base to the first position preset on the outer side of the rotating arm; Step 222, rotate the rotary arm to the No. 1 axial hole, place the target ball on the magnetic base, and keep it connected to the laser tracker; Step 223, the laser tracker uses a spatial acquisition mode, and after the acquisition is turned on, collects a circle of data points corresponding to the dynamic changes of the first point according to a preset data acquisition cycle; Step 224: Fit a circle of collected data points corresponding to the dynamic change of the first point to generate a circle, record it as a second fitting circle, and obtain the center of the second fitting circle; Step 225, after bonding the magnetic base to the second position on the rotary disk at the rear side of the rotary arm, refer to steps 222 and 223 to collect a circle of data points corresponding to the dynamic changes of the second position; Step 226: Fit a circle of collected data points corresponding to the dynamic change of the second position to generate a circle, record it as a third fitting circle, and obtain the center of the third fitting circle; Step 227, connect the center of the second fitting circle and the center of the third fitting circle and extend them to obtain the axis of the drilling machine.

6. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 1, characterized in that: In step 2.4, when the axial drill bit axis is corrected, a laser tracker is used to measure several data points on the front end side and the rear end side of the axial drill bit when the axial drill bit is at the two extreme positions of the axial drill slide, so as to fit and generate a cylinder, which is recorded as the axial drill fitting cylinder, and the axis of the axial drill fitting cylinder is obtained, which is recorded as the first cylinder axis; then the distance between the two ends of the first cylinder axis and the drilling machine axis is measured, and it is determined whether the distance between the two ends of the first cylinder axis and the drilling machine axis is equal to the pitch circle radius. If there is a deviation between the distance between the two ends of the first cylinder axis and the drilling machine axis and the pitch circle radius, the position of the axial drill bit on the axial drill mounting seat is adjusted until the distance between the two ends of the first cylinder axis and the drilling machine axis is equal to the pitch circle radius.

7. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 6, characterized in that: In step 2.4, the correction of the axial drill bit axis specifically includes the following steps: Step 2411, retract the axial drill bit to the first limit position of the axial drill slide rail, move the target ball to the rear end side of the axial drill bit, and use a laser tracker to measure at least three data points on the rear end side of the axial drill bit, wherein each data point is circumferentially distributed along the rear end side of the axial drill bit; Step 2412, advance the axial drill bit to the second limit position of the axial drill slide rail, move the target ball to the front end side of the axial drill bit, and use a laser tracker to measure at least three data points on the front end side of the axial drill bit, wherein each data point is circumferentially distributed along the front end side of the axial drill bit; Step 2413, fitting a cylinder based on the data points of the rear end side of the axial drill bit measured in step 2411 and the data points of the front end side of the axial drill bit measured in step 2412, which is recorded as the axial drill fitting cylinder, and obtaining the axis of the axial drill fitting cylinder, which is recorded as the first cylinder axis; Step 2414, judging whether the axis of the first cylinder is parallel to the axis of the drilling machine. If the judgment result shows that the axis of the first cylinder is parallel to the axis of the drilling machine, proceed to step 2415. Otherwise, adjust the position of the axial drill bit on the axial drill mounting seat until the axis of the first cylinder is parallel to the axis of the drilling machine. Step 2415, measure the distance between the two ends of the first cylindrical axis and the axis of the drilling machine, and determine whether the distance between the two ends of the first cylindrical axis and the axis of the drilling machine is equal to the pitch circle radius. If there is a deviation between the distance between the two ends of the first cylindrical axis and the axis of the drilling machine and the pitch circle radius, adjust the position of the axial drill bit on the axial drill mounting seat until the distance between the two ends of the first cylindrical axis and the axis of the drilling machine is equal to the pitch circle radius.

8. The method for correcting the drill bit position of a drilling machine based on a laser tracker according to claim 6, characterized in that: In step 2.4, when the radial drill axis is calibrated, a laser tracker is used to measure several data points on the front end side and the rear end side of the radial drill when the radial drill is at the two extreme positions of the radial drill slide, so as to fit and generate a cylinder, which is recorded as the radial drill fitting cylinder, and the axis of the radial drill fitting cylinder is obtained, which is recorded as the second cylinder axis; then, it is determined whether the second cylinder axis intersects with the first cylinder axis at right angles in space. When the determination result shows that the second cylinder axis does not intersect with the first cylinder axis at right angles in space, the position of the radial drill on the radial drill mounting seat is adjusted until the second cylinder axis intersects with the first cylinder axis at right angles in space.

9. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 8, characterized in that: In step 2.4, the correction of the radial drill bit axis specifically includes the following steps: Step 2421, retract the radial drill bit to the first limit position of the radial drill slide rail, move the target ball to the rear end side of the radial drill bit, and use a laser tracker to measure at least three data points on the rear end side of the radial drill bit, wherein each data point is circumferentially distributed along the rear end side of the radial drill bit; Step 2422, advance the radial drill bit to the second limit position of the radial drill slide rail, move the target ball to the front end side of the radial drill bit, and use a laser tracker to measure at least three data points on the front end side of the radial drill bit, wherein each data point is circumferentially distributed along the front end side of the radial drill bit; Step 2423, fitting a cylinder based on the data points on the rear end side of the radial drill bit measured in step 2421 and the data points on the front end side of the radial drill bit measured in step 2422, which is recorded as the radial drill fitting cylinder, and obtaining the axis of the radial drill fitting cylinder, which is recorded as the second cylinder axis; Step 2424, determine whether the second cylindrical axis obtained in step 2423 intersects vertically with the first cylindrical axis at the same hole position in space. When the judgment result shows that the second cylindrical axis does not intersect vertically with the first cylindrical axis at the same hole position in space, adjust the position of the radial drill bit on the radial drill mounting seat based on the intersection position of the second cylindrical axis with the first cylindrical axis at the same hole position in space until the second cylindrical axis intersects vertically with the first cylindrical axis in space.

10. The method for correcting the drill bit position of a drilling machine based on a laser tracker according to claim 8, characterized in that: In step 2.5, the flatness of the blade root is corrected by driving the rotary arm to rotate through the rotary disk, so that the position of the cutting disc will change dynamically with the rotation of the rotary arm. In this process, a laser tracker is used to collect the outer surface of the cutting disc in a cross shape to obtain a set of corresponding data points, and then a plane is generated by fitting, which is recorded as the fitting plane, and it is judged whether the flatness of the fitting plane is within the preset allowable range. When the flatness of the fitting plane exceeds the preset allowable range, the position of the cutting disc on the cutting disc mounting seat is adjusted until the flatness of the fitting plane is within the preset allowable range.

11. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 10, characterized in that: In step 2.6, the calibration of the preset hole position at the blade root position specifically includes the following steps: Step 261, extending the first and second cylindrical axes corresponding to the preset hole positions obtained in step 2.4 to intersect with the fitting plane obtained in step 2.5 to obtain a plurality of intersection points, and numbering them according to the numbers of the preset hole positions; Step 262: In the three-dimensional model of the wind turbine blade, the intersection points of the blade theoretical bolt hole axis and the blade end surface are numbered according to the numbers of the preset hole positions; Step 263, using the point-to-point positioning function, use the intersection point obtained in step 262 to locate the corresponding intersection point obtained in step 261 in the laser tracker, and display the deviation between the two during the positioning process. When the deviation between the intersection point obtained in step 261 and the corresponding intersection point obtained in step 262 exceeds the preset range, return to step 2.

4.

12. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 11, characterized in that: In step 2.7, the surface deviation correction of the axial drill bit and the radial drill bit corresponding to each preset hole position specifically includes the following steps: Step 271, based on the axial drill fitting cylinder obtained in step 2.4, obtain the axial bolt hole estimated value, and the radial drill fitting cylinder obtains the radial bolt hole estimated value; at the same time, based on the three-dimensional model of the blade theoretical bolt hole, query the corresponding axial bolt hole theoretical value and radial bolt hole theoretical value at the corresponding preset hole position; then obtain the deviation between the axial bolt hole estimated value and the corresponding axial bolt hole theoretical value based on the axial bolt hole estimated value and the corresponding radial bolt hole theoretical value, and obtain the deviation between the radial bolt hole estimated value and the corresponding radial bolt hole theoretical value, and then enter step 272; Step 272: Use the monitoring function to check the surface deviations of all axial drills and radial drills, and make quick adjustments based on the deviations until they are adjusted within the tolerance range.

13. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 10, characterized in that: It also includes step three, blade length marking measurement: taking the cutting blade fitting plane as a reference, the standard blade length of the wind turbine blade is measured by the monitoring function of the laser tracker to obtain a blade length marking parallel to the cutting blade fitting plane, so that the projection of the tip part of the wind turbine blade in the vertical direction can coincide with the blade length marking.

14. The method for correcting the position of a drilling machine drill bit based on a laser tracker according to claim 13, characterized in that: The blade length marking measurement described in step 3 specifically includes the following steps: Step 3.1, with the cutting disc fitting plane as the reference, move the target ball along the first straight line parallel to the axis of the drilling machine, and use the monitoring function of the laser tracker to check the distance of the target ball relative to the cutting disc fitting plane, until the distance of the target ball relative to the cutting disc fitting plane is equal to the standard blade length, stop moving the target ball and mark the position of the target ball at this moment as the first point; Step 3.2, move the target ball in a direction perpendicular to the first straight line. During this process, use the monitoring function of the laser tracker to check whether the distance of the target ball relative to the cutting piece fitting plane is always equal to the standard blade length, until the distance of the target ball relative to the first point meets the requirement, stop moving the target ball and mark the position of the target ball at this moment as the second point; Step 3.3: The straight line l formed by connecting and extending the first and second points is the leaf length mark.

15. The method for calibrating the drill bit position of a drilling machine based on a laser tracker according to claim 1, characterized in that: In the drilling machine, the axial drill bit used in the axial drilling mechanism and the radial drill bit used in the radial drilling mechanism are both edgeless drill bits, and the axial drill bit is a cylindrical drill bit with the same diameter and length as the axial bolt hole, and the radial drill bit is a cylindrical drill bit with the same diameter and length as the radial bolt hole.

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