Vacuum intelligent grinding robot for wind power blade

Abstract

The invention discloses a vacuum intelligent grinding robot for wind power blades, and relates to the technical field of intelligent grinding, the vacuum intelligent grinding robot comprises an intelligent control box, the bottom end of the intelligent control box is fixedly connected with a connecting cover, the interior of the connecting cover is fixedly connected with a control mechanism, and the control mechanism is in driving connection with a self-adjusting grinding mechanism. And the bottom end of the self-adjusting grinding mechanism is movably connected with a sealing mechanism. Through the arranged self-adjusting grinding mechanism, an intelligent control box controls a driving motor to simultaneously drive two transmission chain wheels to rotate in the same direction through a main chain wheel and a chain, meanwhile, a control gear is driven by a transmission shaft to promote racks on the two sides to move in the opposite directions, and meanwhile, a grinding arc-shaped strip is driven by the racks to move towards the opposite sides; according to the device, the distance between the grinding parts can be adjusted automatically according to the rear end of the connecting end of the wind power blade, and the use flexibility of the device is improved on the premise that multi-time simultaneous grinding is controlled intelligently.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent grinding, and specifically to a vacuum intelligent grinding robot for wind turbine blades. Background Art

[0002] Intelligent grinding is a way to smooth the surface of workpieces. Usually, workers manually perform intelligent grinding on workpieces on polishing machines and belt sanders, with low work efficiency. Moreover, people often stay in the intelligent grinding room, generating a large amount of dust in the air, posing a health hazard. With the rapid development of the machining manufacturing industry, intelligent grinding robots are replacing manual labor for intelligent grinding and polishing operations, mainly used for surface intelligent grinding, deburring, and weld intelligent grinding of workpieces. Compared with artificial intelligent grinding, using robots for intelligent grinding has the advantages of stronger controllability, easier precise positioning, and stronger adaptability.

[0003] Referring to the Chinese invention patent with the publication number: CN 117067037 A, titled: A Fast Positioning Device for a Wind Turbine Blade Grinding Machine and Its Usage Method, which relates to the field of wind turbine blade grinding machines. The fast positioning device for the wind turbine blade grinding machine and its usage method include a grinding machine main body, a grinding head is arranged on the outer surface of the grinding machine main body, a treatment box is arranged on the outer surface of the grinding machine main body, a collection mechanism is arranged inside the treatment box, the collection mechanism includes a dust suction pump arranged on the outer surface of the treatment box, an air suction pipe is arranged on the outer surface of the dust suction pump, the air suction pipe is arranged below the grinding head, and a dust collection box is arranged below the treatment box. For the fast positioning device for the wind turbine blade grinding machine and its usage method, by arranging the treatment box, dust and air flow are sent into the interior of the treatment box, some impurities will fall into the interior of the dust collection box along with the reduction of the air flow, and the excess gas will be purified and discharged by the treatment box, which not only solves the collection of dust but also can purify the excess gas. However, in the actual use process, there are still some problems: During the current production process of wind turbine blades, when grinding their connection ends, neither the grinding position nor the grinding mechanism is isolated. During the grinding process, environmental factors will affect the grinding position to a certain extent and may also pose a certain production safety risk. Secondly, the intelligence level of the grinding equipment robot is relatively low, and it cannot perform multiple passes of grinding at one time, reducing production efficiency. Summary of the Invention

[0004] Technical Problems to be Solved The purpose of the present invention is to make up for the deficiencies that during the current production process of wind turbine blades, when grinding their connection ends, neither the grinding position nor the grinding mechanism is isolated. During the grinding process, environmental factors will affect the grinding position to a certain extent and may also pose a certain production safety risk. Secondly, the intelligence level of the grinding equipment robot is relatively low, and it cannot perform multiple passes of grinding at one time, reducing production efficiency.

[0005] Technical solution

[0006] To achieve the above object, the present invention provides the following technical solution: a vacuum intelligent grinding robot for wind turbine blades, including an intelligent control box, a connection cover is fixedly connected to the bottom end of the intelligent control box, a control mechanism is fixedly connected to the inside of the connection cover, and a self-adjusting grinding mechanism is drivenly connected to the control mechanism, a sealing mechanism is movably connected to the bottom end of the self-adjusting grinding mechanism, a vacuum extraction port is fixedly connected to the top end of the connection cover, a first sealing airbag is fixedly connected to the edge of the inner bottom end of the connection cover, and the first sealing airbag is annular, an external connection pipe is fixedly connected to the outside of the connection cover, and one end of the external connection pipe penetrates through the connection cover and communicates with the inside of the first sealing airbag.

[0007] Further, the self-adjusting grinding mechanism includes a driving motor, a main sprocket, a transmission sprocket, a chain and a transmission shaft, the main sprocket is fixedly connected to the output end of the driving motor through a coupling, two transmission sprockets are provided and are located on both sides of the main sprocket, the main sprocket is in transmission connection with the two transmission sprockets through a chain, and the transmission shafts are respectively fixedly connected to the bottom axles of the transmission sprockets.

[0008] Further, the self-adjusting grinding mechanism further includes a grinding strip, a grinding arc strip, a control gear and a rack, the control gear is movably connected to the middle position of the top end of the grinding strip through a rotating shaft, the racks are symmetrically arranged with the control gear as the axis, and the racks are all meshed with the control gear, a sliding groove is formed on the surface of the grinding strip, the grinding arc strips are symmetrically located directly below the grinding strip, and the mutually remote ends of the racks penetrate through the sliding groove and are fixedly connected to the middle position of the top end of the grinding arc strip.

[0009] Further, the driving motor is fixedly connected to the top end of the connection cover, the main sprocket, the transmission sprocket, the chain, the transmission shaft, the grinding strip, the grinding arc strip, the control gear and the rack are all located inside the connection cover, and the connection parts of the driving motor and the connection cover are all movably connected through rotating shafts, and the arcs of the grinding arc strips are all arranged outward.

[0010] Further, the control mechanism includes a control motor, a main gear, a control ring and a connection bar, the main gear is fixedly connected to the output end of the control motor through a coupling, sawteeth are formed on the outer side of the control ring, and the control ring is meshed with the main gear through a rectangle, and the connection bar is horizontally fixedly connected to the inside of the control ring.

[0011] Further, the control motor is fixedly connected to the top end of the connection cover. The output end of the control motor penetrates through the connection cover and is movably connected to its connection part through a bearing. The connecting strip is located directly below the main sprocket and is movably connected to the output end of the driving motor through a bearing at its middle position. One end of the transmission shaft away from the transmission sprocket penetrates through the control ring and is fixedly connected to the axis center of the control gear, and the connection parts between the transmission shaft and the control ring are all movably connected through bearings.

[0012] Further, the sealing mechanism includes a sealing cover, a second sealing airbag, a connecting pipe and an air pump. The second sealing airbag is annular and fixedly connected to the outer side of the bottom of the sealing cover. The air pump is fixedly connected to the inside of the sealing cover. There are two connecting pipes, and their functions are respectively air inflation and air deflation. One ends of the connecting pipes are respectively fixedly connected to the pressurizing port and the air deflation port of the air pump, and the other ends of the connecting pipes all penetrate through the sealing cover and are communicated with the inside of the second sealing airbag.

[0013] Further, the top end of the sealing cover is movably connected to the bottom end of the output end of the driving motor through a rotating shaft. The first sealing airbag and the second sealing airbag are located on the same horizontal plane.

[0014] Further, the intelligent control box is electrically connected to the control motor, the driving motor and the air pump through wires. The external connecting pipe can be externally connected to an air inflation pump, and the vacuum pumping port is externally connected to a vacuum pumping machine, and both the externally connected air inflation pump and the vacuum pumping machine are electrically connected to the intelligent control box.

[0015] Compared with the prior art, the wind power blade vacuum intelligent grinding robot has the following beneficial effects: First, through the self-adjusting grinding mechanism set in the present invention, the intelligent control box controls the driving motor to drive two transmission sprockets to rotate in the same direction simultaneously through the main sprocket and the chain. At the same time, the control gear is driven by the transmission shaft to cause the two racks to move in opposite directions. At the same time, the grinding arc strips are driven by the racks to move towards the opposite sides until their opposite sides are tightly attached to the inner and outer sides of the connection end of the wind power blade, which is beneficial to self-adjust the distance between the grinding components according to the connection end of the wind power blade, and improve the flexibility of equipment use on the premise of realizing intelligent control of multi-pass simultaneous grinding.

[0016] Second, through the control mechanism set in the present invention, the intelligent control box starts the control motor to drive the main gear to rotate, thereby driving the control ring to rotate. At this time, the control ring pulls the transmission shaft to rotate along its trajectory, so as to drive the grinding strip and the grinding arc strip to grind the inner and outer sides of the connection end of the wind power blade, which is beneficial to quickly grind the connection end of the wind power blade and avoid omission, thus affecting subsequent installation and product quality.

[0017] III. Through the provided sealing mechanism of the present invention, an external vacuum pump and an external air pump are respectively connected to the vacuum pumping port and the external connection pipe. Meanwhile, a transfer device is used to push the connection end of the wind power blade towards the middle area between the connection cover and the sealing cover until the connection end of the wind power blade is in close contact with the grinding strip. At this time, the intelligent control box starts the air pump to inflate the first sealing airbag and the second sealing airbag until the first sealing airbag and the second sealing airbag are in close contact with the inner and outer walls of the connection end of the wind power blade. Then the intelligent control box stops the operation of the air pump and subsequently starts the external vacuum pump to perform vacuum pumping on the middle area between the connection cover and the sealing cover through the vacuum pumping port, which is beneficial to ensuring that the grinding position is in a vacuum space during grinding, reducing the heat generated during friction and dropping, and secondly ensuring that no oxidation reaction occurs on the surface of the grinding position, thereby maintaining the luster and purity of the metal.

[0018] Other advantages, objectives, and features of the present invention will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structural schematic diagram of the present invention; Figure 2 is a partial sectional structural schematic diagram of the connection cover of the present invention; Figure 3 is a connection structural schematic diagram of the self-adjusting grinding mechanism of the present invention; Figure 4 is a connection structural schematic diagram of the control gear of the present invention; Figure 5 is a connection structural schematic diagram of the control mechanism of the present invention; Figure 6 is a connection structural schematic diagram of the sealing mechanism of the present invention.

[0020] In the figure: 1. Intelligent control box; 2. Connection cover; 3. Control mechanism; 301. Control motor; 302. Main gear; 303. Control ring; 304. Connection bar; 4. Self-adjusting grinding mechanism; 401. Driving motor; 402. Main sprocket; 403. Transmission sprocket; 404. Chain; 405. Transmission shaft; 406. Grinding strip; 407. Grinding arc strip; 408. Control gear; 409. Rack; 5. Sealing mechanism; 501. Sealing cover; 502. Second sealing airbag; 503. Connection pipe; 504. Air pump; 6. Vacuum pumping port; 7. First sealing airbag; 8. External connection pipe; 9. Slide groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] As Figure 1-6 shown, the present invention provides a technical solution: a wind power blade vacuum intelligent grinding robot, including an intelligent control box 1. A connection cover 2 is fixedly connected to the bottom end of the intelligent control box 1. A control mechanism 3 is fixedly connected inside the connection cover 2. And a self-adjusting grinding mechanism 4 is drivenly connected to the control mechanism 3. A sealing mechanism 5 is movably connected to the bottom end of the self-adjusting grinding mechanism 4. A vacuum pumping port 6 is fixedly connected to the top end of the connection cover 2. A sealing airbag 7 is fixedly connected to the inner bottom edge of the connection cover 2, and the sealing airbag 7 is annular. An external connection pipe 8 is fixedly connected to the outside of the connection cover 2, and one end of the external connection pipe 8 penetrates through the connection cover 2 and communicates with the inside of the sealing airbag 7.

[0023] As Figure 2 , Figure 3 and Figure 5 shown, the self-adjusting grinding mechanism 4 includes a driving motor 401, a main sprocket 402, a transmission sprocket 403, a chain 404 and a transmission shaft 405. The main sprocket 402 is fixedly connected to the output end of the driving motor 401 through a coupling. There are two transmission sprockets 403 and they are located on both sides of the main sprocket 402. The main sprocket 402 is drivingly connected to the two transmission sprockets 403 through the chain 404. And the transmission shafts 405 are respectively fixedly connected to the bottom axles of the transmission sprockets 403. The self-adjusting grinding mechanism 4 further includes a grinding strip 406, a grinding arc strip 407, a control gear 408 and a rack 409. The control gear 408 is movably connected to the middle position of the top end of the grinding strip 406 through a rotating shaft. The racks 409 are symmetrically arranged with the control gear 408 as the axis, and the racks 409 are all meshed with the control gear 408. A sliding groove 9 is formed on the surface of the grinding strip 406. The grinding arc strips 407 are symmetrically located directly below the grinding strip 406. The mutually remote ends of the racks 409 all penetrate through the sliding groove 9 and are fixedly connected to the middle position of the top end of the grinding arc strip 407. The driving motor 401 is fixedly connected to the top end of the connection cover 2. The main sprocket 402, the transmission sprocket 403, the chain 404, the transmission shaft 405, the grinding strip 406, the grinding arc strip 407, the control gear 408 and the rack 409 are all located inside the connection cover 2. And the connection parts of the driving motor 401 and the connection cover 2 are all movably connected through rotating shafts. The radian directions of the grinding arc strips 407 all face outwards.

[0024] The intelligent control box 1 controls the driving motor 401 to drive two transmission sprockets 403 to rotate in the same direction simultaneously through the main sprocket 402 and the chain 404. At the same time, it controls the gear 408 to be driven by the transmission shaft 405 to make the two side racks 409 move in opposite directions. At the same time, the grinding arc bar 407 is driven by the rack 409 to move towards the opposite side until its opposite side closely adheres to the inner and outer sides of the connection end of the wind power blade, which is beneficial to self-regulate the distance between the grinding components according to the rear end of the connection end of the wind power blade, and improve the flexibility of equipment use on the premise of realizing intelligent control of multi-pass simultaneous grinding.

[0025] As Figure 2 , Figure 3 Figure 4 and Figure 6 shown, the control mechanism 3 includes a control motor 301, a main gear 302, a control ring 303 and a connecting bar 304. The main gear 302 is fixedly connected to the output end of the control motor 301 through a coupling. The outer side of the control ring 303 is provided with sawteeth, and the control ring 303 is meshed with the main gear 302 through a rectangle. The connecting bar 304 is horizontally and fixedly connected to the inside of the control ring 303. The control motor 301 is fixedly connected to the top of the connecting cover 2. The output end of the control motor 301 penetrates through the connecting cover 2 and is movably connected to its connection part through a bearing. The connecting bar 304 is located directly below the main sprocket 402 and the middle position is movably connected to the output end of the driving motor 401 through a bearing. One end of the transmission shaft 405 far from the transmission sprocket 403 penetrates through the control ring 303 and is fixedly connected to the axis of the control gear 408, and the connection parts of the transmission shaft 405 and the control ring 303 are all movably connected through bearings.

[0026] The intelligent control box 1 starts the control motor 301 to drive the main gear 302 to rotate, thereby driving the control ring 303 to rotate. At this time, the control ring 303 pulls the transmission shaft 405 to rotate along its trajectory, so as to drive the grinding bar 406 and the grinding arc bar 407 to grind the inner and outer sides of the connection end of the wind power blade, which is beneficial to quickly grind the connection end of the wind power blade and avoid omission, thus affecting subsequent installation and product quality.

[0027] As Figure 2 , Figure 3 Figure 4 and Figure 6As shown in the figure, the sealing mechanism 5 includes a sealing cover 501, a second sealing airbag 502, a connecting pipe 503 and an air pump 504. The second sealing airbag 502 is annular and fixedly connected to the outer side of the bottom of the sealing cover 501. The air pump 504 is fixedly connected to the inside of the sealing cover 501. There are two connecting pipes 503, and their functions are air inflation and deflation respectively. One end of the connecting pipe 503 is fixedly connected to the pressurizing port and the air release port of the air pump 504 respectively, and the other end of the connecting pipe 503 penetrates through the sealing cover 501 and is internally communicated with the second sealing airbag 502. The top end of the sealing cover 501 is movably connected to the bottom end of the output end of the driving motor 401 through a rotating shaft. The first sealing airbag 7 and the second sealing airbag 502 are on the same horizontal plane. The intelligent control box 1 is electrically connected to the control motor 301, the driving motor 401 and the air pump 504 through wires. The external connecting pipe 8 can be externally connected to the air pump 504, and the vacuum pumping port 6 is externally connected to a vacuum pumping machine, and both the externally connected air pump 504 and the vacuum pumping machine are electrically connected to the intelligent control box 1.

[0028] Connect the external vacuum pumping machine and the external air pump 504 to the vacuum pumping port 6 and the external connecting pipe 8 respectively. At the same time, use the transfer equipment to push the connecting end of the wind power blade towards the middle area between the connecting cover 2 and the sealing cover 501 until the connecting end of the wind power blade is in close contact with the grinding strip 406. At this time, the intelligent control box 1 starts the air pump 504 to inflate the first sealing airbag 7 and the second sealing airbag 502 until the first sealing airbag 7 and the second sealing airbag 502 are in close contact with the inner and outer walls of the connecting end of the wind power blade. At this time, the intelligent control box 1 stops the operation of the air pump 504, and then starts the external vacuum pumping machine to perform vacuum pumping on the middle area between the connecting cover 2 and the sealing cover 501 through the vacuum pumping port 6, which is beneficial to ensuring that the grinding position is in a vacuum space during grinding, reducing the heat generated during friction and impact, and secondly ensuring that no oxidation reaction occurs on the surface of the grinding position, thereby maintaining the luster and purity of the metal.

[0029] Working principle: When in use, connect an external vacuum pump and an external air pump 504 to the vacuum extraction port 6 and the external connection pipe 8 respectively. At the same time, use a transfer device to push the connection end of the wind turbine blade towards the middle area between the connection cover 2 and the sealing cover 501 until the connection end of the wind turbine blade is in close contact with the grinding strip 406. At this time, the intelligent control box 1 starts the air pump 504 to inflate the first sealing airbag 7 and the second sealing airbag 502 until the first sealing airbag 7 and the second sealing airbag 502 are in close contact with the inner and outer walls of the connection end of the wind turbine blade. Then the intelligent control box 1 stops the operation of the air pump 504 and starts the external vacuum pump to perform vacuum pumping on the middle area between the connection cover 2 and the sealing cover 501 through the vacuum extraction port 6. After completion, the intelligent control box 1 controls the drive motor 401 to drive the two drive sprockets 403 to rotate in the same direction through the main sprocket 402 and the chain 404. At the same time, it controls the gear 408 to be driven by the transmission shaft 405 to make the two side racks 409 move in opposite directions. At the same time, the grinding arc strip 407 is driven by the rack 409 to move towards the opposite side until its opposite side is in close contact with the inner and outer sides of the connection end of the polished wind turbine blade. Then the intelligent control box 1 starts the control motor 301 to drive the main gear 302 to rotate, thereby driving the control ring 303 to rotate. At this time, the control ring 303 pulls the transmission shaft 405 to rotate along its trajectory, so as to drive the grinding strip 406 and the grinding arc strip 407 to grind the inner and outer sides of the connection end of the wind turbine blade.

[0030] It should be noted that in this text, the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "fixedly installed", "installed", "connected", "connected" should be understood in a broad sense. For example, "installed" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "connected" can be a direct connection, an indirect connection through an intermediate medium, or a communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vacuum intelligent grinding robot for wind turbine blades, comprising an intelligent control box (1), characterized in that: The bottom end of the intelligent control box (1) is fixedly connected with a connecting cover (2). A control mechanism (3) is fixedly connected inside the connecting cover (2), and a self-adjusting grinding mechanism (4) is drivenly connected to the control mechanism (3). The bottom end of the self-adjusting grinding mechanism (4) is movably connected with a sealing mechanism (5). The top end of the connecting cover (2) is fixedly connected with a vacuum air extraction port (6). The inner bottom edge of the connecting cover (2) is fixedly connected with a first sealing airbag (7), and the first sealing airbag (7) is annular. The outer side of the connecting cover (2) is fixedly connected with an external connecting pipe (8), and one end of the external connecting pipe (8) penetrates through the connecting cover (2) and is communicated with the inside of the first sealing airbag (7).

2. The vacuum intelligent grinding robot for wind power blades according to claim 1, characterized in that: The self-adjusting grinding mechanism (4) includes a driving motor (401), a main sprocket (402), a transmission sprocket (403), a chain (404) and a transmission shaft (405). The main sprocket (402) is fixedly connected to the output end of the driving motor (401) through a coupling. There are two transmission sprockets (403) and they are located on both sides of the main sprocket (402). The main sprocket (402) is drivingly connected to the two transmission sprockets (403) through the chain (404), and the transmission shafts (405) are respectively fixedly connected to the bottom axles of the transmission sprockets (403).

3. The intelligent vacuum grinding robot for wind turbine blades according to claim 2, wherein: The self-adjusting grinding mechanism (4) further includes a grinding strip (406), a grinding arc strip (407), a control gear (408) and a rack (409). The control gear (408) is movably connected to the middle position at the top end of the grinding strip (406) through a rotating shaft. The racks (409) are symmetrically arranged with the control gear (408) as the axis, and the racks (409) are all meshed with the control gear (408). A sliding groove (9) is formed on the surface of the grinding strip (406). The grinding arc strips (407) are symmetrically located directly below the grinding strip (406). The mutually separated ends of the racks (409) all penetrate through the sliding groove (9) and are fixedly connected to the middle positions at the top ends of the grinding arc strips (407).

4. The vacuum intelligent grinding robot for wind turbine blades according to claim 2, wherein: The driving motor (401) is fixedly connected to the top end of the connecting cover (2). The main sprocket (402), the transmission sprocket (403), the chain (404), the transmission shaft (405), the grinding strip (406), the grinding arc strip (407), the control gear (408) and the rack (409) are all located inside the connecting cover (2), and the connection parts between the driving motor (401) and the connecting cover (2) are all movably connected through rotating shafts. The radian directions of the grinding arc strips (407) are all outward.

5. The intelligent vacuum grinding robot for wind turbine blades according to claim 4, wherein: The control mechanism (3) includes a control motor (301), a main gear (302), a control ring (303) and a connecting bar (304). The main gear (302) is fixedly connected to the output end of the control motor (301) through a coupling. The outer side of the control ring (303) is provided with sawteeth, and the control ring (303) is meshed with the main gear (302) through a rectangle. The connecting bar (304) is horizontally fixedly connected inside the control ring (303).

6. The intelligent vacuum grinding robot for wind turbine blades according to claim 5, wherein: The control motor (301) is fixedly connected to the top of the connecting cover (2). The output end of the control motor (301) penetrates through the connecting cover (2), and the connection part therebetween is movably connected through a bearing. The connecting bar (304) is located directly below the main sprocket (402), and the middle position thereof is movably connected to the output end of the driving motor (401) through a bearing. One end of the transmission shaft (405) far from the transmission sprocket (403) penetrates through the control ring (303) and is fixedly connected to the axis of the control gear (408), and the connection parts between the transmission shaft (405) and the control ring (303) are all movably connected through bearings.

7. The vacuum intelligent grinding robot for wind turbine blades according to claim 1, wherein: The sealing mechanism (5) includes a sealing cover (501), a second sealing airbag (502), a connecting pipe (503) and an air pump (504). The second sealing airbag (502) is annular and fixedly connected to the outer side of the bottom of the sealing cover (501). The air pump (504) is fixedly connected to the inside of the sealing cover (501). There are two connecting pipes (503), and their functions are air filling and air discharging respectively. One ends of the connecting pipes (503) are fixedly connected to the pressurizing port and the air discharging port of the air pump (504) respectively, and the other ends of the connecting pipes (503) all penetrate through the sealing cover (501) and are communicated with the inside of the second sealing airbag (502).

8. The vacuum intelligent grinding robot for wind turbine blades according to claim 7, characterized in that: The top end of the sealing cover (501) is movably connected to the bottom end of the output end of the driving motor (401) through a rotating shaft. The first sealing airbag (7) and the second sealing airbag (502) are located on the same horizontal plane.

9. The vacuum intelligent grinding robot for wind turbine blades according to claim 1, wherein: The intelligent control box (1) is electrically connected to the control motor (301), the driving motor (401) and the air pump (504) through wires respectively. The external connecting pipe (8) can be externally connected to an air pump (504). The vacuum pumping port (6) is externally connected to a vacuum pumping machine, and both the externally connected air pump (504) and the vacuum pumping machine are electrically connected to the intelligent control box (1).

Images