A heavy flexible coarse grinding robot for wind turbine hubs

Abstract

The application discloses a heavy flexible rough grinding robot for a wind power generator hub, which comprises a base and a six-axis mechanical arm installed on the top outer wall of the base, and further comprises a driving mechanism fixedly installed on the tail end of the six-axis mechanical arm, a torsion transmission mechanism coaxially fixedly connected with an output shaft of the driving mechanism, and a buffer mechanism located on one side outer wall of the torsion transmission mechanism, wherein the buffer mechanism comprises a connecting cylinder and a lower check ring, two limiting grooves extending in the axial direction are formed in the outer wall of the connecting cylinder, and two limiting blocks in sliding fit with the limiting grooves are arranged on the inner wall of the lower check ring. The application can avoid the rigid collision between the grinding head and the protrusion, prevent the impact force from being transmitted to the wind power generator hub base, and avoid the impact pits on the surface of the wind power generator hub, so that the grinding head can always keep stable contact with the outer surface of the wind power generator hub, and the rough grinding efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine hub grinding technology, and in particular to a heavy-duty flexible rough grinding robot for wind turbine hubs. Background Technology

[0002] The wind turbine hub is a key component connecting the blades and the main shaft. It is usually made of high-strength ductile iron. Its core function is to fix multiple blades and concentrate the mechanical torque generated by the rotation of the blades to the main shaft to drive the generator to generate electricity. The hub has a complex internal structure and is equipped with pitch bearings, drive motors and other devices. It can automatically adjust the blade angle according to the wind speed to control the rotation speed. As the central hub for energy transfer, the hub needs to withstand huge bending, torsional and fatigue loads. It has extremely high requirements for material strength, processing precision and resistance to harsh environments. Its reliability directly affects the safety of the whole machine and the power generation efficiency.

[0003] In the automated rough grinding of wind turbine hubs, the outer surface of castings often has large casting allowances and irregular protrusions. When the robot feeds the grinding head along a preset trajectory, it is prone to rigid collisions with these protrusions. This instantaneous impact can not only cause the grinding wheel to shatter but also directly transfer the impact load to the wind turbine hub base material, forming impact dents on its surface. This damages the base structure and affects the subsequent processing quality and product safety. Therefore, how to provide a heavy-duty flexible rough grinding robot for wind turbine hubs is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] One objective of this invention is to provide a heavy-duty flexible rough grinding robot for wind turbine hubs to solve the aforementioned technical problems. The technical solution of this invention is as follows: According to an embodiment of the present invention, a heavy-duty flexible coarse grinding robot for wind turbine hubs includes a base and a six-axis robotic arm mounted on the top outer wall of the base. It further includes: a drive mechanism fixedly mounted at the end of the six-axis robotic arm; a torsion transmission mechanism coaxially and fixedly connected to the output shaft of the drive mechanism; a buffer mechanism located on one outer wall of the torsion transmission mechanism, the buffer mechanism including a connecting cylinder and a lower retaining ring, two axially extending limiting grooves on the outer wall of the connecting cylinder, two limiting blocks slidingly engaging with the limiting grooves on the inner wall of the lower retaining ring, a protective cover and a grinding head on the lower retaining ring, an upper retaining ring fixedly connected to the connecting cylinder, a buffer spring between the upper and lower retaining rings wound around the outer wall of the connecting cylinder, and a coaxial fixed connection between the lower retaining ring and the grinding head via a flange structure; and an adjustment mechanism located between the drive mechanism and the torsion transmission mechanism for adjusting the radial position of the grinding head.

[0005] Furthermore, the torsion transmission mechanism includes a spline shaft and a spline sleeve fitted outside the spline shaft. A limiting sleeve is provided on the outer wall of the spline sleeve, and the limiting sleeve is fitted outside the spline shaft.

[0006] By adopting the above technical solution, when the spline shaft rotates synchronously with the drive mechanism, it may produce radial runout due to the influence of centrifugal force and assembly clearance. When the spline shaft tends to swing radially, the outer wall of the spline shaft will touch the inner wall of the limiting cylinder and be constrained by the limiting cylinder, thus preventing further radial displacement. The radial runout of the spline shaft is controlled within the gap range between the limiting cylinder and the spline shaft. The spline shaft and the spline sleeve maintain stable coaxiality, resulting in smooth transmission. In addition, the limiting cylinder can limit the maximum axial sliding distance of the spline sleeve relative to the spline shaft. When the spline sleeve slides to the limit position, the end of the limiting cylinder will contact the shoulder on the spline shaft, preventing the spline sleeve from continuing to slide.

[0007] Furthermore, the adjustment mechanism includes a mounting frame and a slider. A fixed seat is provided on one outer wall of the mounting frame. Slide grooves are provided on the top and bottom inner walls of the fixed seat. The slider is slidably connected in the slide grooves. One outer wall of the slider is fixedly connected to the end of the connecting shaft away from the spline shaft. An adjustment rod is connected to the outer wall of the slider away from the connecting shaft via a bearing. The adjustment rod passes through one outer wall of the fixed seat. A toothed ring is connected to one outer wall of the fixed seat via a bearing. The inner wall of the toothed ring is threadedly connected to the outer wall of the adjustment rod. The fixed seat is also provided with a drive assembly. Two limiting ports are provided on the fixed seat. Two limiting rods are provided on the connecting ring. The limiting rods are inserted into the inner walls of the limiting ports.

[0008] By adopting the above technical solution, during use, the drive assembly drives the gear to rotate. Since the gear and the gear ring mesh with each other, the gear drives the gear ring to rotate. The inner wall of the gear ring and the outer wall of the adjusting rod are connected by threads. When the gear ring rotates, the gear ring is fixed on the fixed seat by the bearing. The adjusting rod is forced to move axially. Since the adjusting rod is connected to the slider by the bearing, it pushes the slider to slide radially along the slide groove. The slider drives the spline shaft and the entire grinding head to move radially, thereby controlling the radial extension of the grinding head. When the drive assembly stops rotating, even if it is subjected to the reaction force of grinding, the adjusting rod cannot push the gear ring to rotate in the opposite direction. After adjustment, the radial position of the grinding head is locked without the need for an additional locking device. In the high-speed grinding vibration environment, the radial position will not drift. The cooperation between the limit rod and the limit port restricts the circumferential rotation of the connecting ring and the spline sleeve, while allowing axial sliding. This ensures that there is only axial relative movement between the connecting plate and the connecting ring of the buffer assembly, without circumferential torsion. This allows the hydraulic damper to only bear axial force and not torsional load, thus extending its service life.

[0009] Furthermore, the top and bottom outer walls of the fixing base are provided with displacement detectors, the detection end of the displacement detectors facing the lower retaining ring, and the displacement detectors are used to detect the axial displacement of the lower retaining ring relative to the connecting plate.

[0010] By adopting the above technical solution, the radial extension of the grinding head can be dynamically adjusted according to the real-time feedback of the displacement detector during the grinding process, avoiding the impact on production efficiency due to frequent emergency shutdowns, and preventing the grinding wheel from breaking or the equipment from being damaged due to excessive impact.

[0011] The beneficial effects of this invention are: Compared with traditional grinding devices, this invention avoids rigid collisions, protecting the grinding wheel and the outer surface of the wind turbine hub. Through the sliding engagement of the limiting block on the inner wall of the lower retaining ring and the limiting groove on the outer wall of the connecting cylinder, combined with the compression and reset of the buffer spring, when the grinding head encounters a cast protrusion, it can automatically move upwards to avoid it, transforming rigid collisions into elastic buffering. Furthermore, the drive assembly can rotate the gear ring, and the threaded engagement between the gear ring and the adjusting rod pushes the slider to slide radially along the groove, thereby driving the spline shaft and grinding head to move radially. This adapts to the wear compensation of different models of wind turbine hub outer surfaces and grinding heads. The displacement detector can detect the axial displacement of the lower retaining ring relative to the connecting plate in real time, and the control system can know the height of the currently encountered protrusion, determine the grinding status, and prevent equipment damage. Attached Figure Description

[0012] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of a heavy-duty flexible coarse grinding robot for wind turbine hubs proposed in this invention.

[0013] Figure 2 for Figure 1 An enlarged schematic diagram of the structure at point A.

[0014] Figure 3 This is a schematic diagram of the drive mechanism structure of a heavy-duty flexible coarse grinding robot for wind turbine hubs proposed in this invention.

[0015] Figure 4 This is a schematic diagram of the drive assembly and adjustment mechanism of a heavy-duty flexible coarse grinding robot for wind turbine hubs proposed in this invention.

[0016] Figure 5 This is a schematic diagram of the limiting port and displacement detector structure of a heavy-duty flexible coarse grinding robot for wind turbine hubs proposed in this invention.

[0017] Figure 6This is a schematic diagram of the torsion transmission mechanism of a heavy-duty flexible coarse grinding robot for a wind turbine hub proposed in this invention.

[0018] Figure 7 This is a schematic diagram of the buffer component structure of a heavy-duty flexible coarse grinding robot for wind turbine hubs proposed in this invention.

[0019] Figure 8 This is an exploded view of the buffer mechanism structure of a heavy-duty flexible coarse grinding robot for a wind turbine hub proposed in this invention.

[0020] Figure 9 This is a schematic diagram of the limiting groove structure of a heavy-duty flexible coarse grinding robot for a wind turbine hub proposed in this invention.

[0021] In the diagram: 1. Base; 2. Six-axis robotic arm; 3. Connecting seat; 4. First motor; 5. Mounting frame; 6. Limit cover; 7. Protective cover; 8. Displacement detector; 9. Slider; 10. Connecting plate; 11. Hydraulic damper; 12. Limit rod; 13. Connecting ring; 14. Limiting cylinder; 15. Fixed seat; 16. Adjusting rod; 17. Gear; 18. Second motor; 19. Gear ring; 21. Limiting port; 22. Grinding head; 23. Splined shaft; 24. Connecting shaft; 25. Splined sleeve; 26. Upper retaining ring; 27. Connecting cylinder; 28. Limiting groove; 29. ​​Buffer spring; 30. Limiting block; 31. Lower retaining ring. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0023] Please refer to Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 8 and Figure 9The system includes a base 1 and a six-axis robotic arm 2 mounted on the top outer wall of the base 1. It also includes: a drive mechanism fixedly mounted at the end of the six-axis robotic arm 2; a torsion transmission mechanism coaxially and fixedly connected to the output shaft of the drive mechanism; a buffer mechanism located on one side of the outer wall of the torsion transmission mechanism, comprising a connecting cylinder 27 and a lower retaining ring 31. The outer wall of the connecting cylinder 27 has two axially extending limiting grooves 28. The inner wall of the lower retaining ring 31 has two limiting blocks 30 that slide in cooperation with the limiting grooves 28. The lower retaining ring 31 has a protective cover 7 and a grinding head 22. An upper retaining ring 26 is also fixedly connected to the connecting cylinder 27. A buffer spring 29 is provided between the upper retaining ring 26 and the lower retaining ring 31, and the buffer spring 29 is wound around the outer wall of the connecting cylinder 27. The lower retaining ring 31 and the grinding head 22 are coaxially and fixedly connected via a flange structure; and an adjustment mechanism located between the drive mechanism and the torsion transmission mechanism, used to adjust the radial position of the grinding head 22.

[0024] Among them, a limiting cover 6 is provided on the outer wall of the upper retaining ring 26 near the lower retaining ring 31. The limiting cover 6 is sleeved on the outside of the buffer spring 29. The limiting cover 6 is used to limit the radial swing of the buffer spring 29 when it rotates at high speed. When the grinding head 22 rotates at high speed, the buffer spring 29 is subjected to centrifugal force, and each coil of spring wire has a tendency to swing outward. When the outer coil of the buffer spring 29 touches the inner wall of the limiting cover 6, it is constrained by the limiting cover 6 and cannot continue to expand outward, thereby realizing that the buffer spring 29 always works within the set radial range, with stable stiffness and consistent buffering force.

[0025] It should be noted that the upper retaining ring 26 is fixedly installed on the outer wall of the connecting cylinder 27 and is located between the upper end of the buffer spring 29 and the lower retaining ring 31. The upper retaining ring 26 does not participate in axial sliding and provides an upper support point for the buffer spring 29.

[0026] In practical implementation, the torsion transmission mechanism includes a splined shaft 23 and a splined sleeve 25 fitted around the outside of the splined shaft 23. A limiting sleeve 14 is provided on the outer wall of the splined sleeve 25, which is fitted around the outside of the splined shaft 23. When the splined shaft 23 rotates synchronously with the drive mechanism, it may experience radial runout due to centrifugal force and assembly clearance. When the splined shaft 23 exhibits a tendency to radially swing, the outer wall of the splined shaft 23 will touch the inner wall of the limiting sleeve 14 and be limited. The limiting sleeve 14 restricts the spline shaft 23 from further radial displacement, and the radial runout of the spline shaft 23 is controlled within the gap range between the limiting sleeve 14 and the spline shaft 23. The spline shaft 23 and the spline sleeve 25 maintain stable coaxiality, and the transmission is smooth. In addition, the limiting sleeve 14 can limit the maximum axial sliding distance of the spline sleeve 25 relative to the spline shaft 23. When the spline sleeve 25 slides to the limit position, the end of the limiting sleeve 14 will contact the shoulder on the spline shaft 23, preventing the spline sleeve 25 from continuing to slide.

[0027] Specifically, a connecting shaft 24 is coaxially fixedly connected to one end of the spline shaft 23 near the adjusting mechanism. A connecting plate 10 is provided on the connecting shaft 24, and a connecting ring 13 is provided on the outer wall of the limiting cylinder 14. At least one buffer assembly is also provided between the connecting plate 10 and the connecting ring 13. The buffer assembly and the buffer spring 29 are connected in parallel. After the buffer assembly and the buffer spring 29 are connected in parallel, they share the impact. The buffer spring 29 absorbs the impact energy and provides elastic restoring force. The buffer assembly converts part of the impact kinetic energy into heat energy and suppresses the rebound speed. When the buffer spring 29 rebounds, the buffer assembly generates a reverse damping force to slow down the rebound speed and prevent oscillation. As a result, the grinding head 22 has no rebound jump and returns to a stable position after passing the protrusion once. There are no ripple marks on the outer surface of the wind turbine hub. The flatness after rough grinding is improved, which reduces the machining allowance for the subsequent fine grinding process.

[0028] The buffer assembly includes a hydraulic damper 11, and its two ends are hinged to the connecting plate 10 and the connecting ring 13, respectively.

[0029] It should be noted that the hydraulic damper 11 and the buffer spring 29 are functionally connected in parallel, that is, they both bear the axial impact load from the grinding head 22, and their forces are superimposed on the transmission path. Specifically, since the hydraulic damper 11 is connected between the connecting plate 10 and the limiting cylinder 14, and the buffer spring 29 is connected between the upper retaining ring 26 and the lower retaining ring 31, the upper retaining ring 26 and the limiting cylinder 14 are both fixed on the connecting cylinder 27 and move synchronously. When the lower retaining ring 31 is impacted, the buffer spring 29 is compressed, and at the same time, the upper retaining ring 26 and the connecting cylinder 27 drive the limiting cylinder 14 to move, thereby compressing the hydraulic damper 11. Thus, the hydraulic damper 11 and the buffer spring 29 form a parallel buffer path.

[0030] Specifically, before rough grinding, a PLC can be used to connect the walking drive device and the six-axis robotic arm 2. The PLC is connected to a remote control console. The grinding trajectory can be preset in the PLC. The remote control console can control the movement of the walking drive device and the six-axis robotic arm 2 through the PLC, so that the staff can perform precise grinding according to the preset grinding trajectory on the outer surface of the wind turbine hub.

[0031] When grinding is required on the outer surface of the wind turbine hub, the output shaft of the drive mechanism begins to rotate. Since the output shaft of the drive mechanism is coaxially and fixedly connected to the torsion transmission mechanism, the torsion transmission mechanism rotates synchronously with the output shaft of the drive mechanism. The spline shaft 23 is fixedly connected to the output shaft of the drive mechanism, and the spline sleeve 25 is fitted onto the outside of the spline shaft 23. The two are engaged by spline teeth. When the spline shaft 23 rotates, the spline sleeve 25 rotates synchronously. The connecting cylinder 27 of the buffer mechanism is fixedly connected to the spline sleeve 25, therefore the connecting cylinder 27 rotates synchronously with the spline sleeve 25. 5. The lower retaining ring 31 slides against the limiting groove 28 on the outer wall of the connecting cylinder 27 via the limiting block 30 on its inner wall. Since the limiting block 30 and the limiting groove 28 are locked circumferentially, they can only slide axially and cannot rotate relative to each other. Therefore, the rotation of the connecting cylinder 27 will drive the lower retaining ring 31 to rotate synchronously through the limiting block 30. The grinding head 22 is coaxially fixedly connected to the lower retaining ring 31 via a flange structure. Therefore, the grinding head 22 rotates at high speed to perform rough grinding on the outer surface of the wind turbine hub. Under normal grinding conditions, the buffer spring 29 is under preload. In the compressed state, the upper end of the buffer spring 29 presses against the upper retaining ring 26, and the lower end presses against the lower retaining ring 31, pushing the lower retaining ring 31 and the grinding head 22 downward to the working position, so that the grinding head 22 maintains stable contact with the outer surface of the wind turbine hub. When the grinding head 22 encounters the cast protrusion on the outer surface of the wind turbine hub, the protrusion generates an upward reaction force on the grinding head 22. This force is transmitted to the buffer spring 29 through the lower retaining ring 31, causing the buffer spring 29 to be further compressed. At the same time, the lower retaining ring 31 slides upward along the limiting groove 28 through the limiting block 30, and the grinding head 22... 2. Subsequently, the lower retaining ring 31 moves upward to avoid the protrusion and prevent rigid collision. After the grinding head 22 passes the protrusion, the reaction force of the protrusion on the grinding head 22 disappears, the elastic potential energy of the buffer spring 29 is released, and the lower retaining ring 31 and the grinding head 22 slide downward to return to the normal working position. This device can avoid the rigid collision between the grinding head 22 and the protrusion, thereby preventing the impact force from being transmitted to the wind turbine hub material. There are no impact pits on the surface of the wind turbine hub, and the grinding head 22 always maintains stable contact with the outer surface of the wind turbine hub, which improves the rough grinding efficiency.

[0032] Please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5, in a preferred embodiment, the adjusting mechanism includes a mounting frame 5 and a slider 9. On one outer wall of the mounting frame 5, there is a fixed seat 15. Chutes are provided on both the top inner wall and the bottom inner wall of the fixed seat 15. The slider 9 is slidably connected in the chutes. One outer wall of the slider 9 is fixedly connected to one end of the connecting shaft 24 away from the spline shaft 23. One outer wall of the slider 9 away from the connecting shaft 24 is connected to an adjusting rod 16 through a bearing. The adjusting rod 16 penetrates through one outer wall of the fixed seat 15, and a toothed ring 19 is connected to one outer wall of the fixed seat 15 through a bearing. The inner wall of the toothed ring 19 is threadedly connected to the outer wall of the adjusting rod 16. A driving component is also provided on the fixed seat 15. Two limiting ports 21 are provided on the fixed seat 15. Two limiting rods 12 are provided on the connecting ring 13. The limiting rods 12 are inserted into the inner walls of the limiting ports 21.

[0033] Among them, the driving component includes a second motor 18. The output shaft of the second motor 18 is fixedly connected to a gear 17. The gear 17 meshes with the toothed ring 19. When the first motor 4 rotates, the mounting frame 5 drives the entire adjusting mechanism and the spline shaft 23 to rotate synchronously. To ensure the normal power supply of the second motor 18 in the rotating state, a conductive slip ring can be provided at the connection between the output shaft of the first motor 4 and the mounting frame 5. The spline shaft 23 is installed on the slider 9 of the adjusting mechanism and can move radially under the drive of the adjusting rod 16. The spline sleeve 25 is sleeved on the spline shaft 23, and the two transmit torque through spline meshing. At the same time, the spline sleeve 25 can axially slide on the spline shaft 23. The limiting cylinder 14 is fixed to the spline sleeve 25 and sleeved outside the spline shaft 23. There is a certain gap between its inner wall and the outer wall of the spline shaft 23, which not only allows the spline shaft 23 to rotate freely but also restricts its radial whipping.

[0034] During the specific use process, the mounting frame 5 is of a "C" - shaped structure. The open side of the "C" - shaped structure provides an avoidance space for the extension and operation of the adjusting rod 16, avoiding interference between the adjusting rod 16 and the mounting frame 5.

[0035] Please refer to Figure 4 and Figure 5 , in a preferred embodiment, displacement detectors 8 are provided on both the top outer wall and the bottom outer wall of the fixed seat 15. The detection ends of the displacement monitors face the lower retaining ring 31. The displacement monitors are used to detect the axial displacement of the lower retaining ring 31 relative to the connecting plate 10.

[0036] In the specific implementation process, the displacement detector 8 can be set with multiple thresholds. When the displacement of the lower retaining ring 31 reaches different thresholds, it sends signals of different levels to the control system. The radial extension of the grinding head 22 can be dynamically adjusted according to the real-time feedback during the grinding process to avoid affecting production efficiency due to frequent emergency shutdowns. At the same time, it can prevent the grinding wheel from breaking or the equipment from being damaged due to excessive impact. Specifically, when the grinding head 22 encounters a casting protrusion, the lower retaining ring 31 slides upward, and the distance between the lower retaining ring 31 and the connecting plate 10 decreases. This decreased distance is equal to the compression of the buffer spring 29. The displacement detector 8 measures this distance change in real time, thereby knowing the compression of the buffer spring 29, i.e. the height of the protrusion, and providing feedback data to the control system to achieve closed-loop control.

[0037] Please refer to Figure 1 and Figure 3 In a preferred embodiment, the drive mechanism includes a connecting seat 3, which is fixedly connected to the flange of the six-axis robotic arm 2. The top outer wall of the connecting seat 3 is provided with a first motor 4. The output shaft of the first motor 4 is fixedly connected to the mounting frame 5 and the spline shaft 23 on the same axis. The mounting frame 5 serves as the mounting base for the adjustment mechanism and rotates synchronously with the first motor 4, thereby driving the grinding head 22 to rotate synchronously. The slider 9 in the adjustment mechanism can slide radially on the fixed seat 15 of the mounting frame 5 and rotate with the mounting frame 5. The radial adjustment and rotational motion are decoupled and do not interfere with each other. The radial position can be adjusted while the grinding head 22 is rotating at high speed, and the wear on the outer surface of the wind turbine hub can be compensated without stopping the machine.

[0038] Working Principle: Before implementation, a PLC can be used to connect the walking drive device and the six-axis robotic arm 2. The PLC is connected to a remote control console. The PLC can preset the grinding trajectory of the wind turbine hub's outer surface. The remote control console can control the movement of the walking drive device and the six-axis robotic arm 2 through the PLC, allowing the operator to perform precise grinding according to the preset grinding trajectory of the wind turbine hub's outer surface. Then, the output shaft of the drive mechanism starts to rotate. Since the output shaft of the drive mechanism is coaxially and fixedly connected to the torsion transmission mechanism, the torsion transmission mechanism rotates synchronously with the output shaft of the drive mechanism. When the spline shaft 23 rotates, the spline sleeve 25 rotates synchronously. The connecting cylinder 27 of the buffer mechanism is fixedly connected to the spline sleeve 25, so the connecting cylinder 27 rotates synchronously with the spline sleeve 25. The lower retaining ring 31 slides with the limiting groove 28 on the outer wall of the connecting cylinder 27 through the limiting block 30 on its inner wall. Therefore, the rotation of the connecting cylinder 27 will drive the lower retaining ring 31 to rotate synchronously through the limiting block 30. The grinding head 22 passes through... The flange structure is coaxially and fixedly connected to the lower retaining ring 31. Therefore, the grinding head 22 performs rough grinding on the outer surface of the wind turbine hub. Under normal grinding conditions, the buffer spring 29 is in a pre-compressed state. The upper end of the buffer spring 29 presses against the upper retaining ring 26, and the lower end presses against the lower retaining ring 31, pushing the lower retaining ring 31 and the grinding head 22 downward to the working position, so that the grinding head 22 maintains stable contact with the outer surface of the wind turbine hub. When the grinding head 22 encounters the cast protrusions on the outer surface of the wind turbine hub, the protrusions exert an upward force on the grinding head 22. The reaction force is transmitted to the buffer spring 29 through the lower retaining ring 31, which further compresses the buffer spring 29. At the same time, the lower retaining ring 31 slides upward along the limiting groove 28 through the limiting block 30, and the grinding head 22 moves upward with the lower retaining ring 31 to avoid the protrusion and avoid rigid collision. When the grinding head 22 passes the protrusion, the reaction force of the protrusion on the grinding head 22 disappears, the elastic potential energy of the buffer spring 29 is released, and the lower retaining ring 31 and the grinding head 22 slide downward to return to the normal working position.

[0039] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A heavy-duty flexible rough grinding robot for wind turbine hubs, characterized in that, Including a base (1) and a six-axis robotic arm (2) mounted on the top outer wall of the base (1), and further including: Drive mechanism: fixedly installed at the end of the six-axis robotic arm (2); Torsion transmission mechanism: coaxially and fixedly connected to the output shaft of the drive mechanism; Buffer mechanism: Located on one side of the outer wall of the torsion transmission mechanism, the buffer mechanism includes a connecting cylinder (27) and a lower retaining ring (31). The outer wall of the connecting cylinder (27) is provided with two axially extending limiting grooves (28). The inner wall of the lower retaining ring (31) is provided with two limiting blocks (30) that slide with the limiting grooves (28). The lower retaining ring (31) is provided with a protective cover (7) and a grinding head (22). The connecting cylinder (27) is also fixedly connected with an upper retaining ring (26). A buffer spring (29) is provided between the upper retaining ring (26) and the lower retaining ring (31). The buffer spring (29) is wound around the outer wall of the connecting cylinder (27). The lower retaining ring (31) and the grinding head (22) are coaxially fixedly connected by a flange structure. Adjustment mechanism: located between the drive mechanism and the torsion transmission mechanism, used to adjust the radial position of the grinding head (22).

2. The heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 1, characterized in that, The upper retaining ring (26) has a limiting cover (6) on the outer wall of the side near the lower retaining ring (31). The limiting cover (6) is sleeved on the outside of the buffer spring (29). The limiting cover (6) is used to limit the radial swing of the buffer spring (29) when it rotates at high speed.

3. The heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 1, characterized in that, The torsion transmission mechanism includes a spline shaft (23) and a spline sleeve (25) sleeved outside the spline shaft (23). A limiting sleeve (14) is provided on the outer wall of the spline sleeve (25), and the limiting sleeve (14) is sleeved outside the spline shaft (23).

4. The heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 3, characterized in that, The spline shaft (23) is coaxially fixedly connected to a connecting shaft (24) at one end near the adjustment mechanism. A connecting plate (10) is provided on the connecting shaft (24). A connecting ring (13) is provided on the outer wall of the limiting cylinder (14). At least one buffer assembly is also provided between the connecting plate (10) and the connecting ring (13). The buffer assembly is arranged in parallel with the buffer spring (29).

5. The heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 4, characterized in that, The buffer assembly includes a hydraulic damper (11), and both ends of the buffer assembly are hinged to the connecting plate (10) and the connecting ring (13), respectively.

6. The heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 4, characterized in that, The adjusting mechanism includes a mounting frame (5) and a slider (9). On one outer wall of the mounting frame (5), there is a fixed seat (15). Both the top inner wall and the bottom inner wall of the fixed seat (15) are provided with sliding grooves, and the slider (9) is slidably connected in the sliding grooves. One outer wall of the slider (9) is fixedly connected to one end of the connecting shaft (24) away from the spline shaft (23). One outer wall of the slider (9) away from the connecting shaft (24) is connected to an adjusting rod (16) through a bearing. The adjusting rod (16) penetrates through one outer wall of the fixed seat (15), and on one outer wall of the fixed seat (15), there is a toothed ring (19) connected through a bearing. The inner wall of the toothed ring (19) is threadedly connected to the outer wall of the adjusting rod (16). A driving component is further provided on the fixed seat (15). Two limiting ports (21) are provided on the fixed seat (15), and two limiting rods (12) are provided on the connecting ring (13). The limiting rods (12) are inserted into the inner walls of the limiting ports (21).

7. A heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 6, characterized in that, The driving component includes a second motor (18). The output shaft of the second motor (18) is fixedly connected to a gear (17), and the gear (17) meshes with the toothed ring (19).

8. The heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 7, characterized in that, The mounting frame (5) has a "C" - shaped structure.

9. A heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 6, characterized in that, On both the top outer wall and the bottom outer wall of the fixed seat (15), there are displacement detectors (8). The detection ends of the displacement monitors face the lower retaining ring (31). The displacement monitors are used to detect the axial displacement of the lower retaining ring (31) relative to the connecting plate (10).

10. A heavy-duty flexible rough grinding robot for wind turbine hubs according to claim 6, characterized in that, The driving mechanism includes a connecting seat (3). The connecting seat (3) is fixedly connected to the six - axis robotic arm (2) by flange. On the top outer wall of the connecting seat (3), there is a first motor (4). The output shaft of the first motor (4) is coaxially fixedly connected to the mounting frame (5) and its output shaft is coaxially fixedly connected to the spline shaft (23).

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