Traceless sanding and shaping device for wind turbine blade leading edge

Abstract

This invention relates to a non-tracking grinding and shaping device for the leading edge of wind turbine blades, comprising: a grinding roller mechanism, which includes at least a grinding roller, a grinding roller support for supporting the grinding roller, and a pressure wheel assembly disposed on the grinding roller support; a chain drive mechanism for driving the grinding roller mechanism to move longitudinally up and down along the leading edge of the blade, which includes at least a pair of symmetrically arranged annular chains connected to the grinding roller support, and a drive assembly for driving the pair of annular chains to perform cyclic rotational motion; a flexible pressing mechanism for providing a flexible pressing force to the grinding roller mechanism to make it conform to the surface of the leading edge of the blade, which includes at least a wire rope suitable for pressing on the pressure wheel assembly, a wire rope winch connected to one end of the wire rope, and a wire rope fixing seat connected to the other end of the wire rope; and an opening and closing adjustment mechanism, which includes at least an upper opening and closing arm and a lower opening and closing arm arranged opposite to each other, and a power structure for driving the upper opening and closing arm and the lower opening and closing arm to perform relative opening and closing motion.

Description

Technical Field

[0001] This invention relates to the field of wind power equipment processing technology, and in particular to a non-tracking grinding and shaping device for the leading edge of wind turbine blades. Background Technology

[0002] As the core component of wind turbines for capturing wind energy, wind turbine blades are subjected to long-term erosion from harsh environments such as sandstorms, raindrops, and salt spray, which can easily lead to material corrosion and aerodynamic shape damage. Currently, the industry generally adopts a process of applying a special protective putty to the leading edge and then precision sanding it to eliminate uneven defects such as steps, orange peel, and runs caused by the coating, and to restore the smooth and continuous aerodynamic profile required by the blade design.

[0003] However, traditional manual grinding methods relying on hand tools suffer from significant drawbacks, including low efficiency, high labor intensity, poor quality consistency, and health hazards from dust. To address these issues, some technologies utilize automated grinding equipment, which generally includes the following methods:

[0004] The first approach utilizes mobile platforms such as AGVs or wall-climbing robots to carry robotic arms and grinding heads. It acquires blade contour data through visual or laser scanning and plans the grinding path. While this method offers some mobility, the scanning and path planning stages are time-consuming and the scanning accuracy is easily affected by environmental factors such as lighting and dust, leading to discrepancies between the acquired data and the actual contour. This results in poor grinding path accuracy and the risk of over- or under-grinding. Furthermore, the end-effector grinding mechanism has weak load capacity and limited grinding power, resulting in a small single-pass coverage area, making it difficult to meet the demands of large-area, high-efficiency grinding of the leading edge of large blades.

[0005] The second approach involves using a fixed or semi-fixed track grinding system, such as a gantry grinding machine or a grinding device that travels along a pre-set track. This type of solution typically requires the pre-construction of a dedicated track or tooling that matches the blade profile. The equipment is bulky, rigidly deployed, and cannot adapt to the flexible production requirements of blades with different curvatures and lengths.

[0006] For example, CN119952570A discloses a variable-track wind turbine blade grinding device. This device uses multiple track adjustment mechanisms to adjust the radial position of the track support seats, thereby changing the shape of the track module to adapt to changes in blade curvature. Specifically, the track adjustment mechanism is fixedly connected to the frame and can adjust the position of the track support seats radially along the frame; multiple track support seats are closely arranged, and track modules are laid on them; the grinding mechanism slides along the track modules to achieve constant-force grinding of the blade surface. This solution actively constructs an adaptive track by discretely adjusting the position of the track support seats, which to some extent improves the poor adaptability of fixed tracks to surfaces with varying curvature. However, the above technical solution still has the following problems: it requires prior acquisition of blade curvature data and relies on multiple track adjustment mechanisms to independently adjust the radial position of each track support seat to construct a track that matches the blade profile. The working premise of its track adjustment mechanism is known or measurable blade profile data. In the case of unknown surfaces or incomplete data, the device cannot quickly adapt to operation, limiting its practicality. Meanwhile, the sliding stroke of the grinding mechanism is limited by the physical length of the track, which makes it insufficient for continuous coverage grinding of the leading edge of ultra-long blades.

[0007] In summary, to address the issue of how to achieve passive and rapid fitting of the variable curvature surface of the blade leading edge through a purely mechanical mechanism without relying on an independent scanning and tracking stage, and to complete continuous grinding operations without the need for pre-built tracks, a new grinding and shaping device needs to be designed. Summary of the Invention

[0008] The purpose of this invention is to provide a non-tracking grinding and shaping device for the leading edge of wind turbine blades, so as to solve the technical problem of optimizing its overall structure.

[0009] The non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention is implemented as follows:

[0010] A non-tracking grinding and shaping device for the leading edge of wind turbine blades includes:

[0011] A grinding roller mechanism for contacting and grinding the leading edge surface of a blade, comprising at least a grinding roller, a grinding roller support for supporting the grinding roller, and a pressure roller assembly disposed on the grinding roller support;

[0012] A chain drive mechanism for driving the grinding roller mechanism to move longitudinally up and down along the leading edge of the blade, comprising at least a pair of symmetrically arranged annular chains connected to the grinding roller support, and a drive assembly for driving the pair of annular chains to perform cyclic rotation.

[0013] A flexible clamping mechanism is used to provide a flexible clamping force to the grinding roller mechanism so that it conforms to the leading edge surface of the blade. It includes at least a wire rope suitable for clamping onto the clamping wheel assembly, a wire rope winch connected to one end of the wire rope, and a wire rope fixing seat connected to the other end of the wire rope.

[0014] An opening and closing adjustment mechanism includes at least an upper opening and closing arm and a lower opening and closing arm arranged opposite to each other, and a power structure for driving the upper opening and closing arm and the lower opening and closing arm to perform relative opening and closing movements; the upper opening and closing arm and the lower opening and closing arm cooperate with a ring chain to be adapted to passively change the profile of the ring chain, so that the profile of the ring chain is adapted to the macroscopic contour of the leading edge of the wind turbine blade.

[0015] In an optional embodiment of the present invention, the opening and closing adjustment mechanism further includes a support frame that is simultaneously connected to the upper opening and closing arm and the lower opening and closing arm, and a pair of electric cylinders respectively disposed between the support frame and the upper opening and closing arm and the lower opening and closing arm.

[0016] The electric cylinder is adapted to drive the upper and lower opening arms to change their opening angle through telescopic movement.

[0017] In an optional embodiment of the invention, the chain drive mechanism further includes at least one pair of drive sprockets for supporting the two ends of each annular chain, and a pair of sprocket shafts respectively connected to the pair of drive sprockets of each annular chain.

[0018] One of the sprocket shafts is connected to the end of the upper opening arm away from the support frame, and the other sprocket shaft is connected to the end of the lower opening arm away from the support frame.

[0019] In an optional embodiment of the invention, the drive assembly includes a transmission sprocket structure for driving at least one of a pair of sprocket shafts to rotate, and a drive motor connected to the power output end of the transmission sprocket structure.

[0020] In an optional embodiment of the invention, the chain drive mechanism further includes climbing wheels respectively sleeved on a pair of sprocket shafts for attaching to the leading edge surface of the blade during grinding to provide motion support.

[0021] In an optional embodiment of the present invention, the support frame is provided with a pair of central support members facing the end face of the wind turbine blade and corresponding to the two annular chains. The central support members are used to support the middle of the leading edge of the blade before grinding.

[0022] In an optional embodiment of the invention, the grinding roller is connected to the grinding roller support via a roller shaft; and

[0023] A constant-force nylon wheel is provided on the roller shaft at each of the two shaft ends of the grinding roller. This wheel is used to contact the blade surface during grinding to control the depth of cut.

[0024] In an optional embodiment of the present invention, a small balancing wheel is provided on the grinding roller support and at each of the two shaft ends corresponding to the grinding roller. This wheel is used to contact the blade surface during the grinding process to assist in supporting and balancing the torsional torque generated during grinding.

[0025] In an optional embodiment of the present invention, the two ends of the grinding roller support along the axial direction of the grinding roller are respectively connected to a ring chain via connecting brackets.

[0026] In an optional embodiment of the invention, the end of the wire rope is connected to the wire rope fixing seat via a rope end spring.

[0027] By adopting the above technical solution, the present invention has the following beneficial effects: The non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention achieves passive and rapid fitting of the blade leading edge contour through the linkage design of the opening and closing adjustment mechanism and the chain drive mechanism. When the opening angle of the upper and lower opening and closing arms changes, the sprocket shaft spacing connected to the end of the opening and closing arms changes, thereby causing the linear shape of the ring chain wound on it to bend passively. This structure can shorten the preparation time before grinding, improve the effective grinding time ratio and overall operation efficiency. In addition, the ring chain directly drives the grinding roller mechanism to move longitudinally along the leading edge of the blade. The chain, as a flexible continuous medium, can form a smooth curve with the opening and closing arm angle. The grinding roller moves continuously under the drive of the ring chain, without being limited by the number of discrete support points, thereby improving the rapid adaptation to the leading edges of blades with different diameters and curvature radii within a certain range. This improves the applicability of the non-tracking grinding and shaping device of the present invention to different wind turbine blades. Attached Figure Description

[0028] Figure 1 This is a first-view structural schematic diagram of the non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention.

[0029] Figure 2 This is a second-view structural schematic diagram of the non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention.

[0030] Figure 3 This is a first-view structural schematic diagram of the chain drive mechanism of the non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention.

[0031] Figure 4 This is a second-view structural schematic diagram of the chain drive mechanism of the non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention.

[0032] Figure 5 This is a schematic diagram of the grinding roller mechanism of the non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention.

[0033] Figure 6 This is a schematic diagram of the opening and closing adjustment mechanism of the non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention;

[0034] Figure 7 This is a schematic diagram of the flexible clamping mechanism of the non-tracking grinding and shaping device for the leading edge of wind turbine blades of the present invention. Detailed Implementation

[0035] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0036] Please see Figures 1 to 7 As shown, this embodiment provides a non-tracking grinding and shaping device for the leading edge of wind turbine blades, which includes a grinding roller mechanism 100, a chain drive mechanism 200, a flexible clamping mechanism 300, and an opening and closing adjustment mechanism 400. In actual use, the non-tracking grinding and shaping device of this embodiment is connected to a three-degree-of-freedom grinding platform, which drives it to move longitudinally along the blade to achieve large-scale continuous grinding operations. For this three-degree-of-freedom grinding platform, any mature means in the prior art can be adopted, and this embodiment does not absolutely limit its specific structure and implementation principle.

[0037] Next, let's discuss the opening and closing adjustment mechanism 400. From the perspective of the overall trackless grinding and shaping device for grinding wind turbine blades, the opening and closing adjustment mechanism 400 is located at the rear of the entire trackless grinding and shaping device, used to achieve macroscopic adaptation to different curvatures of the blade's leading edge. Specifically, the opening and closing adjustment mechanism 400 includes a support frame 402, an upper opening and closing arm 401, a lower opening and closing arm 404, and a pair of electric cylinders 403. It should be noted that the upper opening and closing arm 401 and the lower opening and closing arm 404 have the same overall structure; therefore, they can be said to be symmetrically distributed relative to the support frame 402. The rear side of the support frame 402 is fixedly connected to the three-degree-of-freedom grinding and walking platform. One end of the upper opening and closing arm 401 and the lower opening and closing arm 404 are respectively hinged to the upper and lower sides of the support frame 402, and the other end extends away from the support frame 402. The upper opening and closing arm 401 and the lower opening and closing arm 404, together with the support frame 203, roughly form a V-shaped structure. A pair of electric cylinders 403 are respectively disposed between the support frame 402 and the upper opening and closing arm 401, and between the support frame 402 and the lower opening and closing arm 404. One end of the electric cylinder 403 is hinged to the support frame 402, and the other end is hinged to the corresponding opening and closing arm.

[0038] Based on the above, when it is necessary to adapt to the leading edge of the blade with different curvatures, the electric cylinder 403 extends and retracts. The extension and retraction motion of the electric cylinder 403 drives the upper opening and closing arm 401 and the lower opening and closing arm 404 to rotate around their hinge point with the support frame 402, thereby changing the relative opening angle of the upper opening and closing arm 401 and the lower opening and closing arm 404.

[0039] Based on the above structure, the chain drive mechanism 200 is described next. It is located in front of the opening and closing adjustment mechanism 400 (i.e., the side facing the wind turbine blade) and is used to drive the grinding roller mechanism 100 to move longitudinally up and down along the leading edge of the blade. Specifically, the chain drive mechanism 200 includes at least a pair of annular chains 202, two pairs of drive sprockets 203, two sprocket shafts 204, a drive motor 205, and corresponding transmission structures.

[0040] More specifically, an upper sprocket shaft 204 is rotatably connected to the end of the upper opening arm 401 away from the support frame 402, with an upper drive sprocket 203 fixed at each end of the upper sprocket shaft 204. Similarly, a lower sprocket shaft 204 is rotatably connected to the end of the lower opening arm 404 away from the support frame 402, with a lower drive sprocket 203 fixed at each end of the lower sprocket shaft 204. A loop chain 202 is wound around the upper and lower drive sprockets 203 on the same side, and another loop chain 202 is symmetrically wound around the two drive sprockets 203 on the other side. The two loop chains 202 are arranged symmetrically, forming a space between them for accommodating the grinding roller mechanism 100.

[0041] Based on the above structure, it should also be noted that, in order to better adapt the ring chain 202 to the changes in the relative opening angle of the upper opening arm 401 and the lower opening arm 404, a pair of auxiliary sprockets 203 are connected to the support frame 402 via a pair of connecting shafts. The pair of auxiliary sprockets 203 simultaneously mesh with the same ring chain 202. One auxiliary sprocket 203 is located on the inner side of the ring chain 202, and the other auxiliary sprocket 203 is located on the outer side of the ring chain 202. With this design, each ring chain 202 roughly forms a V-shaped structure to cooperate with the roughly V-shaped structure formed by the upper opening arm 401 and the lower opening arm 404 and the support frame 203. As a result, when the opening angle of the upper and lower opening arms changes, the distance between the sprocket shafts connected to the ends of the opening arms changes, thereby causing the linear shape of the ring chain 202 wound on it to passively deform.

[0042] The drive motor 205 is fixedly mounted on the upper opening arm 403 or the lower opening arm 404 of the opening and closing adjustment mechanism 400. The power output end of the drive motor 205 is connected to one of the sprocket shafts 204 (e.g., the upper sprocket shaft 204) via a transmission sprocket structure (e.g., a synchronous belt pulley, a gear set, or a sprocket and chain pair). When the drive motor 205 is running, it drives the sprocket shaft 204 and the transmission sprocket 203 on it to rotate, thereby driving the ring chain 202 to perform a cyclic rotary motion.

[0043] Based on the above, it should be noted that, as can be understood, the micro-guarantee ring chain 202 maintains good engagement with the transmission sprocket 203 throughout the variable-axis motion. In this embodiment, each ring chain 202 is also equipped with a tension sprocket 211, which is connected to the support frame 402 via a connecting plate 209, and the tension sprocket 211 is located on the outer side of the ring chain 202. The tension sprocket 211 presses against the back of the ring chain 202, applying real-time tension to the chain.

[0044] Furthermore, it should be noted that each sprocket shaft 204 in this embodiment is fitted with climbing wheels 201 at both ends, located outside the transmission sprocket 203. The climbing wheels 201 have built-in deep groove ball bearings 208 and can rotate freely relative to the sprocket shaft 204. During grinding operations, the climbing wheels 201 are directly attached to the leading edge surface of the blade, providing support for the entire device's movement along the blade surface.

[0045] Based on the above structure, in an optional implementation, a pair of central support members 206 are also provided on the end face of the support frame 402 facing the wind turbine blade and corresponding to the two annular chains 202. The central support members 206 are connected to the support frame 402 via a short connecting shaft 207, and can be equipped with rollers or sliders. Before the grinding operation begins, they support the middle of the leading edge of the blade, forming a stable multi-point support system together with the climbing wheel 201.

[0046] Next, we will describe the grinding roller mechanism 100, which is located in the processing area formed by the two annular chains 202 and is used to directly contact and grind the leading edge surface of the blade. The grinding roller mechanism 100 specifically includes a grinding roller 101, a grinding roller support 102, a pressure wheel assembly 105, a constant force nylon wheel 103, a balance wheel 104, and a connecting bracket 106.

[0047] From the perspective of simplifying the structure, the grinding roller 101 used in this embodiment is an active grinding roller with a built-in motor. It contains a drive motor and a gear mechanism, which enables the grinding roller 101 to rotate at high speed while the roller shafts 107 on both sides remain stationary. For this active grinding roller with a built-in motor, any mature means in the prior art can be used, and this embodiment does not improve its specific structure and implementation principle. The grinding roller 101 is fixed to the grinding roller bracket 102 by the roller shafts 107 on both sides and the shaft end flanges 108.

[0048] At each end of the grinding roller 101 (i.e., on the roller shaft 107 and located at the axial end of the grinding roller 101), a constant-force nylon wheel 103 is provided. The constant-force nylon wheel 103 has a built-in deep groove ball bearing and can rotate freely relative to the roller shaft 107. During the grinding operation, the constant-force nylon wheel 103 contacts the blade surface, and the diameter difference or height difference between it and the working surface of the grinding roller 101 determines the depth to which the grinding roller 101 cuts into the workpiece surface, thereby controlling the grinding depth.

[0049] Two balancing wheels 104 are symmetrically arranged at the top of the grinding roller support 102 (i.e., on the side away from the leading edge of the blade or at the front end along the direction of movement). The balancing wheels 104 contact the blade surface during the grinding process, which serves as an auxiliary support and effectively balances the torsional torque caused by the high-speed rotation of the grinding roller 101 and the chain lifting motion, preventing the grinding roller mechanism 100 from overturning or swaying.

[0050] On both sides of the grinding roller bracket 102 (the two ends along the axial direction of the grinding roller 101), a connecting bracket 106 is fixed. The end of the connecting bracket 106 is fixedly connected to the chain link or chain connecting plate of the annular chain 202, so that the entire grinding roller mechanism 100 is fixed between the two annular chains 202 and can move up and down with the cyclic movement of the chain.

[0051] The clamping roller assembly 105 is disposed on both sides of the grinding roller bracket 102, specifically on the contact path between the wire rope 308 and the grinding roller mechanism 100. The clamping roller assembly 105 includes a pair of pulleys with adjustable clearance for guiding and limiting the wire rope 308, preventing the wire rope 308 from falling off during the clamping process, and ensuring that the clamping force is accurately transmitted to the grinding roller mechanism 100.

[0052] Finally, the flexible clamping mechanism 300 is mounted on the support frame 402 of the opening and closing adjustment mechanism 400. It provides a controllable and flexible clamping force to the grinding roller mechanism 100, ensuring that it always adheres to the leading edge surface of the blade. This mechanism includes a clamping power motor 301, a flexible coupling 302, a wire rope winch 303, a winch drive shaft 306, a support bearing seat 307, a top pulley 304, a wire rope anti-derailment bracket 305, a wire rope 308, a rope end spring 309, and a wire rope fixing seat 310.

[0053] Specifically, the clamping motor 301 is fixed to the support frame 402, and its output shaft is connected to the winch drive shaft 306 via a flexible coupling 302. The winch drive shaft 306 is rotatably supported on the support frame 402 via a support bearing seat 307. The wire rope winch 303 is fixed to both ends of the winch drive shaft 306 and rotates together with the winch drive shaft 306.

[0054] The top pulleys 304 are located on both sides of the upper sprocket shaft 204 (i.e., the ends of the upper opening and closing arms 401), and contain deep groove ball bearings, and do not rotate with the upper sprocket shaft 204. The wire rope fixing seats 310 are located on both sides of the lower sprocket shaft 204 (i.e., the ends of the lower opening and closing arms 404), and similarly do not rotate with the lower sprocket shaft 204.

[0055] One end of the wire rope 308 is fixed to the wire rope winch 303, and the other end passes through the top pulley 304 and the clamping wheel assembly 105 in sequence, and is connected to the wire rope fixing seat 310 through the rope end spring 309. One end of the rope end spring 309 is directly connected to the end of the wire rope 308, and the other end is locked to the wire rope fixing seat 310.

[0056] When the clamping motor 301 starts, it drives the wire rope winch 303 to rotate, winding the wire rope 308. The tension of the wire rope 308 is reversed by the top pulley 304 and pressed against the clamping roller assembly 105, thereby converting the tension into a positive pressure on the grinding roller mechanism 100, making it adhere tightly to the leading edge surface of the blade. The rope end spring 309 provides a buffering effect during the transmission of tension, giving the clamping force a certain degree of flexibility, which can adapt to the micro-undulations of the curved surface. The wire rope anti-derailment bracket 305 is installed on the top pulley 304 to prevent the wire rope 308 from coming out of the pulley groove.

[0057] The working process of the trackless grinding and shaping device in this embodiment is as follows:

[0058] In step S1, the relative opening angle of the upper opening arm 401 and the lower opening arm 404 is pre-adjusted, and the three-degree-of-freedom grinding platform on the rear moves the device to the starting position of the blade's leading edge. Based on the initial profile of the blade, the electric cylinder 403 is controlled to extend and retract, driving the upper opening arm 401 and the lower opening arm 404 to open to a predetermined angle. Since the upper and lower sprocket shafts 204 are respectively connected to the ends of the opening arms, the change in the opening angle directly alters the distance between the upper and lower transmission sprockets 203, thereby causing the linear shape of the annular chain 202 wound around it to bend passively. At this time, the curvature of the annular chain 202 is basically consistent with the macroscopic profile of the blade's leading edge. The climbing wheel 201 and the central support member 206 are attached to the blade surface, forming a stable support.

[0059] Step S2, flexible clamping: Start the clamping power motor 301 to wind up the wire rope 308 via the wire rope winch 303. After the wire rope 308 is reversed by the top pulley 304, it is clamped onto the clamping wheel assembly 105 of the grinding roller mechanism 100. Through the buffer of the rope end spring 309, a set amount of flexible clamping force is provided to the grinding roller 101, making it tightly fit against the leading edge surface of the blade.

[0060] Step S3: Grinding. Start the built-in motor of the grinding roller 101 to make it rotate at high speed and begin the grinding operation. At the same time, start the drive motor 205 of the chain transmission mechanism 200. The drive motor 205 drives the sprocket shaft 204 and the transmission sprocket 203 to rotate through the transmission sprocket structure, thereby driving the ring chain 202 to perform cyclic rotation. Since the grinding roller mechanism 100 is fixedly connected to the ring chain 202 through the connecting bracket 106, the grinding roller mechanism 100 moves continuously and stably from one end of the blade leading edge to the other end along the adapted chain line under the traction of the ring chain 202. During this process, the constant force nylon wheel 103 controls the depth of cut, the balancing wheel 104 balances the torsional torque, and the tension wheel 210 ensures that the ring chain 202 and the transmission sprocket form a reliable mesh.

[0061] Step S4, longitudinal travel and continuous grinding: After a longitudinal stroke is completed (for example, the grinding roller mechanism 100 moves from the lower opening arm end to the upper opening arm end), the rear three-degree-of-freedom grinding travel platform drives the device to adjust the grinding position in a timely manner, complete the efficient grinding of the leading edge, and improve the grinding coverage of the leading edge.

[0062] In summary, this embodiment uses a ring chain 202 to directly drive the grinding roller mechanism to move longitudinally along the leading edge of the blade. The ring chain 202, as a flexible continuous medium, can be used in conjunction with the relative opening angle of the upper opening arm 401 and the lower opening arm 404 to change the shape of the ring chain 202, thereby improving the rapid adaptation to the leading edges of blades with different diameters and radii of curvature within a certain range. This improves the applicability of the non-tracking grinding and shaping device of this invention to different wind turbine blades.

[0063] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0064] In the description of this invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0065] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

Claims

1. A non-tracking grinding and shaping device for the leading edge of wind turbine blades, characterized in that, At least including: A grinding roller mechanism for contacting and grinding the leading edge surface of a blade, comprising at least a grinding roller, a grinding roller support for supporting the grinding roller, and a pressure roller assembly disposed on the grinding roller support; A chain drive mechanism for driving the grinding roller mechanism to move longitudinally up and down along the leading edge of the blade, comprising at least a pair of symmetrically arranged annular chains connected to the grinding roller support, and a drive assembly for driving the pair of annular chains to perform cyclic rotation. A flexible clamping mechanism is used to provide a flexible clamping force to the grinding roller mechanism so that it conforms to the leading edge surface of the blade. It includes at least a wire rope suitable for clamping onto the clamping wheel assembly, a wire rope winch connected to one end of the wire rope, and a wire rope fixing seat connected to the other end of the wire rope. An opening and closing adjustment mechanism includes at least an upper opening and closing arm and a lower opening and closing arm arranged opposite to each other, and a power structure for driving the upper opening and closing arm and the lower opening and closing arm to perform relative opening and closing movements; the upper opening and closing arm and the lower opening and closing arm cooperate with a ring chain to be adapted to passively change the profile of the ring chain, so that the profile of the ring chain is adapted to the macroscopic contour of the leading edge of the wind turbine blade.

2. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 1, characterized in that, The opening and closing adjustment mechanism also includes a support frame that is connected to both the upper and lower opening and closing arms, and a pair of electric cylinders respectively disposed between the support frame and the upper and lower opening and closing arms. The electric cylinder is adapted to drive the upper and lower opening arms to change their opening angle through telescopic movement.

3. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 2, characterized in that, The chain drive mechanism further includes at least one pair of drive sprockets for supporting the two ends of each loop chain, and a pair of sprocket shafts respectively connected to the pair of drive sprockets of each loop chain; One of the sprocket shafts is connected to the end of the upper opening arm away from the support frame, and the other sprocket shaft is connected to the end of the lower opening arm away from the support frame.

4. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 3, characterized in that, The drive assembly includes a transmission sprocket structure for driving at least one of a pair of sprocket shafts to rotate, and a drive motor connected to the power output end of the transmission sprocket structure.

5. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 3 or 4, characterized in that, The chain drive mechanism also includes climbing wheels respectively mounted on a pair of sprocket shafts for attaching to the leading edge surface of the blade during grinding to provide motion support.

6. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 5, characterized in that, The support frame faces the end face of the wind turbine blade and has a pair of central support members corresponding to the two annular chains. The central support members are used to support the middle of the leading edge of the blade before grinding.

7. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 3, characterized in that, The grinding roller is connected to the grinding roller support via a roller shaft; and A constant-force nylon wheel is provided on the roller shaft at each of the two shaft ends of the grinding roller. This wheel is used to contact the blade surface during grinding to control the depth of cut.

8. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 3, characterized in that, The grinding roller support is provided with a small balancing wheel on each of the two shaft ends corresponding to the grinding roller. This wheel is used to contact the blade surface during the grinding process to assist in support and balance the torsional torque generated during grinding.

9. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 3, characterized in that, The grinding roller bracket is connected to a ring chain at both ends along the axial direction of the grinding roller via connecting brackets.

10. The non-tracking grinding and shaping device for the leading edge of wind turbine blades according to claim 1, characterized in that, The end of the wire rope is connected to the wire rope fixing seat through a rope end spring.

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