Wind power blade die closing flash cutting device and walking control method thereof

Abstract

The application belongs to the technical field of wind power blade flash processing equipment, and particularly relates to a wind power blade flash cutting device and a walking control method thereof, which comprises a cutting walking module and a control module connected with the cutting walking mechanism.

Description

Technical Field

[0001] This invention belongs to the technical field of wind turbine blade flash processing equipment, specifically relating to a wind turbine blade mold-closing flash cutting device and its walking control method. Background Technology

[0002] Currently, most wind turbine blades produced by Chinese blade manufacturers are made by using composite materials such as fiberglass, epoxy resin, and adhesives through mold production. After demolding, a flash will be generated due to the mold, which needs to be removed.

[0003] Currently, the cutting of flash on wind turbine blades is done manually, relying on the experience of workers. This method has many problems: (1) Low cutting efficiency and poor process standardization. Different workers have different skill levels, resulting in different quality of each blade and thus large differences in cutting effect. Usually, a team of 4-6 people working continuously for 4 to 5 hours can only complete the cutting of flash on one blade. The process requires a two-cut process to prevent the adhesive from cracking during the cutting process. The first cut is a rough cut, leaving a portion of flash, with a margin of 20-25mm (the width of the flash from the blade body). The second cut is a fine cut, leaving a portion of flash, with a margin of 0-2mm (the width of the flash from the blade body), which meets the process requirements. During the fine cut, workers need to pay special attention to the misalignment of the blade after mold closing, otherwise it will cause overcutting and damage to the blade body.

[0004] Currently, there are some dedicated automated wind turbine blade die-cutting devices, but the structure of these devices has inconveniences in actual operation. For example, during the first rough cut, the width of the flash is not wide enough or there is a lack of epoxy resin in a certain place, which makes it impossible for the coarse cutting mechanism in these devices to clamp, stay and cut at that place, thus affecting the cutting of the flash at the end of the entire flash and increasing the readjustment time of the device on the flash. For example, after the flash is coarsely cut off from the main body, the root of the flash is still connected to the main body. Therefore, a flash cutting mechanism is set at the rear of the coarse cutting mechanism. Since the flash may be hard or soft synthetic fiber cloth (the synthetic fiber cloth at the edge is not coated with resin during mold processing), during normal operation of this device, the cut flash will be cut only after passing through the flash cutting mechanism. Due to the shape (may be curved) and weight (may sag and deform) of hard flash, the flash may interfere with the flash cutting mechanism when it passes through the flash cutting mechanism. This may cause subsequent new hard flash to not enter the flash passing through the flash cutting mechanism as intended, while soft flash may also become entangled at the flash cutting mechanism.

[0005] Finally, in some existing automated wind turbine blade die-cutting devices, the coarse cutting mechanism and the fine cutting mechanism are interconnected and linked, and the cutting amount of the fine cutting mechanism is not suitable, but it is inconvenient to adjust. This leads to poor applicability of the device and low work efficiency. Summary of the Invention

[0006] Wind turbine blades come in many shapes, and regardless of the shape, once they are demolded, they will have flash release grooves. This invention utilizes the inherent structure of the existing flash release grooves after blade demolding to design and invent a more sophisticated device. The purpose of this invention is to overcome the shortcomings of existing technologies by inventing a wind turbine blade mold-closing flash cutting device and its travel control method.

[0007] This invention is implemented as follows: A wind turbine blade die-cutting device includes a control module, a traveling trolley, and a cutting traveling module. The traveling trolley has multiple steering wheels at its bottom, and a lifting mechanism is located on its left side. This lifting mechanism is connected to the cutting traveling module and provides upward support to it. The control module controls the lifting mechanism. A main die-cutting mechanism is also located on the side of the traveling trolley, connected to the lifting mechanism, and on the left side of the cutting traveling module. The cutting surface of the main die-cutting mechanism has a left-right orientation. A root-cleaning mechanism is also provided on the side of the traveling trolley on the left side of the edge cutting mechanism. The root-cleaning mechanism is connected to the traveling trolley through a root-cleaning mechanism posture self-adjustment mechanism. The root-cleaning mechanism includes a slave frame. The inside of the slave frame is a channel. The right side of the slave frame is a feed port and the left side is a discharge port. The feed port and discharge port are connected to the channel. The channel inside the slave frame has an opening on the front end face of the slave frame. This opening is connected to the feed port and discharge port. A limiting structure is also provided on the slave frame. The outermost edge of the limiting structure is closer to the front than the outermost edge of the cutting surface in the root-cleaning module.

[0008] Above and below the opening surface, the slave frame is respectively provided with slave clamping crawling wheels, the rotation direction of the slave clamping crawling wheels is in the front-back direction; the slave frame is also provided with a hair removal module, the cutting surface of the hair removal module includes the left-right direction, characterized in that: the hair removal module includes a hair removal module mounting plate, the hair removal module mounting plate and the slave frame are provided with a blade adjustment mechanism, the blade adjustment mechanism includes a horizontally oriented slide rail slider and a horizontal linear pushing mechanism that drives the hair removal module mounting plate to slide back and forth along the slide rail between the hair removal module mounting plate and the slave frame, the other side of the hair removal module mounting plate is also provided with a vertically oriented slide rail slider, the vertically oriented slide rail slider is connected to a hair removal cutter, and a vertical linear pushing mechanism that drives the hair removal cutter to slide up and down is also provided between the hair removal module mounting plate and the hair removal cutter.

[0009] Further optimization involves having at least three steering wheels.

[0010] Further optimization involves the lifting mechanism comprising a portal frame track and a drive motor. A lifting slider driven by a screw and nut is located in the middle of the portal frame track. The drive motor drives the screw. A crossbeam running in a front-to-back direction is fixedly mounted on the lifting slider. A vertical auxiliary slider guide rail is also provided between the crossbeam and the portal frame track.

[0011] Above the crossbeam, there is a sliding sleeve and sliding rod that are fixedly connected to the crossbeam, and a forward and backward telescopic cylinder is provided between the sliding sleeve and sliding rod.

[0012] The cutting and walking module is also equipped with a rear-pushing mechanism, which includes a rear-pushing fixed plate mounted on the cutting and walking module. The mechanism also includes a rear-pushing cylinder, a rear-pushing slide rail slider, a rear-pushing end mounting plate, and a bullseye bearing universal ball joint. The cylinder body of the rear-pushing cylinder is connected to the rear-pushing fixed plate, and the cylinder rod of the rear-pushing cylinder is connected to the rear-pushing end mounting plate. The rear-pushing slide rail slider is respectively disposed between the rear-pushing fixed plate and the rear-pushing end mounting plate. The axes of the rear-pushing cylinder and the rear-pushing slide rail slider are both in the front-rear direction. The bullseye bearing universal ball joint is mounted on the rear side of the rear-pushing end mounting plate, facing the walking trolley, and provides a forward thrust to the cutting and walking module.

[0013] Further optimization involves installing a flash cutting mechanism on the lifting mechanism. This flash cutting mechanism cuts off the main flash cut off by the main flash removal mechanism. The flash cutting mechanism includes a horizontal cantilever beam and a cutting machine mounted on the lifting mechanism. A vertical lifting slide rail and slider are installed between the end of the horizontal cantilever beam and the lifting mechanism. A vertical lifting cylinder for the flash cutting mechanism is also installed between the end of the horizontal cantilever beam and the lifting mechanism. The horizontal cantilever beam is equipped with a front-to-back slide rail and slider. The cutting machine is mounted on an installation platform connected to the slider. The tail end of the cutting machine is connected to the installation platform via a rotating shaft. A front-to-back telescopic linear cylinder is installed between the installation platform and the cutting machine. The cutting direction of the cutting machine is front-to-back. A partition is installed at the front end of the installation platform. One end of the partition is cantilevered, and one end of the shelf faces upwards.

[0014] Further optimization includes a horizontal turntable for the root clearing mechanism's attitude self-adjustment mechanism. One end of the horizontal turntable is connected to the root clearing mechanism, allowing the root clearing mechanism to rotate in the horizontal plane via the horizontal turntable. The other end of the horizontal turntable is connected to one end of a vertical turntable via a horizontal slider rail and a linear cylinder, allowing the root clearing mechanism to rotate in the vertical plane via the vertical turntable.

[0015] The root clearing mechanism attitude self-adjustment mechanism also includes a root clearing mechanism clamping mechanism. One end of the root clearing mechanism clamping mechanism is connected to the other end of the vertical turntable. The root clearing mechanism clamping mechanism moves the root clearing mechanism in the front and back direction to ensure that the root clearing mechanism is pressed against the blade.

[0016] The root clearing mechanism's attitude self-adjustment mechanism also includes a vertical lifting slide rail. The lower end of the vertical lifting slide rail is vertically fixed on the traveling trolley. The other end of the root clearing mechanism's clamping mechanism is mounted on the vertical lifting slide rail via a vertical slider. A tension balancer is fixedly mounted on the top of the vertical slide rail. The tension balancer's pull line is connected to the root clearing mechanism's clamping mechanism, and the pull line of the tension balancer provides an upward tension to the root clearing mechanism's clamping mechanism.

[0017] Further optimization involves installing a spatial state measurement module for the root cleaning mechanism between the root cleaning mechanism and the vertical lifting slide rail. The structure of the spatial state measurement module for the root cleaning mechanism is the same as that of the spatial state measurement module for the cutting and walking module.

[0018] Further optimization includes the addition of a dust collection mechanism at the main burr removal mechanism, the root cleaning mechanism, and the burr cutting mechanism, and a cable winding and unwinding mechanism on the traveling trolley.

[0019] A method for controlling the movement of a wind turbine blade die-cutting device, characterized in that:

[0020] (1) After the device is initially assembled with the wind turbine blade to be cut, the tension balancer connected to the cutting and walking module is in a vertical position. The vertical distance between the cutting and walking module and the top of the cutting and walking module spatial state measurement module is set to H. As the device moves along the wind turbine blade, the control module automatically detects the real-time vertical distance h between the cutting and walking module and the top of the cutting and walking module spatial state measurement module.

[0021] When H=h, the height of the cutting and walking module does not change, and the control module controls the lifting mechanism to not work;

[0022] When H > h, it means that the cutting and walking module moves upward, and the control module controls the lifting mechanism to work adaptively, driving the crossbeam in the lifting mechanism to rise.

[0023] When H < h, it means that the cutting and walking module moves downward, and the control module controls the lifting mechanism to work adaptively, causing the crossbeam in the lifting mechanism to descend.

[0024] (2) After the device is initially assembled with the wind turbine blade to be cut, the tension balancer connected to the cutting walking module is in a vertical state. The distance between the cutting walking module and the front side of the walking trolley is set as X1, and the distance between the root clearing mechanism and the front side of the walking trolley is set as X2. Initially, X1=X2.

[0025] As the device moves along the wind turbine blade, the control module automatically detects the distance between the cutting and traveling module and the front side of the traveling trolley as X1, and the distance between the root clearing mechanism and the front side of the traveling trolley as X2.

[0026] When X1=X2, the control module controls the trolley to continue moving in a straight line;

[0027] When X1 > X2, the control module controls the steering wheel of the traveling trolley to turn, and the traveling trolley moves to the right as a whole until X1 = X2;

[0028] When X1 < X2, the control module controls the steering wheel of the traveling trolley to turn, and the traveling trolley moves to the left as a whole until X1 = X2;

[0029] (3) During the operation of this device, control process (1) and control process (2) are carried out simultaneously.

[0030] This device has the following advantages: Wind turbine blades come in many shapes, and regardless of the shape, once they are demolded, they will have a flash demolding groove. One side of the flash demolding groove is the blade, and the other side is the flash. Utilizing the inherent structure of the existing flash demolding groove after blade demolding, a wind turbine blade mold-closing flash cutting device is designed. By setting a cutting travel module and a push mechanism on the wind turbine blade mold-closing flash cutting device, while ensuring that the cutting travel module flexibly and freely follows the shape of the blade, it also provides a constant push force towards the blade. This greatly reduces the probability of the cutting travel module derailing from the blade flash cutting surface when the flash width is insufficient or the flash is missing.

[0031] The trolley is equipped with an optimized hair removal mechanism, which greatly improves cutting efficiency. The optimized hair removal module operates independently, without linkage with the cutting and walking module. Furthermore, in conjunction with the self-adjusting mechanism of the hair removal mechanism, the hair removal module can better adapt to various shapes and curves of hair, ensuring smooth second-cut hair removal. The hair removal module has a dedicated blade adjustment mechanism, which allows for convenient adjustment of the hair removal width according to the hair's condition, enhancing the device's applicability and improving work efficiency.

[0032] An optimized burr cutting mechanism is also provided. This burr cutting mechanism can move up and down, which is equivalent to giving the rough-cut burr a space to pass through, thus ensuring that the burr can easily pass through the working surface of the burr cutting mechanism, preventing interference or entanglement between the two, and ensuring subsequent cutting work. Attached Figure Description

[0033] Figure 1This is a frontal view diagram of the device holding the blade blank in a clamping state.

[0034] Figure 2 for Figure 1 A top-down view diagram.

[0035] Figure 3 This is a structural schematic diagram of the cutting and walking module and the lifting mechanism from the upper right view.

[0036] Figure 4 This is a structural schematic diagram of the cutting and walking module and the lifting mechanism from the upper left view.

[0037] Figure 5 This is a structural schematic diagram of the cutting-edge walking module from the right front view.

[0038] Figure 6 This is a structural schematic diagram from the front view after cutting the walking module.

[0039] Figure 7 This is a schematic diagram of the flash cutting mechanism from the left front view.

[0040] Figure 8 This is a schematic diagram of the flash cutting mechanism from the upper right perspective.

[0041] Figure 9 This is a structural schematic diagram of the flash cutting mechanism viewed from below.

[0042] Figure 10 A structural schematic diagram of the burr cutting mechanism and the cutting travel module from the right side view.

[0043] Figure 11 A structural diagram from the upper left view of the hair removal mechanism, limiting structure, hair removal module, and hair removal mechanism posture self-adjustment mechanism.

[0044] Figure 12 and Figure 11 This is a structural diagram from the right front view of the hair removal mechanism, limiting structure, hair removal module, and the self-adjusting mechanism of the hair removal mechanism.

[0045] Figure 13 This is a schematic diagram of the structure from the right perspective of the hair removal mechanism, the limiting structure, the hair removal module, and the self-adjusting mechanism of the hair removal mechanism.

[0046] Figure 14 This is a structural diagram of the root clearing mechanism, the limiting structure, the hair root removal module, and the self-adjusting mechanism of the root clearing mechanism from the front view.

[0047] Figure 15 This is a structural schematic diagram of the spatial state measurement module for the cutting walking module.

[0048] Figure 16 for Figure 15 A schematic diagram of the partial structure of the upper middle part.

[0049] Figure 17 This is a partial structural diagram of the two angle sensors in the spatial state measurement module of the cutting walking module.

[0050] Figure 18 This is a schematic diagram of the movement control of the wind turbine blade die-cutting device. Detailed Implementation

[0051] In this embodiment, with Figure 1 The main view is shown, with all orientations including front, back, left, right, up, and down. Figure 1 In terms of location.

[0052] Figures 1 to 17 As shown, a wind turbine blade die-cutting device includes a cutting and walking module A and a control module connected to the cutting and walking mechanism. In this embodiment, the control module is a PLC. The cutting and walking module A includes a main frame 2, which serves as an installation frame. Its interior has a channel running through the left and right ends. The right side of the main frame 2 has a feed inlet 2-1 and a discharge outlet 2-2, both connected to the channel. The channel within the main frame 2 has a strip-shaped opening 2-3 on its front end face. In this embodiment, this opening 2-3 is directly connected to the feed inlet 2-1 and the discharge outlet 2-2.

[0053] like Figure 5 and Figure 6As shown, main clamping crawler wheels 3 are respectively provided on the main frame 2 above and below the opening surface 2-3. The main clamping crawler wheels 3 on the main frame 2 and the opening surface are opposite to each other, forming two opposing clamping surfaces. A gap is left between the two clamping surfaces. When this device is in use, the blade blank is placed horizontally in a left-right orientation. Then, one end of the blade blank enters the main frame 2 horizontally from the feed port 2-1. The flash demolding groove is clamped between the two main clamping crawler wheels 3. The blade is located on the outside of the main frame 2, while the flash is located in the channel inside the main frame 2, and then enters the cutting point. In order to generate sufficient friction between the blade blank and the main clamping crawler wheel 3, a rubber layer is provided on the surface of the main clamping crawler wheel 3. A drive motor 4 is connected to the rotating shaft of the main clamping crawling wheel 3. The drive motor 4 is fixed on the main frame 2. The rotating shaft of the main clamping crawling wheel 3 is in the front-to-back direction. That is, driven by the main clamping crawling wheel 3, the cutting and walking module 1 moves along the flash demolding groove. As the groove changes, it moves generally in the left-right direction. A main flash cutting mechanism 5 is also provided on the main frame 2 and on the outside of the discharge port 2-2. In this embodiment, the main flash cutting mechanism 5 is an abrasive wheel cutter. In other embodiments, other forms of cutting mechanisms can be used instead. Those skilled in the art can make substitutions without creative effort, so they will not be described in detail here.

[0054] The abrasive wheel cutter is connected to the main frame 2 via a vertical slide rail and a slider, with the abrasive wheel cutter fixedly mounted on the slider. The main flash trimming mechanism 5 also includes a linear cylinder fixedly mounted on the main frame 2. The cylinder rod of the linear cylinder is fixedly connected to the housing of the abrasive wheel cutter. Driven by the cylinder rod, the abrasive wheel cutter moves up and down along the slide rail to coordinate with the overall working state of the equipment and achieve a better cutting state for the flash. In this embodiment, to coordinate with the feeding and discharging actions, the cutting surface of the main flash trimming mechanism 5 includes a left-right direction. The control module controls the drive motor 4 and the main flash trimming mechanism 5 to work, that is, the cutting and walking module A moves on the blade while the main flash trimming mechanism 5 cuts the flash at the discharge port.

[0055] like Figure 9 , Figure 15 , Figure 11 and Figure 12As shown, further optimization is achieved by facilitating the entry of blade blanks of different models, specifications, and thicknesses into the main frame 2. The main frame 2 is further equipped with an opening / closing mechanism 6 that changes the spacing between the openings on the front end face. The control module controls the operation of the opening / closing mechanism 6. In this embodiment, the opening / closing mechanism 6 includes the following structure: the main frame 2 includes an upper main frame 2-4 and a lower main frame 2-5. The rear end face of the main frame, the upper main frame 2-4, and the lower main frame 2-5 are connected by a pivot pin 2-6 that can rotate around them. A pull element 2-7 is provided between the upper main frame 2-4 and the lower main frame 2-5 to pull them together and rotate around the pivot pin 2-6, thereby changing the spacing between the openings 2-3 on the front end face. The control module controls the operation of the pull element 2-7. When encountering a thick blade blank, the controller activates the top-pulling element 2-7. In this embodiment, the power element of the top-pulling element 2-7 is a telescopic cylinder. When the cylinder rod extends, the upper main frame 2-4 and the lower main frame 2-5 rotate around the pin 2-6, increasing the distance between the opening surfaces 2-3. This facilitates the entry of the thicker blade blank into the opening surface 2-3 on the front end face. Then, the controller retracts the cylinder rod of the top-pulling element 2-7, adjusting the distance between the opening surfaces 2-3 to a suitable level. This suitable distance means that the main clamping crawler wheel 3 can accurately position itself on the blade blank, without causing quality damage to the blade blank surface during movement, and can move stably and controllably on the blade blank. The upper main frame 2-4 and the lower main frame 2-5, above and below the opening surfaces, are respectively equipped with opposing main clamping crawler wheels 3. The main clamping crawler wheel 3 serves as a crawler wheel, a clamping mechanism, and a positioning mechanism.

[0056] In other embodiments, the opening and closing mechanism 6 includes the following structure: the main frame includes an upper main frame and a lower main frame, which are connected vertically by a slide rail slider. Specifically, a vertical slide rail is fixedly installed on the lower main frame, and the upper main frame is connected to the slider, which is then mounted on the slide rail. A pulling element is also provided between the upper and lower main frames to pull them together, thereby changing the distance between the opening surfaces on the front end faces. The control module controls the operation of the pulling element. The pulling element can be a linear cylinder, which can both pull the upper and lower main frames together and, when the distance between them needs to be locked, also lock the vertical position relationship between the upper and lower main frames. Opposite main clamping crawling wheels are respectively provided on the upper and lower main frames above and below the opening surfaces.

[0057] like Figure 5 and Figure 6As shown, based on the above structure, the main burr trimming mechanism 5 can be connected to the main frame 2 via a slide rail slider 5-1. Specifically, the slide rail is fixed to the upper main frame 2-4 of the main frame 2, and the main burr trimming mechanism 5 is fixedly connected to the slider slidably mounted on the slide rail. A linear telescopic mechanism 5-2 is also fixedly mounted on the upper main frame 2-4. In this embodiment, the linear telescopic mechanism 5-2 is a linear cylinder, and the cylinder rod of the linear cylinder is connected to the main burr trimming mechanism 5. The linear telescopic mechanism 5-2 drives the main burr trimming mechanism 5 to move up and down along the slide rail, and the control module controls the operation of the linear telescopic mechanism 5-2. By adjusting the vertical position of the main burr trimming mechanism 5, it is beneficial for this device to be adapted to different specifications of blade blanks.

[0058] Figure 1 and Figure 2 As shown, further optimization includes a walking mechanism 7, which comprises a walking trolley 7-1 controlled by a control module. In this embodiment, the walking trolley 7-1 is an AGV (Automated Guided Vehicle) trolley, and the trolley 7-1 has four steering wheels arranged in a rectangular shape on its chassis. The walking trolley 7-1 is equipped with a lifting mechanism 7-2. In this embodiment,

[0059] like Figures 2 to 4 As shown, the lifting mechanism 7-2 includes a U-shaped frame track and a drive motor. A lifting slider driven by a screw and nut is set in the middle of the U-shaped frame track. The drive motor drives the screw. A crossbeam 7-2-1 running in a front-to-back direction is fixed on the lifting slider. A vertical auxiliary slider guide rail 7-2-2 is also set between the crossbeam 7-2-1 and the U-shaped frame track. Since there is equipment at the front end of the crossbeam 7-2-1, the center of gravity of the crossbeam 7-2-1 is more biased towards the front end. The drive motor actively provides power and the auxiliary slider guide rail 7-2-2 are both to prevent the crossbeam 7-2-1 from getting stuck due to the bias of the center of gravity during the up and down movement.

[0060] Above the crossbeam 7-2-1, there is also a sliding sleeve and sliding rod 7-2-3 that are fixedly connected to the crossbeam. A forward and backward telescopic cylinder 7-2-4 is provided between the sliding sleeve and sliding rod 7-2-3. The forward and backward telescopic cylinder 7-2-4 can drive the sliding sleeve on the sliding rod.

[0061] like Figure 2 and Figure 5As shown, the cutting and walking module A is also equipped with a rear push mechanism 22. The rear push mechanism 22 includes a rear push fixing plate 22-1, which is mounted on the cutting and walking module A. It also includes a rear push cylinder 22-2, a rear push slide block 22-3, a rear push end mounting plate 22-4, and a bullseye bearing universal ball joint 22-5. The cylinder body of the rear push cylinder 22-2 is connected to the rear push fixing plate 22-1, and the cylinder rod of the rear push cylinder 22-2 is connected to the rear push end mounting plate 22-5. The plates 22-4 are connected, and the rear push slide rail slider 22-3 is respectively set between the rear push fixed plate 22-1 and the rear push end mounting plate 22-4. The axes of the rear push cylinder 22-2 and the rear push slide rail slider 22-3 are both in the front-rear direction. The bullseye bearing universal ball 22-5 is installed on the rear side of the rear push end mounting plate 22-4, facing the traveling trolley. The bullseye bearing universal ball 22-5 provides a forward thrust to the cutting traveling module. The control module controls the extension and retraction of the cylinder rod of the rear push cylinder 22-2. During operation, the cylinder rod of the rear push cylinder 22-2 extends, and the bullseye bearing universal ball 22-5 presses against the front side wall of the traveling trolley, thereby providing a forward pressing thrust to the cutting traveling module.

[0062] The lifting mechanism 7-2 is connected to the cutting and walking module A and provides upward support force for the cutting and walking module A. The control module also controls the operation of the lifting mechanism 7-2.

[0063] like Figures 1 to 5 , Figure 15 , Figure 16 and Figure 17 As shown, the device also includes a cutting and walking module spatial status measurement module 8. The cutting and walking module spatial status measurement module 8 transmits the measured spatial position data of the cutting and walking module to the control module. The control module integrates this data to control the entire device.

[0064] like Figure 15 , Figure 16 and Figure 17 As shown, the cutting and walking module spatial state measurement module 8 includes two angle sensors used together. One angle sensor is a left-right direction angle sensor 8-1, and the other is a front-back direction angle sensor 8-2. The two sensors monitor the real-time attitude angle information of the cutting and walking module A on the blade.

[0065] The body of the left and right angle sensor 8-1 is fixedly connected to the end of the sliding rod of the sliding sleeve 7-2-3 in the lifting mechanism 7-2. The first structural component 8-3 is connected to its rotating shaft. The first structural component 8-3 rotates together with the rotating shaft of the left and right angle sensor 8-1. The left and right angle sensor 8-1 monitors the included angle generated by the movement of the lower component in the left and right directions.

[0066] The lower part of the first structural component 8-3 is also fixedly connected to the rotating shaft of the front-rear angle sensor 8-2. The body of the front-rear angle sensor 8-2 is connected to the second structural component 8-4. The positions of the body of the front-rear angle sensor 8-2 and the second structural component 8-4 are fixed to each other. The rotating shaft of the front-rear angle sensor 8-2 and the body of the front-rear angle sensor 8-2 rotate relative to each other in the front-rear direction to monitor the included angle generated by the movement of the lower component in the front-rear direction.

[0067] The cutting and walking module spatial state measurement module 8 also includes a distance sensor 8-5. In this embodiment, the distance sensor 8-5 is a pull rope sensor. The housing of the pull rope sensor is fixedly connected to the main frame 2. The connection point of the lifting mechanism 7-2 and the left and right direction angle sensor 8-1 is connected to the end of the pull rope sensor. That is, the distance sensor is used to measure the distance between the connection point of the lifting mechanism 7-2 and the left and right direction angle sensor 8-1 and the main frame of the cutting and walking module.

[0068] In another embodiment, the spatial state measurement module 8 of the cutting and walking module can also be a gyroscope installed in the cutting and walking module. The gyroscope measures the change in the attitude angle of the cutting and walking module on the wind turbine blank, and then transmits the angle change information to the control module. The control module then controls the walking mechanism 7. Through the adjustment of the walking mechanism 7, the attitude of the cutting and walking module connected to it is finally adjusted.

[0069] In another embodiment, a vision module is installed on the main frame 2 to collect the direction of the flash grooves on the blade and communicate the vision signal to the control module. The control module then controls the walking mechanism 7. Through the adjustment of the walking mechanism 7, the posture of the cutting walking module connected to it is finally adjusted.

[0070] The lifting mechanism 7-2 includes a tension balancer 7-3. The body of the tension balancer 7-3 is connected to the second structural component 8-4, and the pull line of the tension balancer 7-3 is connected to the top of the main frame of the cutting and walking module. Although the cutting and walking module can also ride on the blade blank independently to position and cut the flash of the blade blank, the weight of the cutting and walking module itself will also affect the quality of the blade blank and the cutting quality. Therefore, the lifting mechanism 7-2 provides traction force to the cutting and walking module in the vertical direction. The rope of the tension balancer 7-3 can be pulled out and retracted, and it can also maintain a certain tension. This characteristic ensures that the tension balancer 7-3 can provide sufficient tension to the cutting and walking module in the vertical direction to offset the influence of the weight of the cutting and walking module on the quality of the blade blank and ensure the cutting quality. On the other hand, when the shape of the blade blank changes and the cutting and walking module changes with the flash demolding direction, the pull line of the tension balancer 7-3 will be pulled out or retracted to ensure that the normal walking movement of the cutting and walking module is not restricted.

[0071] When the distance between the connection point of the lifting mechanism 7-2 and the left-right angle sensor 8-1 and the main frame of the cutting travel module changes, it indicates that the cutting travel module has moved left-right or up-down according to the shape of the blade blank. The angle and distance signals measured by the spatial state measurement module 8 of the cutting travel module are transmitted to the control module. The control module integrates these data to control the entire equipment, that is, to control the idler wheel of the travel mechanism 7 to move left and right, and the lifting mechanism 7-2 to move up and down, so that the distance between the connection point of the lifting mechanism 7-2 and the left-right angle sensor 8-1 and the main frame of the cutting travel module is kept constant vertically, and the distance and spatial angle between the traveling trolley 7-1 and the cutting travel module remain unchanged. Through this setting, the cutting travel module is kept in an optimal working state.

[0072] After most of the flash is removed from the original blade with a large amount of excess material in the cutting and walking module A, the blade with a smaller amount of excess material enters the subsequent structure of this device, thus achieving the process requirement of "two cuts" for automatic removal.

[0073] In some blade blanks, some flash may not be covered and hardened by resin, only soft fiber cloth, or there may be missing flash in a certain place. When the cutting and walking module A reaches this place, it will "derail" from there. By adding a push mechanism 22 to the cutting and walking module A, when the cutting and walking module A is working, the push cylinder 22-2 in the push mechanism 22 is always extended, and the bullseye bearing universal ball 22-5 is always pressing against the front side wall of the walking trolley. Through this action, the bullseye bearing universal ball 22-5 provides a forward thrust to the cutting and walking module (i.e., a push towards the blade body), thereby reducing the probability of the cutting and walking module A "derailing" from the aforementioned defective flash.

[0074] like Figures 11 to 14 As shown, further optimization includes a root-cleaning mechanism B driven by the traveling trolley 7-1. The root-cleaning mechanism B includes a slave frame 9, the interior of which is a channel. The right side of the slave frame 9 has a feed inlet 9-1, and the left side has a discharge outlet 9-2. The feed inlet 9-1 and discharge outlet 9-2 are connected to the internal channel. An opening surface 9-3 is provided on the front end face of the channel within the slave frame 9, connecting to the feed inlet 9-1 and discharge outlet 9-2. The slave frame 9 also has an opening and closing mechanism that changes the spacing of the opening surfaces 9-3 on the front end face. The control module controls the operation of this opening and closing mechanism. Roughly processed blades from the cutting and traveling module A enter through the feed inlet 9-1 and exit through the discharge outlet 9-2. The slave frame 9 primarily positions and clamps the roughly processed blades. The positioning and clamping principle between the slave frame 9 and the blades is the same as the working principle of the main frame 2. After clamping, the burr clamp is contained in the channel inside the frame 9, and the blade body is located on the front side of the opening surface 9-3.

[0075] In this embodiment, the slave frame 9 includes an upper slave frame 9-4 and a lower slave frame 9-5. The two are connected at the rear side of the slave frame 9 by one or two sets of parallel, vertically oriented slides and sliders 9-6. The upper slave frame 9-4 can be connected to one of the slides and sliders 9-6, while the lower slave frame 9-5 is connected to one of the slides and sliders 9-6. The slides and sliders 9-6 are used to position the upper slave frame 9-4 and the lower slave frame 9-5 in the front-back, left-right, and right directions. In the vertical direction, a linear cylinder 9-7 is provided between the upper slave frame 9-4 and the lower slave frame 9-5, at the rear side of the internal channel of the slave frame 9. The cylinder body of the linear cylinder 9-7 is connected to the lower slave frame 9-5, while the cylinder rod of the linear cylinder 9-7 is connected to the upper slave frame 9-4. The distance between the opening surfaces 9-3 is changed by controlling the extension and retraction of the linear cylinder 9-7 through a controller. Generally speaking, since the thickness and width of the remaining burrs after cutting by the cutting and walking module A are much smaller, the adjustment range of the spacing of the opening surface 9-3 does not need to be adjusted much. In addition, the overall volume of the root cleaning mechanism B is smaller than that of the cutting and walking module A. Therefore, the linear cylinder 9-7 can be used to adjust the spacing of the opening surface 9-3, which can meet both the work requirements and the structural strength requirements, reduce weight, and lower working costs.

[0076] The root cleaning mechanism B has two sets of gripping crawler wheels 10 on the upper and lower slave frames 9-4 above and below the opening face 9-3, respectively. The rotation axis of the gripping crawler wheels 10 is in the front-to-back direction. These two sets of gripping crawler wheels 10 are used to grip the burrs cut by the cutting and walking module A. The size of the gripping crawler wheels 10 is smaller than that of the main gripping crawler wheels 3 because the width of the burrs cut by the cutting and walking module A is smaller. To prevent the root cleaning mechanism B from cutting the blade body, a limiting structure 11 is also provided on the slave frame 9. In this embodiment, the limiting structure 11 takes the form of limiting wheels, which are respectively set on the upper slave frame 9-4 and the lower slave frame 9-5. The wheel surface of the limiting wheel is located outside the opening face 9-3, and the wheel surface of the limiting wheel is horizontal.

[0077] In other embodiments, the limiting mechanism 11 can also be a positioning rod of calculated length, with its head abutting against the surface of the blade to limit the distance between the burr removal mechanism B and the blade body. In actual operation, the outermost edge of the limiting wheel's surface is closer to the front than the cutting surface of the burr removal module 12, i.e., closer to the blade body. This arrangement ensures that the burr is gripped by the clamping crawling wheel 10, limited by the limiting mechanism 11, and finally, the burr removal module 12 performs fine cutting of the remaining burrs.

[0078] A hair removal module 12 is also provided on the outer side of the discharge port 9-2 on the frame 9. In this embodiment, the cutting surface of the hair removal module 12 has a left-right orientation, and the control module controls the operation of the hair removal module 12. To better control the cutting effect and adjust the cutting depth of the hair removal module 12, the hair removal module 12 includes a hair removal module mounting plate 12-1. A blade adjustment mechanism 12-2 is provided between the hair removal module mounting plate 12-1 and the frame 9. The blade adjustment mechanism 12-2 includes a horizontally oriented slide rail slider provided between the hair removal module mounting plate 12-1 and the frame, and a horizontal linear pushing mechanism that drives the hair removal module mounting plate to slide back and forth along the slide rail. In this embodiment, it is a screw and nut mechanism driven by a motor. The machine operates by using a motor and screw mounted on the frame to drive a nut fixedly connected to the burr removal module mounting plate 12-1, which in turn moves the burr removal module mounting plate 12-1 back and forth along the axis of the screw. A vertically oriented slide rail 12-3 is also provided on the other side of the burr removal module mounting plate 12-1, and a burr removal cutter 12-4 is connected to the vertical slide rail. A vertical linear pushing mechanism 12-5 is also provided between the burr removal module mounting plate 12-1 and the burr removal cutter 12-4 to drive the burr removal cutter to slide up and down. The controller controls the operation of the horizontal linear pushing mechanism in the blade adjusting mechanism 12-2, i.e., controls the forward and reverse rotation of the motor, to control the forward and backward position of the cutting blade of the burr removal cutter 12-4, thereby controlling the cutting width of the burr. Under the control of the control module, the vertical linear pushing mechanism 12-5 can control the cutting depth of the burr removal cutter 12-4 in the vertical plane, ensuring that the burr removal cutter 12-4 is in optimal working condition and achieves the best possible cutting effect.

[0079] The gripping crawler wheel 10 on the root clearing mechanism B is not driven by a motor. Therefore, the walking trolley 7-1 and the root clearing mechanism B are connected by the root clearing mechanism attitude self-adjustment mechanism. The root clearing mechanism attitude self-adjustment mechanism enables the root clearing mechanism B to move up and down, forward and backward, and rotate at an angle according to the shape of the blade. The control module controls the operation of the root clearing mechanism attitude self-adjustment mechanism.

[0080] The self-adjusting mechanism of the root clearing mechanism includes a horizontal turntable 13. One end of the horizontal turntable 13 is connected to the root clearing mechanism B, which can rotate in the horizontal plane via the horizontal turntable 13. The other end of the horizontal turntable 13 is connected to one end of a vertical turntable 16 via a horizontal slider rail 14 and a linear cylinder 15, which can rotate in the vertical plane via the vertical turntable 16. The root clearing mechanism B can slide linearly in the left and right directions controllable by the control module via the horizontal slider rail 14 and the linear cylinder 15, and can rotate in the vertical plane via the vertical turntable 16.

[0081] The root-cleaning mechanism posture self-adjustment mechanism also includes a root-cleaning mechanism clamping mechanism 17. One end of the root-cleaning mechanism clamping mechanism 17 is connected to the other end of the vertical turntable 16. The root-cleaning mechanism clamping mechanism 17 extends and retracts the root-cleaning mechanism in the front and rear directions, thereby ensuring that the root-cleaning mechanism rests against the blade. In this embodiment, the root-cleaning mechanism clamping mechanism 17 is a linear cylinder. During operation, the cylinder rod of the root-cleaning mechanism clamping mechanism 17 always applies a forward pushing force to the root-cleaning mechanism B, ensuring that the limiting mechanism 11 is always in contact with the surface of the blade, thereby ensuring the cutting quality of the root-cleaning module 12.

[0082] The root-cleaning mechanism's self-adjusting posture mechanism also includes a vertical lifting slide rail 18. The lower end of the vertical lifting slide rail 18 is vertically fixed on the traveling trolley 7-1. The other end of the root-cleaning mechanism's clamping mechanism 17 is mounted on the vertical lifting slide rail 18 via a vertical slider. A tension balancer 19 is fixedly mounted on the top of the vertical slide rail 18. The tension balancer 19's pull line is connected to the root-cleaning mechanism's clamping mechanism, providing an upward tension to the clamping mechanism. After installing the root-cleaning mechanism's self-adjusting posture mechanism, the root-cleaning mechanism can better adjust its posture forward, up and down, and left and right according to the curvature of the blade's shape, ensuring the cutting quality of the root-cutting module 12.

[0083] A set of space state measurement module for the cleaning mechanism is also set between the cleaning mechanism B and the vertical lifting slide rail 18. The composition and working principle of this set of space state measurement module for the cleaning mechanism are the same as those of the space state measurement module 8 for the cutting and walking module. The control module senses its own position and the shape change of the blade by collecting the position signals of the front and rear sides of the walking trolley 7-1, so as to better control the running angle of each steering wheel, thereby making the walking trolley run on a better working trajectory to achieve a better edge cutting effect.

[0084] like Figures 1 to 10As shown, the length and weight of the burrs on blades of different specifications vary. When the blade is long, the burrs cut off by the cutting and walking module A also have a certain weight and length. If these burrs drag on the ground and are connected to the blade, they may affect the subsequent work quality of the root cleaning mechanism B. Therefore, the lifting mechanism 7-2 is also equipped with a burr cutting mechanism 19. In this embodiment, the burr cutting mechanism 19 includes a horizontal cantilever beam 19-1 and a cutting machine 19-2 installed on the lifting mechanism 7-2. A vertical lifting slide rail slider 19-3 is provided between the end of the cantilever beam 19-1 and the lifting mechanism 7-2. A vertical lifting cylinder 19-4 of the burr cutting mechanism is also provided between the end of the cantilever beam 19-1 and the lifting mechanism 7-2. The extension and retraction of the vertical lifting cylinder 19-4 of the burr cutting mechanism is controlled by a control module between the end of the cantilever beam 19-1 and the lifting mechanism 7-2, which can control the cantilever beam 19-1 to move up and down in the vertical plane. The cantilever beam 19-1 is equipped with a slide rail and a slider 19-5. The cutting machine 19-2 is mounted on a mounting platform 19-6 connected to the slider 19-5. To adjust the cutting depth of the cutting machine 19-2, its tail end is connected to the mounting platform 19-6 via a rotating shaft. For automatic control, a front-to-back telescopic linear cylinder 19-7 is installed between the mounting platform 19-6 and the cutting machine 19-2. The cutting direction of the cutting machine 19-2 is front-to-back. The control module sends cutting commands to the front-to-back telescopic linear cylinder 19-7 to automatically remove a portion of the main flash. A partition 19-8 is provided at the front end of the mounting platform 19-6. One end of the partition 19-8 is cantilevered, and one end of the partition 19-8 faces upwards. The optimized flash trimming mechanism 19 can move up and down via the vertical lifting slide rail slider 19-3 and the vertical lifting cylinder 19-4, effectively providing space for the roughly trimmed flash to pass through. This ensures that the flash can easily pass through the working surface of the flash trimming mechanism, preventing interference or entanglement and ensuring subsequent cutting. Additionally, the partition 19-8 also separates the flash from the cutting space, ensuring smooth subsequent cutting.

[0085] like Figure 1 and Figure 2As shown, the deburring process generates a large amount of dust. Therefore, a dust collection mechanism 20 is also provided at the main deburring mechanism, the root cleaning mechanism, and the deburring cutting mechanism. In this embodiment, the dust collection mechanism 20 consists of various dust suction hoods and dust suction hoses. The dust suction hoods have suction ports facing the cutting blade, one end of the dust suction hose is connected to the dust suction hood, and the other end of the dust suction hose is connected to an explosion-proof dust collection device. To prevent dust during processing, a dust cover 21 is also fitted on the outside of the cutting travel module space state measurement module 7 of this device. A cable winding and unwinding mechanism 22 is provided on the traveling trolley. The cable supplies power to this device, thereby enabling better processing of large-sized blade blanks.

[0086] In this device, the blades demolded from the mold all have demolding grooves extending from the blade body, called flash grooves, with one side of the flash groove being the flash body. The cutting and walking module utilizes this unique structure to use it as a cutting trajectory, allowing for adaptive cutting along the flash for different blade shapes. To accommodate changes in the height of the flash root, changes in its forward and backward position curves, and slow ascent and descent, the flash resembles a spatial curve in space. Therefore, a specially configured, mutually separate, and multi-degree-of-freedom controllable walking and cutting mechanism and a root-cleaning mechanism are used for precision cutting under the adjustment and guidance of the traveling trolley.

[0087] This device can simultaneously meet the requirements of two-blade cutting processes, avoid adhesive cracking, achieve adaptive and smooth cutting, is easy to operate, greatly improves cutting efficiency, and also meets the dust collection effect of cutting, avoiding dust pollution to the operating environment and improving the comfort of cutting operation conditions.

[0088] like Figure 18 As shown, a method for controlling the movement of a wind turbine blade die-cutting device is described.

[0089] (1) After the device is initially assembled with the wind turbine blade to be cut, the tension balancer connected to the cutting and walking module is in a vertical position. The vertical distance between the cutting and walking module and the top of the cutting and walking module spatial state measurement module is set to H. As the device moves along the wind turbine blade, the control module automatically detects the real-time vertical distance h between the cutting and walking module and the top of the cutting and walking module spatial state measurement module.

[0090] When H=h, the height of the cutting and walking module does not change, and the control module controls the lifting mechanism to not work;

[0091] When H > h, it means that the cutting and walking module moves upward, and the control module controls the lifting mechanism to work adaptively, driving the crossbeam in the lifting mechanism to rise.

[0092] When H < h, it indicates that the cutting and walking module moves downward, and the control module controls the lifting mechanism to work adaptively, causing the crossbeam in the lifting mechanism to descend.

[0093] (2) After the device is initially assembled with the wind turbine blade to be cut, the tension balancer connected to the cutting walking module is in a vertical state. The distance between the cutting walking module and the front side of the walking trolley is set as X1, and the distance between the root clearing mechanism and the front side of the walking trolley is set as X2. Initially, X1 = X2.

[0094] As the device moves along the wind turbine blade, the control module automatically detects the distance between the cutting and traveling module and the front side of the traveling trolley as X1, and the distance between the root clearing mechanism and the front side of the traveling trolley as X2.

[0095] When X1=X2, the control module controls the trolley to continue moving in a straight line;

[0096] When X1 > X2, the control module controls the steering wheel of the traveling trolley to turn, and the traveling trolley moves to the right as a whole until X1 = X2;

[0097] When X1 < X2, the control module controls the steering wheel of the traveling trolley to turn, and the traveling trolley moves to the left as a whole until X1 = X2.

[0098] (3) During the operation of this device, control process (1) and control process (2) are carried out simultaneously.

[0099] This device also includes a cutting and walking module spatial status measurement module 8, which transmits the measured spatial position data of the cutting and walking module to the control module. The control module integrates this data to control the entire device.

[0100] like Figure 15 , Figure 16 and Figure 17 As shown, the cutting and walking module spatial state measurement module 8 includes two angle sensors used together. One angle sensor is a left-right direction angle sensor 8-1, and the other is a front-back direction angle sensor 8-2. The two sensors monitor the real-time attitude angle information of the cutting and walking module A on the blade.

[0101] The body of the left and right angle sensor 8-1 is fixedly connected to the end of the sliding rod of the sliding sleeve 7-2-3 in the lifting mechanism 7-2. The first structural component 8-3 is connected to its rotating shaft. The first structural component 8-3 rotates together with the rotating shaft of the left and right angle sensor 8-1. The left and right angle sensor 8-1 monitors the included angle generated by the movement of the lower component in the left and right directions.

[0102] The lower part of the first structural component 8-3 is also fixedly connected to the rotating shaft of the front-rear angle sensor 8-2. The body of the front-rear angle sensor 8-2 is connected to the second structural component 8-4. The positions of the body of the front-rear angle sensor 8-2 and the second structural component 8-4 are fixed to each other. The rotating shaft of the front-rear angle sensor 8-2 and the body of the front-rear angle sensor 8-2 rotate relative to each other in the front-rear direction to monitor the included angle generated by the movement of the lower component in the front-rear direction.

[0103] The cutting and walking module spatial state measurement module 8 also includes a distance sensor 8-5. In this embodiment, the distance sensor 8-5 is a pull rope sensor. The housing of the pull rope sensor is fixedly connected to the main frame 2. The connection point of the lifting mechanism 7-2 and the left and right direction angle sensor 8-1 is connected to the end of the pull rope sensor. That is, the distance sensor is used to measure the distance between the connection point of the lifting mechanism 7-2 and the left and right direction angle sensor 8-1 and the main frame of the cutting and walking module.

[0104] The lifting mechanism 7-2 includes a tension balancer 7-3. The body of the tension balancer 7-3 is connected to the second structural component 8-4, and the pull line of the tension balancer 7-3 is connected to the top of the main frame of the cutting and walking module. Although the cutting and walking module can also ride on the blade blank independently to position and cut the flash of the blade blank, the weight of the cutting and walking module itself will also affect the quality of the blade blank and the cutting quality. Therefore, the lifting mechanism 7-2 provides traction force to the cutting and walking module in the vertical direction. The rope of the tension balancer 7-3 can be pulled out and retracted, and it can also maintain a certain tension. This characteristic ensures that the tension balancer 7-3 can provide sufficient tension to the cutting and walking module in the vertical direction to offset the influence of the weight of the cutting and walking module on the quality of the blade blank and ensure the cutting quality. On the other hand, when the shape of the blade blank changes and the cutting and walking module changes with the flash demolding direction, the pull line of the tension balancer 7-3 will be pulled out or retracted to ensure that the normal walking movement of the cutting and walking module is not restricted.

[0105] When the distance between the connection point of the lifting mechanism 7-2 and the left-right angle sensor 8-1 and the main frame of the cutting travel module changes, it indicates that the cutting travel module has moved left-right or up-down according to the shape of the blade blank. These angle and distance signals measured by the spatial state measurement module 8 of the cutting travel module are transmitted to the control module. The control module integrates this data to measure values ​​such as h, X1, and X2. The entire device is then controlled, meaning the traveling mechanism 7 moves left-right and the lifting mechanism 7-2 moves up-down. This ensures that the distance between the connection point of the lifting mechanism 7-2 and the left-right angle sensor 8-1 and the main frame of the cutting travel module remains constant vertically, and the distance and spatial angle between the traveling trolley 7-1 and the cutting travel module remain unchanged. This setting maintains the cutting travel module in an optimal working state.

Claims

1. A wind turbine blade die-cutting device, comprising a control module, a traveling trolley, and a cutting traveling module. The traveling trolley has multiple steering wheels at its bottom, and a lifting mechanism is located on its left side. The lifting mechanism is connected to the cutting traveling module and provides upward support to the cutting traveling module. The control module controls the operation of the lifting mechanism. A main flash trimming mechanism is also located on the side of the traveling trolley, connected to the lifting mechanism, and on the left side of the cutting traveling module. The cutting surface of the main flash trimming mechanism includes a left-right orientation. A root-cleaning mechanism is also provided on the side of the trolley on the left side of the structure. The root-cleaning mechanism is connected to the trolley through a root-cleaning mechanism posture self-adjustment mechanism. The root-cleaning mechanism includes a slave frame. The inside of the slave frame is a channel. The right side of the slave frame is a feed port and the left side is a discharge port. The feed port and discharge port are connected to the channel. The channel inside the slave frame has an opening on the front face of the slave frame. This opening is connected to the feed port and discharge port. A limiting structure is also provided on the slave frame. The outermost edge of the limiting structure is closer to the front than the outermost edge of the cutting surface in the root-cleaning module. Above and below the opening surface, the machine frame is respectively provided with gripping crawling wheels, the rotation direction of the gripping crawling wheels is in the front-to-back direction; the machine frame is also provided with a hair root cutting module, the cutting surface of the hair root cutting module includes a left-to-right direction, characterized in that: The hair removal module includes a hair removal module mounting plate. A blade adjustment mechanism is provided between the hair removal module mounting plate and the slave frame. The blade adjustment mechanism includes a horizontally oriented slide rail slider provided between the hair removal module mounting plate and the slave frame, and a horizontal linear pushing mechanism that drives the hair removal module mounting plate to slide back and forth along the slide rail. A vertically oriented slide rail slider is also provided on the other side of the hair removal module mounting plate. A hair removal cutting machine is connected to the vertically oriented slide rail slider. A vertical linear pushing mechanism that drives the hair removal cutting machine to slide up and down is also provided between the hair removal module mounting plate and the hair removal cutting machine.

2. The wind turbine blade die-cutting device according to claim 1, characterized in that: The number of steering wheels is no less than 3.

3. The wind turbine blade die-cutting device according to claim 1, characterized in that: The lifting mechanism includes a portal frame track and a drive motor. A lifting slider driven by a screw and nut is set in the middle of the portal frame track. The drive motor drives the screw. A crossbeam running in a front-to-back direction is fixed on the lifting slider. A vertical auxiliary slider guide rail is also set between the crossbeam and the portal frame track. Above the crossbeam, a sliding sleeve and sliding rod are fixedly connected to the crossbeam, and a forward and backward telescopic cylinder is provided between the sliding sleeve and sliding rod; The cutting and walking module is also equipped with a rear-pushing mechanism, which includes a rear-pushing fixed plate mounted on the cutting and walking module. The mechanism also includes a rear-pushing cylinder, a rear-pushing slide rail slider, a rear-pushing end mounting plate, and a bullseye bearing universal ball joint. The cylinder body of the rear-pushing cylinder is connected to the rear-pushing fixed plate, and the cylinder rod of the rear-pushing cylinder is connected to the rear-pushing end mounting plate. The rear-pushing slide rail slider is respectively disposed between the rear-pushing fixed plate and the rear-pushing end mounting plate. The axes of the rear-pushing cylinder and the rear-pushing slide rail slider are both in the front-rear direction. The bullseye bearing universal ball joint is mounted on the rear side of the rear-pushing end mounting plate, facing the walking trolley, and provides a forward thrust to the cutting and walking module.

4. The wind turbine blade die-cutting device according to claim 1, characterized in that: The lifting mechanism is also equipped with a flash cutting mechanism. The flash cutting mechanism cuts off the main flash cut off by the main flash cutting mechanism. The flash cutting mechanism includes a horizontal cantilever beam and a cutting machine installed on the lifting mechanism. A vertical lifting slide rail and slider are provided between the end of the horizontal cantilever beam and the lifting mechanism. A vertical lifting cylinder of the flash cutting mechanism is also provided between the end of the horizontal cantilever beam and the lifting mechanism. The horizontal cantilever beam is equipped with a slide rail and slider that run back and forth. The cutting machine is installed on a mounting platform connected to the slider. The tail end of the cutting machine is connected to the mounting platform through a rotating shaft. A front and rear telescopic linear cylinder is provided between the mounting platform and the cutting machine. The cutting direction of the cutting machine is back and forth. A partition is provided at the front end of the mounting platform. One end of the partition is cantilevered and the shelf end is set upward.

5. The wind turbine blade die-cutting device according to claim 1, characterized in that: The root clearing mechanism's attitude self-adjustment mechanism includes a horizontal turntable. One end of the horizontal turntable is connected to the root clearing mechanism, which can rotate in the horizontal plane via the horizontal turntable. The other end of the horizontal turntable is connected to one end of a vertical turntable via a horizontal slider rail and a linear cylinder, which can also allow the root clearing mechanism to rotate in the vertical plane. The root clearing mechanism attitude self-adjustment mechanism also includes a root clearing mechanism clamping mechanism. One end of the root clearing mechanism clamping mechanism is connected to the other end of the vertical turntable. The root clearing mechanism clamping mechanism moves the root clearing mechanism in the front and back direction to ensure that the root clearing mechanism is pressed against the blade. The root clearing mechanism's attitude self-adjustment mechanism also includes a vertical lifting slide rail. The lower end of the vertical lifting slide rail is vertically fixed on the traveling trolley. The other end of the root clearing mechanism's clamping mechanism is mounted on the vertical lifting slide rail via a vertical slider. A tension balancer is fixedly mounted on the top of the vertical slide rail. The tension balancer's pull line is connected to the root clearing mechanism's clamping mechanism, and the pull line of the tension balancer provides an upward tension to the root clearing mechanism's clamping mechanism.

6. The wind turbine blade die-cutting device according to claim 5, characterized in that: A spatial state measurement module for the root clearing mechanism is provided between the root clearing mechanism and the vertical lifting slide rail. The structure of the spatial state measurement module for the root clearing mechanism is the same as that of the spatial state measurement module for the cutting and walking module.

7. The wind turbine blade die-cutting device according to claim 1, characterized in that: The main burr removal mechanism, the root cleaning mechanism, and the burr cutting mechanism are also equipped with a dust collection mechanism, and the traveling trolley is equipped with a cable winding and unwinding mechanism.

8. A method for controlling the movement of a wind turbine blade die-cutting device, characterized in that: (1) After the device is initially assembled with the wind turbine blade to be cut, the tension balancer connected to the cutting and walking module is in a vertical position. The vertical distance between the cutting and walking module and the top of the cutting and walking module spatial state measurement module is set to H. As the device moves along the wind turbine blade, the control module automatically detects the real-time vertical distance h between the cutting and walking module and the top of the cutting and walking module spatial state measurement module. When H=h, the height of the cutting and walking module does not change, and the control module controls the lifting mechanism to not work; When H > h, it means that the cutting and walking module moves upward, and the control module controls the lifting mechanism to work adaptively, driving the crossbeam in the lifting mechanism to rise. When H < h, it means that the cutting and walking module moves downward, and the control module controls the lifting mechanism to work adaptively, causing the crossbeam in the lifting mechanism to descend. (2) After the device is initially assembled with the wind turbine blade to be cut, the tension balancer connected to the cutting walking module is in a vertical state. The distance between the cutting walking module and the front side of the walking trolley is set as X1, and the distance between the root clearing mechanism and the front side of the walking trolley is set as X2. Initially, X1=X2. As the device moves along the wind turbine blade, the control module automatically detects the distance between the cutting and traveling module and the front side of the traveling trolley as X1, and the distance between the root clearing mechanism and the front side of the traveling trolley as X2. When X1=X2, the control module controls the trolley to continue moving in a straight line; When X1 > X2, the control module controls the steering wheel of the traveling trolley to turn, and the traveling trolley moves to the right as a whole until X1 = X2. When X1 < X2, the control module controls the steering wheel of the traveling trolley to turn, and the traveling trolley moves to the left as a whole until X1 = X2; (3) During the operation of this device, the control process (1) and the control process (2) are carried out simultaneously.

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