Full-automatic wind power blade root milling machine and control method thereof

Abstract

The application relates to a full-automatic wind power blade root milling machine and a control method thereof. The root milling machine comprises a device chassis, an X-direction moving chassis, a Z-beam assembly, a Z-beam folding device, a control system and a laser ranging system. The device chassis comprises an upper chassis, a lower chassis and a heading adjustment structure between the two, which can adjust the heading angle of the upper chassis relative to the lower chassis. The X-direction moving chassis is movably arranged on the upper chassis. The Z-beam assembly comprises a Z-beam and a pair of milling head devices. The Z-beam folding device comprises a Z-beam pitch adjusting mechanism and a Z-beam rotating mechanism with a common Z-beam support shaft. The former adjusts the pitch angle of the Z-beam, and the latter drives the Z-beam to rotate. The control method comprises steps S1 to S8. The application has the advantages that the device can be folded for circulation, can be positioned with high precision and automatically calibrated, the efficiency of the double milling heads is improved, the automatic leveling is suitable for a wide range, the rough and fine milling separation ensures the processing quality, the whole process is automatically controlled, the labor intensity is reduced, and the reliability is improved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine blade root milling technology, and in particular to a novel fully automatic wind turbine blade root milling machine and its control method. Background Technology

[0002] Because wind turbine blades have a large root diameter, especially high-power wind turbines where the root diameter can reach over six meters, such a huge end face presents significant challenges in positioning and machining, making conventional clamping and tool setting methods unsuitable. Furthermore, due to the asymmetrical streamlined shape of the blades, there is a lack of reliable positioning reference surfaces, and the end face dimensions are too large to be machined on ordinary end milling machines or general-purpose machine tools.

[0003] While the mainstream Heineken-type intelligent milling machines on the market are easy to operate, their structural design places the approximately 7-meter-high column off-center at the edge of the equipment, causing a significant outward shift in the center of gravity and easily leading to the following fatal weaknesses: 1) When adjusting the pitch vertically, the stroke is easily limited, which makes it difficult to meet the processing requirements of the blade's large pitch attitude; 2) The machine is bulky and difficult to transport, increasing production turnover costs; 3) The center of gravity shift makes the equipment extremely sensitive to the ground tilt angle. Walking on a slope of more than 3° poses a risk of tipping over, making it extremely unsuitable for on-site use.

[0004] Furthermore, due to the asymmetrical structure of the milling machine and the continuous changes in the position of moving parts (such as the slide table and milling head) during the machining process, the center of gravity of the whole machine is in a state of continuous movement throughout the machining process. The dynamic shift of the center of gravity will not only exacerbate the instability of the base, but also introduce additional overturning moment, ultimately significantly reducing key accuracy indicators such as flatness and parallelism of the end face machining.

[0005] In addition, existing milling machines typically use their own AGV steering wheels as the power source for movement. However, in actual production, it has been found that when the AGV steering wheels transport the milling machine to the workstation where the blade end face is to be processed, relying solely on the AGV steering wheel system for heading positioning is insufficient to control the relative positional accuracy between the heading of the milling machine and the blade end face within the tolerance range of ±0.5mm. This precision gap directly leads to uneven distribution of end face allowance during subsequent milling processing, affecting the quality of the finished blade. Summary of the Invention

[0006] To address the aforementioned problems in the prior art, the present invention provides a novel fully automatic wind turbine blade root milling machine and its control method, which will be advantageous.

[0007] To achieve the above objectives, according to one aspect of the present invention, a fully automatic wind turbine blade root milling machine is provided, comprising: The equipment base frame includes an upper frame, a lower frame, and a heading adjustment structure installed between the upper frame and the lower frame, including a heading drive device. The heading adjustment structure is configured to allow the upper frame to adjust its heading angle relative to the lower frame under the drive of the heading drive device. X-axis movable rack, which is movably mounted on the upper rack in the X direction; Z-beam assembly, comprising a Z-beam and a pair of milling head devices that are movable in the Z direction and spaced apart vertically on the Z-beam; Z-beam folding device, which includes a Z-beam pitch adjustment mechanism and a Z-beam rotation mechanism having a common Z-beam support axis. The Z-beam pitch adjustment mechanism is mounted on the X-axis moving frame and is configured to adjust the pitch angle of the Z-beam supported by the Z-beam support axis under the drive of the Z-beam pitch drive mechanism. The Z-beam rotation mechanism is mounted above the Z-beam pitch adjustment mechanism and is configured to drive the Z-beam to rotate via the Z-beam support axis. The control system and the laser ranging system include two infrared lasers mounted on both ends of the side of the upper frame facing the wind turbine blades and a laser rangefinder mounted on each milling head device.

[0008] In this invention, the heading adjustment structure enables the upper frame to precisely adjust the heading angle relative to the lower frame, along with the X-axis moving frame and Z-beam assembly on it. Furthermore, the Z-beam pitch adjustment mechanism enables the Z-beam to adjust its pitch angle.

[0009] Furthermore, the Z-beam pitch adjustment mechanism includes a pitchable support rotatably connected to the top of the X-direction moving frame, the aforementioned Z-beam pitch drive mechanism movably connected at both ends to the bottom of the pitchable support and the base plate of the X-direction moving frame, and a Z-beam support shaft installed at the top of the pitchable support.

[0010] With the above structural design, the Z-beam pitch drive mechanism can drive the pitchable support to move, thereby driving the Z-beam to move via the Z-beam support shaft to achieve pitch angle adjustment of the Z-beam.

[0011] Furthermore, the Z-beam pitch drive mechanism is configured to drive the pitchable support to switch between a vertical and a horizontal position, and the Z-beam rotation mechanism is configured to drive the Z-beam support shaft, thereby driving the Z-beam to switch between a vertical and a horizontal state. When the Z-beam pitch drive mechanism is in its initial state, the pitchable support is in a vertical position, and the Z-beam can switch from a vertical to a horizontal state under the drive of the Z-beam rotation mechanism. When the Z-beam is in a horizontal state, the Z-beam pitch drive mechanism can be activated to switch from the initial state to the maximum force state (i.e., the maximum stroke state) to switch the pitchable support from a vertical to a horizontal position, at which point the Z-beam is in an inward folding state; and vice versa.

[0012] In this invention, the Z-beam can not only transform from a vertical state to a horizontal state and then back to an inward-folding state (i.e., when a state transition is needed, the Z-beam rotation mechanism works first, followed by the Z-beam pitch drive mechanism, to adjust the Z-beam from the working position to the intermediate horizontal position, and then to the folded-in position), but also transform from an inward-folding state to a horizontal state and then back to a vertical state (i.e., when a state transition is needed, the Z-beam pitch drive mechanism works first, followed by the Z-beam rotation mechanism, to adjust the Z-beam from the folded-in position to the intermediate horizontal position, and then to the working position). The invention achieves equipment deployment by means of a Z-beam rotation mechanism and a Z-beam pitch drive mechanism. The Z-beam can then be repositioned, ultimately folding the equipment. This reduces the overall height and center of gravity of the root milling machine, folding and rotating the towering column (Z-beam) to the center of the equipment. This significantly reduces the size of the folded equipment, completely eliminating the risk of tipping and ensuring safe movement on steeper ground. It also facilitates intra-workshop turnover and cross-site transportation and storage without sacrificing processing stroke and precision, fully covering the milling requirements for blade root ends of 6 meters and above. Clearly, this invention solves the efficiency and quality problems of large-diameter blade end-face processing, and fundamentally improves operational safety and site adaptability, providing an integrated and highly reliable processing solution for wind turbine blade manufacturing.

[0013] Furthermore, the Z-beam pitch drive mechanism is configured as a pitch electric cylinder, which has a cylinder base and a cylinder head. The cylinder base and the cylinder head (i.e., the telescopic end) are respectively movably connected to the bottom end of the movable frame and the pitch support. The cylinder base is provided with a mounting ear at its end, and a corresponding pitch electric cylinder ear is installed on the movable frame. The mounting ear is movably connected to the pitch electric cylinder ear via a fixed pin.

[0014] With the above structural design, the cylinder base of the pitch cylinder can be movably connected to the movable frame.

[0015] Furthermore, the tilting support includes a support body, a mounting box located at the top of the support body, and a mounting lug located at the bottom of the support body. The cylinder head of the tilting electric cylinder is fixedly connected to a spherical bearing, which is movably connected to the mounting lug via a fixed pin. The Z-beam rotation mechanism is mounted on the mounting box.

[0016] With the above structural design, the cylinder head of the pitching electric cylinder can be movably connected to the bottom end of the pitching support.

[0017] Furthermore, the Z-beam rotation mechanism includes a rotary servo motor and a Z-beam support shaft driven by the rotary servo motor, wherein the Z-beam rotation shaft passes through the Z-beam and is detachably fixedly connected to the Z-beam.

[0018] The above structural design allows the Z-beam to rotate relative to the mounting box, i.e., relative to the tiltable support, under the drive of the Z-beam support shaft.

[0019] Furthermore, the Z-beam rotation mechanism also includes a reducer, a small cylindrical gear, and a large cylindrical gear. The rotary servo motor, reducer, and small cylindrical gear form the rotary input end and are mounted on the base plate of the mounting box. The Z-beam support shaft and the large cylindrical gear form the rotary output end and are mounted on the mounting box above the rotary input end. The Z-beam rotation mechanism is configured such that the small cylindrical gear drives the large cylindrical gear to rotate under the drive of the rotary servo motor via the reducer, so that the large cylindrical gear drives the Z-beam support shaft to rotate, thereby driving the Z-beam to switch between a vertical and a horizontal state.

[0020] With the above structural configuration, the Z-beam can rotate under the drive of the rotary servo motor via the reducer, small cylindrical gear, large cylindrical gear and Z-beam support shaft, so as to realize the Z-beam from vertical to horizontal state, or from horizontal to vertical state.

[0021] Furthermore, the small cylindrical gear and the large cylindrical gear are exposed outside the mounting box and are arranged to mesh with each other. The Z-beam support shaft is rotatably mounted on the left and right side walls of the mounting box via a pair of turntable bearings. The Z-beam support shaft is installed through the shaft positioning hole on the Z-beam. The Z-beam is limited at its inner end by a connecting flange sleeve snapped onto the Z-beam support shaft, and at its outer end by a round nut snapped onto the Z-beam support shaft, a retaining washer, and a round nut screwed onto the Z-beam support shaft.

[0022] With the above structural design, the Z-beam support shaft can not only be fixedly installed with the Z-beam, but also rotate relative to the pitch support to adjust the position of the Z-beam.

[0023] Furthermore, the X-axis moving frame includes the aforementioned base plate and a pair of X-axis triangular frames arranged parallel to each other on both sides of the base plate. The base plate and the upper frame are connected by a slider and slide rail structure. An X-axis drive motor with a gear connected to its lower output end is mounted on the base plate, and a rack meshing with the gear is mounted on the upper frame. A pitchable support is rotatably connected to the top of the pair of X-axis triangular frames. A pair of milling head devices are mounted on one side of the Z-beam. When the Z-beam is in a horizontal state, this side faces upward; when the Z-beam is in an inward folded state, this side faces inward. Each milling head device includes a Z-axis moving component movably mounted on the Z-beam in the Z-axis direction, a Y-axis moving component movably mounted on the Z-axis moving component in the Y-axis direction, and a milling head fixedly mounted on the Y-axis moving component and capable of feeding toward the workpiece.

[0024] With the above-mentioned configuration of the movable frame, the pitch support, Z-beam pitch drive mechanism, and Z-beam rotation mechanism can be easily installed. With the above-mentioned structural configuration of the Z-beam, on the one hand, the milling head device can easily mill the root end of the wind turbine blade, and on the other hand, the milling head device can effectively avoid interference with the state transition of the Z-beam.

[0025] Furthermore, the aforementioned Z-beam folding device also includes a Z-beam locking mechanism. The Z-beam locking mechanism includes locking brackets connected to both sides of the bottom of the tiltable support included in the Z-beam pitch adjustment mechanism, a pair of locking drive mechanisms mounted on the locking brackets, and a pair of locking shafts driven and connected by the pair of locking drive mechanisms. When the pitch angle of the Z-beam is adjusted, that is, when the Z-beam needs to be locked, the pair of locking shafts can be driven by the pair of locking drive mechanisms to be inserted outward into a pair of pin holes on the Z-beam, thereby putting the Z-beam in a locked and positioned state.

[0026] With the above structural design, when it is necessary to lock the Z-beam (for example, when the equipment is in place and unfolded, or when the Z-beam is in a vertical state), the Z-beam locking mechanism can be used to lock the Z-beam. This not only fixes the Z-beam relative to the tilting support position, but also provides further support and fastening for the Z-beam, ensuring the stability of the equipment processing.

[0027] Furthermore, the locking drive mechanism is configured as a locking cylinder with a piston rod, which is fixedly connected to the locking shaft; the locking bracket includes a bracket body for mounting the locking cylinder and a pair of connecting side plates for connecting to the two sides of the bottom end of the tiltable support; the bracket body is provided with a locking positioning seat, and the locking shaft is installed in the locking positioning seat in a self-lubricating manner and axially outwardly movable manner via a copper sleeve embedded in the locking positioning seat.

[0028] With the above structural design, the self-lubricating copper sleeve supports and guides the locking shaft, allowing the locking shaft to move smoothly axially under the push of the piston rod of the locking cylinder.

[0029] Furthermore, the copper sleeve is installed in the seat hole of the locking positioning seat. A pressure flange with a large central hole presses the copper sleeve into the seat hole. The piston rod of the locking cylinder passes through this seat hole and is threadedly connected to the locking shaft. The locking shaft and the copper sleeve have a clearance fit and can extend at least partially beyond the locking positioning seat and pressure flange under the drive of the piston rod. Specifically, the pressure flange is fixed to the locking positioning seat with screws to prevent the copper sleeve from slipping out or moving.

[0030] With the above structural design, the locking shaft can be supported and guided by the copper sleeve, and under the push of the piston rod, it can enter and exit through the large hole at the center of the gland flange to cooperate with the pin hole on the Z beam.

[0031] Furthermore, a locking plate is provided at the bottom of the bracket body of the locking bracket; the above-mentioned Z-beam folding device also includes a pitch brake mechanism, which is installed on the X-direction moving frame in a position corresponding to the Z-beam locking mechanism, and includes a brake drive device, a fixed brake plate and a movable brake plate. The fixed brake plate and the movable brake plate are arranged in parallel and spaced apart, and the movable brake plate is configured such that it can press the locking plate onto the fixed brake plate under the drive of the brake drive device.

[0032] The above structural design allows the pitch support and Z-beam to be braked and fixed in their final positions when needed, thereby achieving pitch positioning.

[0033] The pitch brake mechanism also includes a brake bracket and a return spring. A fixed brake plate and a movable brake plate are mounted parallel to each other on the brake bracket. The brake drive device is configured as a brake cylinder and mounted on the outer bottom of the fixed brake plate. The two ends of the return spring are connected to the bottom ends of the fixed brake plate and the movable brake plate, respectively. The piston rod of the brake cylinder can switch between a released state (releasing the movable brake plate) and a braking state (applying pressure to the movable brake plate). In the released state, the brake cylinder is in standby mode, the return spring is in its initial state, and the locking plate is released and positioned between the fixed and movable brake plates. In the braking state, the brake cylinder is in operation, the Z-beam is in a locked and positioned state, the return spring is in a stretched state, and the movable brake plate, pushed by the piston rod at its bottom, presses the locking plate against the top of the fixed brake plate.

[0034] With the above structural design, the movable brake plate can actively lock the locking plate below the locking bracket below the tilting support under the push of the piston rod of the brake cylinder. When it is necessary to release the locking plate, the piston rod will actively retract and no longer push against the movable brake plate. At this time, the movable brake plate will reset under the action of the return spring.

[0035] Furthermore, the pitch brake mechanism consists of a pair, and the brake bracket of the pitch brake mechanism includes a main brake bracket mounted on a movable frame, and a pair of brake sub-frames for mounting the fixed brake plate and the movable brake plate.

[0036] The above structural design allows the locking plate to be simultaneously braked and positioned by two pairs of fixed brake plates and movable brake plates.

[0037] Furthermore, the heading adjustment structure includes a heading rotation device, a support roller device, the aforementioned heading drive device, and a heading safety device. The heading rotation device includes a heading rotation shaft installed at one end of the equipment base frame, allowing the upper frame to rotate relative to the lower frame around the heading rotation shaft under the rolling support of the support roller device. The heading drive device and the heading safety device are installed at the other end of the equipment base frame and are configured such that the upper frame can adjust its heading angle relative to the lower frame under the drive of the heading drive device and the support and guidance of the heading safety device.

[0038] The invention, through the above-described structural configuration, enables adjustment of the heading angle of the upper frame relative to the lower frame. Specifically, driven by the heading drive device and in conjunction with the heading rotation device, the upper frame adjusts its heading angle relative to the lower frame around a heading rotation axis at one end as a rotation fulcrum. The support roller device provides rolling support for the upper frame at this end, while the heading safety device provides support and guidance for the position adjustment of the upper frame relative to the lower frame.

[0039] Furthermore, the yaw drive device includes a yaw cylinder and a spherical bearing head. The yaw cylinder is movably mounted (i.e. pivotally connected to) the other side of the upper frame. One end of the spherical bearing head is fixedly connected to the telescopic end of the yaw cylinder, while the other end is movably connected (i.e. pivotally connected to) a fixed shaft mounted on the top of the other end of the lower frame.

[0040] With the above structural design, when the heading angle needs to be adjusted, the heading electric cylinder is activated, and its telescopic end pushes the upper frame back through the connection point between the spherical bearing head and the fixed shaft on the lower frame, so that the upper frame moves relative to the lower frame.

[0041] Furthermore, the yaw drive also includes a pair of shouldered brass bushings. Each shouldered brass bushing includes a body and a pair of shoulders. The body is rotatably connected to the cylinder seat of the yaw electric cylinder, and each shoulder is fixedly connected to the other side of the upper frame by an internal hexagonal head screw.

[0042] With the above structural configuration, the heading drive device is pivotally connected to the upper frame.

[0043] Furthermore, the heading safety devices are arranged in pairs, and each heading safety device includes an upper slide rail mounted on the bottom of the upper frame, a lower slide rail mounted on the top of the lower frame, and a central rotating assembly. The central rotating assembly includes an upper slider slidably connected to the upper slide rail, a lower slider slidably connected to the lower slide rail, and a central shaft fixed relative to the upper slider but rotatable relative to the lower slider. This allows the upper and lower frames to move relative to the central rotating assembly and to rotate relative to each other to adjust the heading angle.

[0044] With the above structural design, the upper frame can not only be supported / loaded at the end away from the heading rotation device, but also be adjusted in heading angle and guided at the same time.

[0045] Furthermore, the central shaft has a lower flange end, and the central rotating assembly also includes an upper bearing housing, a pair of upper self-lubricating bearings, a bearing cover, a pair of lower self-lubricating bearings, and a lower bearing housing. The lower flange end is located inside the lower bearing housing, and the pair of lower self-lubricating bearings are located between the bearing cover and the lower flange end. The bearing cover is detachably mounted on the lower bearing housing, and the pair of upper self-lubricating bearings are located between the upper bearing housing and the bearing cover. The upper end of the central shaft is detachably fastened to the upper bearing housing by a round nut and a round nut retaining washer. The upper slider is detachably fixedly connected to the top of the upper bearing housing, and the lower slider is detachably fixedly connected to the bottom of the lower bearing housing.

[0046] Through the above structural design, the heading safety device becomes a precision functional unit integrating guidance, load-bearing, positioning, and shock absorption. It not only restricts the "degrees of freedom" of the upper and lower frames, but also determines the accuracy, lifespan, and dynamic rigidity of the entire device in motion.

[0047] Furthermore, the heading rotation device also includes a bearing housing with an upper flange end and an upper tapered roller bearing and a lower tapered roller bearing respectively mounted on the upper and lower parts of the bearing housing. The bearing housing is installed through the lower frame and its upper flange end is detachably fixed to the top of the lower frame by bolts. The heading rotation shaft is provided with a shaft center flange, which is installed through the upper frame and the bearing housing. The shaft center flange overlaps the upper tapered roller bearing. The lower end of the heading rotation shaft is fastened to the inner ring of the lower tapered roller bearing by round nuts and round nuts with retaining washers, and the upper end is fastened to the upper frame by round nuts and round nuts with retaining washers.

[0048] With the above structural design, the heading rotation device is fixedly installed relative to the lower frame via the bearing housing and the round nut at the lower end of the heading rotation shaft and the round nut with a retaining washer. At the same time, the upper frame can also adjust the heading angle relative to the lower frame around the axis of the heading rotation shaft.

[0049] Furthermore, the yaw rotation shaft is installed through a bushing on the upper frame, and the upper end of the yaw rotation shaft is fastened to the bushing by a round nut and a locking washer.

[0050] Furthermore, the support roller devices are installed in pairs on the top of one end of the lower frame and symmetrically distributed on both sides of the yaw rotation axis.

[0051] Furthermore, each support roller assembly includes a mounting base, a mounting shaft, a roller, and a pair of deep groove ball bearings. The mounting base is detachably mounted on the lower frame and has a pair of lugs. The mounting shaft is detachably fixed to the pair of lugs on the mounting base. Each end of the roller has a bearing mounting hole. The pair of deep groove ball bearings are fitted onto the mounting shaft and inserted into the corresponding bearing mounting holes. Bearing washers are also installed between the deep groove ball bearings and the lugs.

[0052] The above structural design ensures that the upper frame receives rolling support from the rollers throughout the course of adjusting the heading angle, thus reducing frictional resistance.

[0053] Furthermore, at least one end of the mounting shaft is fixed by a stop plate detachably mounted on the lug, wherein a lateral limiting groove is provided on the at least one end, and the upper end of the stop plate extends into the lateral limiting groove.

[0054] The stop plate is used to fix the mounting shaft relative to the mounting base.

[0055] Furthermore, the invention includes AGV wheel sets and leveling devices installed at the four corners of the bottom of the lower frame of the aforementioned equipment base. The leveling devices are configured to switch between an upper storage state and a lower working state. In the upper storage state, the root milling machine is supported by four AGV wheel sets; in the lower working state, the root milling machine is supported by four leveling devices.

[0056] With the above structural design, the present invention is supported and moved by AGV wheel sets when transportation is required, and is stably supported by a leveling device when working and storing.

[0057] Furthermore, the aforementioned height equalization device includes a height equalization mounting base installed on the bottom of the lower frame, a cylinder mounting base and a foot mounting base respectively disposed on both sides of the bottom of the height equalization mounting base, a cylinder installed on the outside of the cylinder mounting base, a foot mounted on the inside of the foot mounting base that can slide up and down, and an inclined block driven by the cylinder and slidably installed between the height equalization mounting base and the foot. The inclined block is configured such that its upper surface is horizontal and its lower surface is inclined and tilted downward toward the direction of the cylinder. The foot is correspondingly configured such that its lower surface is horizontal and its upper surface is inclined and tilted downward toward the direction of the cylinder.

[0058] The root milling machine is very heavy, weighing up to 20 tons. Currently, there are no cylinders on the market with a thrust exceeding 5 tons. Through the above-mentioned structural design, the inclined block, pushed by the cylinder, can slide along the upper surface of the foot base towards the foot base connecting seat. While sliding, it presses down on the foot base, causing the foot base to slide downward relative to the foot base connecting seat with a pressure multiple (e.g., five times) of the cylinder's thrust, pressing it firmly against the ground. This ensures that the leveling devices at the four corners of the machine's base frame can simultaneously press against the ground, effectively guaranteeing that the four corners of the root milling machine land securely (with equal pressure from all four cylinders), preventing the entire machine from shaking during operation. Moreover, the machine's landing operation is simple; a single button can automatically control the four leveling devices to achieve the same pressure, ensuring a secure landing for the root milling machine and effectively guaranteeing the safety of workers on the wind power production line where there is high worker turnover.

[0059] Furthermore, the angle between the lower surface of the inclined block and the upper surface of the foot and the horizontal direction is 11°.

[0060] With the above structural design, the foot is pushed downward by the inclined block sliding along the 11° slope. According to the standard mechanical model (horizontal pushing inclined block), the downward pushing force is about 5 times the thrust of the cylinder itself (without considering friction), thus enabling the leveling device to have a force amplification function.

[0061] Furthermore, a slider is installed at one end of the foot base facing the foot base connecting seat, and a slide rail is installed on the inner side of the foot base connecting seat corresponding to the slider.

[0062] The foot base is slidably connected to the foot base connecting seat through the cooperation of the slider and the slide rail.

[0063] Furthermore, a slider is installed on the upper surface of the inclined block, and a slide rail is provided on the bottom surface of the equal-height mounting base corresponding to the slider; a slider is also installed on the lower surface of the inclined block, and a slide rail is also provided on the upper surface of the foot base corresponding to the slider.

[0064] The inclined block, through the cooperation of its corresponding slider rails on its upper and lower surfaces, allows it to slide relative to the mounting base and foot base at the same height under the push of the cylinder.

[0065] Furthermore, the piston rod of the cylinder is threadedly connected to the inclined block, allowing the inclined block to slide along the inclined upper surface of the foot seat under the drive of the cylinder. This allows the foot seat to slide up and down relative to the foot seat connecting seat, enabling the leveling device to switch between the upper stored state and the lower working state.

[0066] Furthermore, the aforementioned height equalization device for the root milling machine also includes a pair of connecting rods, which are arranged on both sides of the height equalization mounting base, and each connecting rod is threaded to a cylinder mounting base and a foot mounting base at both ends.

[0067] The cylinder mounting base and the foot mounting base are connected together by a connecting rod, which strengthens the overall height of the mounting base.

[0068] Furthermore, the aforementioned control system is configured to automatically control a fully automatic wind turbine blade root milling machine. Specifically, it can perform coarse positioning of the machine's base frame based on the laser line emitted by an infrared laser generator (e.g., an infrared laser pointer), adjust the heading angle of the upper frame relative to the lower frame by controlling the heading adjustment structure based on data feedback from the laser rangefinder, control the Z-beam folding device to adjust the pitch angle and state transition of the Z-beam, control the movement of the X-axis moving frame and the movement and feed of the milling head device, and control the movement of the AGV wheel set and the leveling device.

[0069] Through the above structural configuration, the present invention enables fully automatic control of equipment movement (by controlling the AGV wheel set), equipment landing (by controlling the height equalization device), adjustment of the heading angle of the upper frame (by controlling the heading adjustment structure), pitch angle of the Z-beam (by controlling the Z-beam pitch adjustment mechanism of the Z-beam folding device), folding of the Z-beam (by controlling the Z-beam folding device), X-axis movement (by controlling the X-axis drive motor of the X-axis moving frame), Z-axis movement and Y-axis movement, and milling head feed (by controlling the Z-axis movement component, Y-axis movement component, and milling head).

[0070] According to another aspect of the present invention, a control method for the fully automatic wind turbine blade root milling machine as described above is provided, comprising the following steps: S1: Equipment positioning and coarse positioning; S2: Heading is correct; S3: Equipment deployment and Z-beam rotation; S4: Alignment (pitch up / down); S5: Precision fine-tuning; S6: Rough milling; S7: Precision milling; S8: Equipment folding and turnover.

[0071] Furthermore, after step S7 and before step S8, step S78 is also included: quality inspection.

[0072] Furthermore, in step S1, the root milling machine is moved to the root end of the wind turbine blade by the AGV wheel set at the bottom of the equipment frame, and the two laser beams emitted by the two infrared lasers on the upper frame are used to position and align the stud end face at the root end of the blade. Then, the support equipment is extended downwards simultaneously by the four equal-height devices at the bottom of the equipment base.

[0073] This step determines the basic positional relationship between the equipment and the root of the blade, and supports and levels the equipment after it is in place to ensure the stability of the processing platform, that is, to ensure that the equipment is stable and does not shake or tilt during the processing. It should also be noted that the coarse positioning using laser lines can be performed manually by the operator or automatically controlled by the control system.

[0074] Furthermore, in step S2, the laser rangefinders on the two milling head devices on the Z-beam measure the left and right stud end faces of the blade root, respectively, and calculate the heading angle deviation of the Z-beam based on the measured data. The heading drive device is then instructed to rotate the upper frame relative to the lower frame to adjust the heading angle of the Z-beam until the values ​​measured by the two laser rangefinders are consistent.

[0075] Furthermore, in step S3, after the heading is aligned, the Z-beam pitch drive mechanism performs a retraction action, opening the Z-beam from an inward folded state to a horizontal state. Then, the Z-beam rotation mechanism starts working to rotate the Z-beam from the horizontal state to the vertical state by 90º.

[0076] Furthermore, in step S3, after the Z-beam is rotated to a vertical position, the Z-beam is locked in the support position by the Z-beam locking mechanism of the Z-beam folding device so that the Z-beam is stably supported.

[0077] Furthermore, in step S4, two laser rangefinders are used to measure the upper and lower stud end faces of the blade root, respectively. The pitch angle deviation of the Z-beam is calculated based on the measured data, and the pitch drive mechanism of the Z-beam is instructed to adjust the pitch angle of the Z-beam until the values ​​measured by the two laser rangefinders are consistent.

[0078] Furthermore, in step S5, the laser rangefinder on the upper milling head device of the pair of milling head devices measures the four quadrants of the stud end face at the root of the blade, including the upper, lower, left, and right quadrants, respectively, calculates the vertical and horizontal drop, and instructs the heading drive device and the Z-beam pitch drive mechanism to automatically fine-tune the heading angle and pitch angle until the measured values ​​in the upper, lower, left, and right directions are all within the predetermined range.

[0079] Furthermore, in step S5, the predetermined range is within 0.5 mm.

[0080] Furthermore, in step S5, after the precision fine-tuning is completed, the Z-beam is locked in the final position by the pitch brake mechanism to ensure that the pitch angle remains unchanged during the processing.

[0081] Furthermore, in step S6, both milling head devices automatically complete tool setting based on the distance from the blade root end measured by their laser rangefinders. The upper milling head device is positioned at the top of the blade root end, and the lower milling head device is positioned at the bottom of the blade root end. Both devices advance simultaneously. The X-axis moving frame drives the Z-beam to move left and right along the X-axis, and the milling head devices move up and down along the Z-axis. The upper milling head device completes the rough milling of the upper half of the blade root end, and the lower milling head device completes the rough milling of the lower half of the blade root end.

[0082] Furthermore, in step S7, after rough milling is completed, the lower milling head device retracts to a non-interference position below the root end of the blade, and the equipment switches to the fine milling mode performed only by the upper milling head device, where the upper milling head device alone executes the full circle milling program to achieve fine milling.

[0083] Furthermore, after step S7 and before step S8, there is also step S78: quality inspection. In step S78, after the precision milling is completed, the laser rangefinder on the upper milling head device measures the flatness of the stud end face at the root end of the milled blade and calculates the peak value. The measurement data is automatically stored in the system archive and can be exported as a report to achieve traceability of processing quality.

[0084] Furthermore, in step S8, after all the machining is completed, the Z-beam rotates 90° from a vertical state to a horizontal state. The Z-beam pitch drive mechanism is activated to push out the Z-beam from a horizontal state to an inward folded state in preparation for moving to the next work station.

[0085] These and other aspects of the present invention will be more clearly illustrated by referring to the embodiments described below. Attached Figure Description

[0086] The structure of the invention, as well as further objects and advantages, will be better understood from the following description taken in conjunction with the accompanying drawings, wherein like reference numerals identify like elements: Figure 1 This is a schematic diagram of the planar structure of a fully automatic wind turbine blade root milling machine as seen from the side according to a specific embodiment of the present invention. In this diagram, the Z-beam pitch drive mechanism of the Z-beam folding device is in the initial state, the pitchable support is in the vertical position, and the Z-beam is in the vertical state. Figure 2 yes Figure 1 The Z-beam folding device of the fully automatic wind turbine blade root milling machine shown is an exploded planar view from another angle. Figure 3 yes Figure 1 The diagram shows the side structure of the fully automatic wind turbine blade root milling machine in the initial state of the Z-beam pitch drive mechanism of the Z-beam folding device, the pitchable support in the vertical position, and the Z-beam in the horizontal state. Figure 4 yes Figure 3 The diagram shows the side structure of the fully automatic wind turbine blade root milling machine with the Z-beam pitch drive mechanism of the Z-beam folding device in the maximum force state, the pitchable support in the horizontal position, and the Z-beam in the inward folding state. Figure 5 yes Figure 1 A three-dimensional structural diagram of the X-axis moving frame of the fully automatic wind turbine blade root milling machine shown. Figure 6 yes Figure 2 A three-dimensional structural diagram of the tiltable support of the Z-beam folding device and the Z-beam rotation mechanism mounted thereon. Figure 7 yes Figure 6 A three-dimensional exploded view of the structure shown; Figure 8 yes Figure 6 A cross-sectional view of the structure shown; Figure 9 yes Figure 2 A three-dimensional structural diagram of the Z-beam locking mechanism of the Z-beam folding device shown; Figure 10 yes Figure 9 An exploded three-dimensional diagram of the Z-beam locking mechanism shown. Figure 11 yes Figure 1 A three-dimensional structural diagram of the pitch brake mechanism of the Z-beam folding device shown; Figure 12 yes Figure 11 The side view of the pitch brake mechanism shown; Figure 13 yes Figure 1 The diagram shows an exploded plan view of the heading adjustment structure of the fully automatic wind turbine blade root milling machine. Figure 14 yes Figure 13 The top plan view of the heading adjustment structure after assembly and 90º counterclockwise rotation; Figure 15 yes Figure 14 The shown heading adjustment structure is a cross-sectional view along line AA. Figure 16 yes Figure 14 A cross-sectional view of the heading adjustment structure shown along line BB; Figure 17 yes Figure 13 An exploded three-dimensional schematic diagram of the heading rotation device of the heading adjustment structure shown; Figure 18 yes Figure 17 The longitudinal sectional view of the heading rotation device shown along the central axis of its heading rotation axis; Figure 19 yes Figure 13 An exploded three-dimensional schematic diagram of the heading drive device of the heading adjustment structure shown; Figure 20 yes Figure 13 An exploded three-dimensional schematic diagram of the heading safety device of the heading adjustment structure shown; Figure 21 yes Figure 20 A cross-sectional view of the heading safety device shown; Figure 22 yes Figure 13 A cross-sectional view of the support roller assembly of the heading adjustment device shown; Figure 23 yes Figure 22 An exploded perspective view of the supporting roller device shown. Figure 24 yes Figure 1 The fully automatic wind turbine blade root milling machine shown is viewed from another angle (i.e., relative to...). Figure 1 A schematic diagram of the planar structure (view after rotating 90º counterclockwise), showing the leveling device; Figure 25 yes Figure 24 A three-dimensional structural diagram of the leveling device of the fully automatic wind turbine blade root milling machine shown; Figure 26 yes Figure 25 A three-dimensional structural diagram of the elevation matching device from another angle (viewed from the bottom upwards); Figure 27 yes Figure 25 A planar exploded view of the contour apparatus shown; Figure 28 yes Figure 25 A three-dimensional exploded view of the elevation contour device shown; Figure 29 yes Figure 1 A three-dimensional structural diagram of the milling head device of the fully automatic wind turbine blade root milling machine shown; Figure 30 yes Figure 29 An exploded perspective view of the milling head assembly shown. Figure 31 yes Figure 29 A partial sectional view of the milling head assembly shown. Detailed Implementation

[0087] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0088] like Figures 1 to 5 As shown, and refer to Figures 6 to 31According to a specific embodiment of the present invention, a fully automatic wind turbine blade root milling machine includes a movable frame, a Z-beam assembly, and a Z-beam folding device. The movable frame includes an X-axis movable frame 100 and an equipment base frame 200. The equipment base frame 200 includes an upper frame 201, a lower frame 203, and a heading adjustment structure installed between the upper frame 201 and the lower frame 203 to allow the upper frame 201 to adjust its heading angle relative to the lower frame 203. The X-axis movable frame 100 is configured to be movably mounted on the upper frame 201 in the X-axis direction; the Z-beam assembly includes a Z-beam 300 and a milling head device 500 movably mounted on the Z-beam 200 in the Z-axis direction; the Z-beam folding device includes a Z-beam pitch adjustment mechanism, a Z-beam rotation mechanism 5, a Z-beam locking mechanism 7, and a pitch brake mechanism 9, wherein the Z-beam pitch adjustment mechanism is mounted on the X-axis movable frame 100 and configured to support and drive the Z-beam 300 to adjust the pitch angle.

[0089] like Figures 1 to 5 As shown, in this embodiment, the Z-beam pitch adjustment mechanism includes a pitchable support 1, a Z-beam pitch drive mechanism 3, and a Z-beam support shaft 53. The pitchable support 1 is rotatably connected to the top of the X-direction moving frame 100. The two ends of the Z-beam pitch drive mechanism 3 are movably connected to the bottom of the pitchable support 1 and the base plate 101 of the X-direction moving frame 100, respectively. The Z-beam support shaft 53 is installed on the top of the pitchable support 1.

[0090] In this embodiment, such as Figure 2 As shown, the Z-beam rotation mechanism 5 includes the aforementioned Z-beam support shaft 53 (also referred to as the Z-beam rotation shaft 53; as shown) Figure 1 , Figure 3 and Figure 4 As shown, the Z-beam pitch drive mechanism 3 is configured to drive the pitchable support 1 to a vertical position (see...). Figure 1 and Figure 3 ) and horizontal position (see Figure 4 The Z-beam rotation mechanism 5 is configured to drive the Z-beam 300 so that the Z-beam 300 can switch between vertical and horizontal states.

[0091] When the Z-beam pitch drive mechanism 3 is in its initial state, the pitchable support 1 is in a vertical position. At this time, the Z-beam 300 can be driven by the Z-beam rotation mechanism 5 from its vertical state (see...). Figure 1 ) Switch to horizontal state (see Figure 3 When Z-beam 300 is in a horizontal state, Z-beam pitch drive mechanism 3 can be activated from the initial state (see...). Figure 3 ) Switch to maximum force application state (see Figure 4 ), thereby allowing the pitchable support 1 to move from the vertical position (see Figure 3 Switch to horizontal position (see) Figure 4At this time, Z-beam 300 is in an inward folding state (see...). Figure 4 Conversely, when Z-beam 300 is in an inwardly folded state, the Z-beam pitch drive mechanism can be activated to return from the maximum force state to the initial state, thereby allowing the pitch support 1 to return from the horizontal position to the vertical position. At this time, Z-beam 300 returns to the horizontal state. When Z-beam 300 is in the horizontal state, Z-beam rotation mechanism 5 can be activated to drive Z-beam 300 from the horizontal state to the vertical state. At this time, pitch support 1 returns to the vertical position.

[0092] like Figure 2 and Figure 5 As shown, in this embodiment, the Z-beam pitch drive mechanism 3 is configured as a pitch electric cylinder. The pitch electric cylinder has a cylinder base 30 and a cylinder head 31 (i.e., the telescopic end). The cylinder base 30 and the cylinder head 31 are respectively movably connected to the bottom end of the movable frame 100 and the pitch support 1. The cylinder base 30 is provided with a mounting ear 32 at its end. The movable frame 100 is correspondingly equipped with a pitch electric cylinder ear 132. The mounting ear 32 is movably connected to the pitch electric cylinder ear 132 via a fixed pin 34.

[0093] like Figure 6 , Figure 7 and Figure 8 As shown, and refer to Figure 2 and Figure 3 In this embodiment, the tilt-adjustable support 1 includes a support body 10, a mounting housing 15 located at the top of the support body 10, and a mounting lug 13 located at the bottom of the support body 10. The cylinder head 31 of the tilt-adjustable electric cylinder is fixedly connected to a spherical bearing 33, which is connected via a fixing pin 34 (see...). Figure 3 The Z-beam rotation mechanism 5 is mounted on the mounting box 15 and is connected to the mounting ear 13.

[0094] It should be noted that the maximum force applied by the Z-beam pitching mechanism 3 is... Figure 4 The diagram shows the maximum extended state of the cylinder head 31 of the pitch cylinder. It should be understood that in this embodiment, the Z-beam folding device, in addition to folding the Z-beam 300, also has the function of adjusting the pitch angle of the Z-beam 300. That is, the Z-beam 300 can be adjusted in pitch angle relative to the vertical position under the drive of the Z-beam pitch mechanism 3. Figure 1 The Z-beam 300 can not only be swung clockwise for pitch angle fine adjustment, but it can also be swung counterclockwise for pitch angle fine adjustment. However, the folding of the Z-beam 300 can only be performed within a 90-degree clockwise range, that is, within the third quadrant with the Z-beam as the vertical axis.

[0095] like Figure 7 As shown, and refer to Figure 6and Figure 8 In this embodiment, the Z-beam rotation mechanism 5 includes a rotary servo motor 50 and the aforementioned Z-beam rotation shaft 53 (also referred to above as the Z-beam support shaft 53) driven by the rotary servo motor 50. The Z-beam rotation shaft 53 is installed through the Z-beam 300 and is detachably fixedly connected to the Z-beam 300.

[0096] Specifically, such as Figure 7 As shown, and refer to Figure 6 and Figure 8 In this embodiment, the Z-beam rotation mechanism 5 further includes a reducer 52, a small cylindrical gear 54, and a large cylindrical gear 55. The rotary servo motor 50, the reducer 52, and the small cylindrical gear 54 form a rotary input end, which is mounted on the bottom plate of the mounting housing 15 (which is also the top plate of the tiltable support 1). The Z-beam rotation shaft 53 and the large cylindrical gear 55 form a rotary output end, which is mounted on the mounting housing 15 above the rotary input end (specifically, on the side wall of the mounting housing 15). The Z-beam rotation mechanism 5 is configured such that the small cylindrical gear 54 drives the large cylindrical gear 55 to rotate under the drive of the rotary servo motor 50 via the reducer 52, so that the large cylindrical gear 55 drives the Z-beam rotation shaft 53 to rotate, thereby driving the Z-beam 300 to switch between a vertical state and a horizontal state.

[0097] For example Figure 7 As shown, and refer to Figure 6 and Figure 8 In this embodiment, the small cylindrical gear 54 and the large cylindrical gear 55 are exposed outside the mounting housing 15 and are arranged in a meshing manner. The Z-beam rotation shaft 53 is rotatably mounted on the left and right side walls of the mounting housing 15 via a pair of turntable bearings 57, and the Z-beam rotation shaft 53 passes through the shaft positioning hole 301 on the Z-beam 300 (see...). Figure 1 During installation, the Z-beam 300 is limited at its inner end by a connecting flange sleeve 59 that is snapped onto the Z-beam rotating shaft 53, and at its outer end by a round nut with a stop washer 58 snapped onto the Z-beam rotating shaft 53 and a round nut 56 screwed onto the Z-beam rotating shaft 53.

[0098] It should be noted that the large cylindrical gear 55 and the Z-beam rotating shaft 53 are keyed together, so that the former can drive the latter to rotate relative to the turntable bearing 57, and ultimately drive the Z-beam to rotate. The connection between the connecting flange sleeve 59 and the Z-beam rotating shaft 53 is achieved by the cooperation of the keyway on the inner wall of the former and the key on the outer wall of the latter. A fixed flange sleeve (not shown in the figure) corresponding to the connecting flange sleeve 59 is installed (e.g., welded) on the inner end of the Z-beam 300. A cross boss is provided on the end wall of the fixed flange sleeve. Correspondingly, a cross keyway is provided on the end wall of the connecting flange sleeve 59. After the Z-beam rotating shaft 53 is installed on the Z-beam 300, the Z-beam 300 is fixedly engaged with the Z-beam rotating shaft 53 at its inner end by the engagement of the cross keyway and the cross boss. At the same time, at the outer end of the Z-beam rotating shaft 53, round nuts are installed on the end of the Z-beam rotating shaft 53 in sequence with a retaining washer 58 and a round nut 56, thereby restricting the displacement of the outer end of the Z-beam rotating shaft 53.

[0099] For example Figure 5 As shown, in this embodiment, the X-axis moving frame 100 includes the aforementioned base plate 101 and a pair of X-axis tripods 103 arranged parallel to each other on both sides of the base plate 101. The base plate 101 and the upper frame 201 are connected by a slider 121 and a slide rail 221. An X-axis drive motor 131 with a gear (not shown) connected to its lower output end is mounted on the base plate 101. A rack 231 meshing with the gear (see figure) is mounted on the upper frame 201. Figure 14 The tiltable support 1 is rotatably connected to the top of the pair of X-direction tripods 103 within the pair of X-direction tripods 103; a pair of milling head devices 500 are installed on one side of the Z-beam 300. When the Z-beam 300 is in a horizontal state, this side faces upward, that is, the milling head device 500 faces upward; when the Z-beam 300 is in an inward folded state, this side faces inward, that is, the milling head device 500 faces inward (the structure of the milling head device 500 will be described in detail below).

[0100] It should be noted that, as Figure 7 As shown, and with reference Figure 1 , Figure 6 and Figure 8 In this embodiment, a pitch support shaft 12 is mounted on the support body 10 of the pitch support 1. Specifically, the pitch support shaft 12 is installed through the shaft hole 11 on the support body 10 and fixed relative to the support body 10 by bolts (not shown); correspondingly, as Figure 5 As shown, in this embodiment, a pair of X-axis tripods 103 of the X-axis movable frame 100 are provided with bearing mounting holes 113 on their tops. The pitch support shaft 12 on the pitch support 1 is rotatably mounted in the bearing mounting holes 113 of the X-axis movable frame 100 through a pair of turntable bearings 17.

[0101] like Figure 9and Figure 10 As shown, and refer to Figure 2 In this embodiment, the Z-beam locking mechanism 7 of the Z-beam folding device includes locking brackets 70 connected to both sides of the bottom of the tiltable support 1, a pair of locking drive mechanisms 71 mounted on the locking brackets 70, and a pair of locking shafts 73 driven and connected by the pair of locking drive mechanisms 71. When the tilt angle of the Z-beam 300 is adjusted, the pair of locking shafts 73 can be inserted outward into a pair of pin holes 303 on the Z-beam 300 under the drive of the pair of locking drive mechanisms 71 (see...). Figure 1 This allows the Z-beam 300 to be locked and positioned within the space.

[0102] like Figure 10 As shown, and refer to Figure 9 In this embodiment, the locking drive mechanism is arranged in pairs, corresponding to the locking shaft 73 and the pin hole 303 (see...). Figure 1 The locking drive mechanism 71 is configured as a locking cylinder with a piston rod 712, which is fixedly connected to the locking shaft 73. The locking bracket 70 includes a bracket body 700 for mounting the locking cylinder and a pair of connecting side plates 701 for connecting to the two sides of the bottom end of the tiltable support 1. The bracket body 700 is provided with a locking positioning seat 703, and the locking shaft 73 is self-lubricated and axially movable in the locking positioning seat 703 via a copper sleeve 74 embedded in the locking positioning seat 703.

[0103] For example Figure 10 As shown, and refer to Figure 9 In this embodiment, the copper sleeve 74 is installed in the seat hole of the locking positioning seat 703. The copper sleeve 74 is pressed into the seat hole of the locking positioning seat 703 by the pressure flange 75 with a large hole in the center. The piston rod 712 of the locking cylinder passes through the seat hole and is threadedly connected to the locking shaft 73. The locking shaft 73 and the copper sleeve 74 are clearance-fitted and can extend at least partially out of the locking positioning seat 703 and the pressure flange 75 under the drive of the piston rod 712. Specifically, the pressure flange 75 is fixed to the locking positioning seat 703 with screws to prevent the copper sleeve 74 from sliding out.

[0104] like Figure 9 As shown, a locking plate 709 is provided at the bottom of the bracket body 700 of the locking bracket 70. Figure 2 , Figure 11 and Figure 12As shown, in this embodiment, the pitch brake mechanism 9 of the Z-beam folding device and the Z-beam locking mechanism 7 are installed on the X-direction moving frame 100 in corresponding positions, and include a brake drive device 91, a fixed brake plate 93 and a movable brake plate 95. The fixed brake plate 93 and the movable brake plate 95 are arranged in parallel and spaced apart, and are configured such that the movable brake plate 95 can press the locking plate 709 onto the fixed brake plate 93 under the drive of the brake drive device 91.

[0105] like Figure 11 and Figure 12 As shown, in this embodiment, the pitch brake mechanism 9 further includes a brake bracket and a return spring 96, wherein the fixed brake plate 93 and the movable brake plate 95 are mounted on the brake bracket in parallel at intervals.

[0106] Preferably, in this embodiment, the pitch brake mechanism 9 is provided in pairs. Each brake bracket includes a brake main frame 94 mounted on the X-axis moving frame 2 and a pair of brake sub-frames 97 for mounting the fixed brake plate 93 and the movable brake plate 95. In this embodiment, the brake main frame 94 of the brake brackets of the two pitch brake mechanisms 9 is integrally formed.

[0107] Specifically, in this embodiment, the fixed brake plate 93 is fixedly installed on the brake bracket 97 of the brake support, while the movable brake plate 95 is rotatably installed on the brake bracket 97. Preferably, rubber pads 99 are provided on the inner sides of both the movable brake plate 93 and the fixed brake plate 95 to achieve shock absorption and wear resistance.

[0108] like Figure 11 and Figure 12 As shown, in this embodiment, the brake drive device 91 is configured as a brake cylinder with a piston rod 92, which is mounted on the outer side of the bottom of the fixed brake plate 93. The two ends of the return spring 96 are respectively connected to the bottom ends of the fixed brake plate 93 and the movable brake plate 95. The piston rod 92 of the brake cylinder can switch between a released state that releases the movable brake plate 95 and a braking state that abuts the movable brake plate 95. In the released state, the brake cylinder is in a standby state, the return spring 96 is in an initial state, and the locking plate 709 is released and located between the fixed brake plate 93 and the movable brake plate 95. In the braking state, the brake cylinder is in a working state, the Z-beam 300 is in a locked and positioned state, the return spring 96 is in a stretched state, and the movable brake plate 95, due to the push of the piston rod 92 at its bottom, causes its top to press the locking plate 709 against the top of the fixed brake plate 93.

[0109] Figures 13 to 23 The heading adjustment structure is shown. (Example) Figure 1 and Figure 13As shown, in this embodiment, the heading adjustment structure includes a heading rotation device 2, a support roller device 4, a heading drive device 6, and a heading safety device 8. The heading rotation device 2 includes a heading rotation shaft 21 installed at one end of the equipment base frame 200, so that the upper frame 201 can rotate relative to the lower frame around the heading rotation shaft 21 under the rolling support of the support roller device 4. The heading drive device 6 and the heading safety device 8 are installed at the other end of the equipment base frame 200 and are configured such that the upper frame 201 can adjust its heading angle relative to the lower frame 203 under the drive of the heading drive device 6 through the support and guidance of the heading safety device 8.

[0110] like Figure 13 , Figure 17 and Figure 18 As shown, in this embodiment, the heading rotation device 2 further includes a bearing housing 20 with an upper flange end 22 and an upper tapered roller bearing 23 and a lower tapered roller bearing 24 respectively mounted on the upper and lower parts of the bearing housing 20. The bearing housing 20 is installed through the lower frame 203, and its upper flange end 22 is detachably fixed to the top of the lower frame 203 by bolts (not shown). The heading rotation shaft 21 is provided with a shaft center flange 25. The heading rotation shaft 21 is installed through the upper frame 201 and the bearing housing 20, and its shaft center flange 25 overlaps the upper tapered roller bearing 23. The lower end of the heading rotation shaft 21 is fastened to the inner ring of the lower tapered roller bearing 24 by a round nut 26 and a round nut retaining washer 27. The upper end of the heading rotation shaft 21 is fastened to the upper frame 201 by a round nut 26 and a round nut retaining washer 27.

[0111] Preferably, in this embodiment, the heading rotation shaft 21 is installed through the upper frame 201 via the bushing 28, and the upper end of the heading rotation shaft 21 is fastened to the bushing 28 by the aforementioned round nut 26 and the round nut retaining washer 27.

[0112] like Figure 19 As shown, and refer to Figure 13 As shown, in this embodiment, the heading drive device 6 includes a heading electric cylinder 60 and a spherical bearing head 61. The heading electric cylinder 60 is movably mounted on the other side of the upper frame 201. One end of the spherical bearing head 61 is fixedly connected to the telescopic end 62 of the heading electric cylinder 60, and the other end is movably connected to a fixed shaft 204 mounted on the top of the other end of the lower frame 203.

[0113] For example Figure 19As shown, in this embodiment, the heading drive device 6 further includes a pair of shouldered copper sleeves 63. Each shouldered copper sleeve 63 includes a body part 630 and a pair of shoulders 632. The body part 630 is rotatably connected to the cylinder seat 64 of the heading electric cylinder 60. Each shoulder 632 is fixedly connected to the other side of the upper frame 201 by an internal hexagonal head screw 65.

[0114] It should be noted that in this embodiment, the heading electric cylinder 60 outputs a precise linear displacement according to a preset adjustment amount, driving the entire device to swing around the heading rotation axis 21 in the horizontal plane, thereby changing the heading angle of the fully automatic wind turbine blade root milling machine until the heading deviation between the Z-beam of the fully automatic wind turbine blade root milling machine and the blade root end is compensated to an accuracy range of ±0.5mm. The above-mentioned heading adjustment structure is simple in structure and automated in operation, and can achieve high-precision heading alignment without relying on manual intervention. It effectively overcomes the inherent defect of insufficient positioning accuracy of the AGV steering wheel system and significantly improves the alignment efficiency and accuracy consistency of blade end face processing.

[0115] like Figure 20 and Figure 21 As shown, and refer to Figure 13 and Figure 15 As shown, in this embodiment, the heading safety devices 8 are arranged in pairs, and each heading safety device 8 includes an upper slide rail 81 mounted on the bottom of the upper frame 201, a lower slide rail 83 mounted on the top of the lower frame 203, and a central rotating assembly. The central rotating assembly includes an upper slider 82 slidably connected to the upper slide rail 81, a lower slider 84 slidably connected to the lower slide rail 83, and a central shaft 80 fixed relative to the upper slider 82 and rotatable relative to the lower slider 84. This allows the upper frame 201 and the lower frame 203 to move relative to the central rotating assembly and to rotate relative to each other for heading angle adjustment.

[0116] Specifically, in this embodiment, such as Figure 20 and Figure 21 As shown, the central shaft 80 has a lower flange end 800. The central rotating assembly also includes an upper bearing housing 85, a pair of upper self-lubricating bearings 86, a bearing cover 87, a pair of lower self-lubricating bearings 88, and a lower bearing housing 89. The lower flange end 800 is located inside the lower bearing housing 89. The pair of lower self-lubricating bearings 88 are located between the bearing cover 87 and the lower flange end 800. The bearing cover 87 is detachably mounted on the lower bearing housing 89. The pair of upper self-lubricating bearings 86 are located between the upper bearing housing 85 and the bearing cover 87. The upper end of the central shaft 80 is detachably fastened to the upper bearing housing 85 by a round nut 801 and a round nut retaining washer 803. The upper slider 82 is detachably fixed to the top of the upper bearing housing 85, and the lower slider 84 is detachably fixed to the bottom of the lower bearing housing 89.

[0117] In summary, the installation of the heading safety device 8 provides the following benefits: 1) When the upper frame and lower frame are driven by the yaw drive device 6 to adjust the yaw angle position, although one end is effectively connected and fixed by the yaw rotation shaft 21 of the yaw rotation device 2, the right side is in a suspended state if there is no yaw safety device 8. The support roller device 4 at this end alone is not enough to eliminate vibration, and may even cause the upper frame to jump or bounce upward. The yaw safety device 8 is set to make up for this deficiency. 2) Bidirectional constraint is achieved by using a sliding rail slider: it can both "pull" and "support" the upper frame, thereby forming an effective constraint on the upper frame in the direction perpendicular to the equipment base frame 200, preventing it from jumping, and avoiding the hidden dangers caused by insufficient support for the upper frame due to the other end of the equipment base frame 200 being suspended in the air. 3) Introducing rotational freedom to accommodate linear guides: Since the slider on the slide rail can only move in a straight line, while the upper and lower frames also need to have relative rotational capability, four self-lubricating flat copper bearings are installed between the upper and lower sliders (the upper two serve to "support" and the lower two serve to "pull"). This bearing assembly allows the upper frame to slide freely left and right and forward and backward, while simultaneously meeting the requirements for rotational movement, thereby ensuring that the heading adjustment action is flexible and stable.

[0118] like Figure 22 and Figure 23 As shown, in this embodiment, the support roller devices 4 are installed in pairs on the top of one end of the lower frame 203 and are symmetrically distributed on both sides of the heading rotation axis 21.

[0119] For example Figure 22 and Figure 23 As shown, in this embodiment, each support roller device 4 includes a mounting base 40, a mounting shaft 42, a roller 44, and a pair of deep groove ball bearings 46. The mounting base 40 is detachably mounted on the lower frame 203 by adjusting bolts 49 and has a pair of lugs 41. The mounting shaft 42 is detachably fixed to the pair of lugs 41 on the mounting base 40. Each end of the roller 44 is provided with a bearing mounting hole 45. The pair of deep groove ball bearings 46 are fitted onto the mounting shaft 42 and embedded in the corresponding bearing mounting hole 45. A bearing washer 47 is also installed between the deep groove ball bearing 46 and the lug 41.

[0120] In addition, such as Figure 22 As shown, in this embodiment, at least one end of the mounting shaft 42 is fixed by a stop plate 48 detachably mounted on the ear seat 41. A transverse limiting groove (not shown, a groove perpendicular to the axial direction) is provided on at least one end of the mounting shaft 42. The upper end of the stop plate 48 extends into the transverse limiting groove, thereby preventing the axial movement of the mounting shaft 42.

[0121] like Figure 24 As shown, in this embodiment, AGV wheel sets 202 and height equalization devices 600 are installed at the four corners of the bottom of the lower frame 203 of the equipment base 200. The height equalization devices 600 are configured to switch between an upper stored state and a lower working state. In the upper stored state, the fully automatic wind turbine blade root milling machine is supported by the AGV wheel sets 202 (four in total) at the four corners of the bottom of the lower frame 203. In the lower working state, the fully automatic wind turbine blade root milling machine is supported by the height equalization devices 600 (four in total) at the four corners of the bottom of the lower frame 203.

[0122] like Figures 25 to 28 As shown, and with reference Figure 24 In this embodiment, the height equalization device 600 includes a height equalization mounting base 601 mounted on the bottom side of the lower frame 203, a cylinder mounting base 603 and a foot connecting base 605 respectively disposed on both sides of the bottom of the height equalization mounting base 601, a cylinder 607 mounted on the outside of the cylinder mounting base 603, a foot 609 slidably mounted on the inside of the foot connecting base 605, and an inclined block 608 driven by the cylinder 607 and slidably mounted between the height equalization mounting base 601 and the foot 609. The inclined block 608 is configured such that its upper surface is horizontal and its lower surface 618 is inclined and tilted downward toward the direction of the cylinder 607. Correspondingly, the foot 609 is configured such that its lower surface is horizontal and its upper surface 619 is inclined and tilted downward toward the direction of the cylinder 607.

[0123] In this embodiment, such as Figure 27 As shown, the lower surface 618 of the inclined block 608 and the upper surface 619 of the foot 609 are inclined at an angle of 11° relative to the horizontal direction. Figures 26 to 28 As shown, in this embodiment, a slider 629 is installed at one end of the foot base 609 facing the foot base connecting seat 605, and a slide rail 625 is installed on the inner side of the foot base connecting seat 605 corresponding to the slider 629.

[0124] like Figures 26 to 28 As shown, in this embodiment, a slider 638 is mounted on the upper surface of the inclined block 608, and a slide rail 631 is provided on the bottom surface of the equal-height mounting base 601 corresponding to the slider 638; a slider 648 is also mounted on the lower surface 618 of the inclined block 608, and a slide rail 649 is also provided on the upper surface 619 of the foot base 609 corresponding to the slider 648.

[0125] like Figure 25As shown, in this embodiment, the piston rod 617 of the cylinder 607 is threadedly connected to the inclined block 608, thereby allowing the inclined block 608 to slide along the inclined upper surface 619 of the foot seat 609 under the drive of the cylinder 607. This further allows the foot seat 609 to slide up and down relative to the foot seat connecting seat 605, so that the height equalization device 600 can be in an upper stored state (not shown) and a lower working state (see figure). Figure 25 Convert between )

[0126] like Figure 26 and Figure 28 As shown, in this embodiment, the height equalization device 600 further includes a pair of connecting rods 606, which are arranged on both sides of the height equalization mounting base 601, and each connecting rod 606 is threaded to a cylinder mounting base 603 and a foot mounting base 605 at both ends.

[0127] like Figures 29 to 31 As shown, in this embodiment, a pair of milling head devices 500 are arranged vertically on the Z-beam 300. When the Z-beam 300 is in a vertical state, the upper milling head device 500 is called the upper milling head device, and the lower milling head device 500 is called the lower milling head device. Each milling head device 500 includes a Z-direction moving component movably mounted on the Z-beam 300 in the Z direction, a Y-direction moving component movably mounted on the Z-direction moving component in the Y direction, and a milling head 501 fixedly mounted on the Y-direction moving component and capable of feeding toward the workpiece. The Z-axis moving assembly includes a Z-axis moving mounting base 502, a Z-axis drive motor 512, a Z-axis moving slider 522, and a gear 532 driven and connected by the Z-axis drive motor 512. A Z-axis slide rail that mates with the Z-axis moving slider 522 and a rack (not shown) that mates with the gear 532 are mounted on the Z-beam. The Y-axis moving assembly includes a Y-axis slide table 503, a Y-axis drive motor 513, and a belt drive device 533. The Y-axis slide table 503 includes components fixedly mounted on the Z-axis moving mounting base 502. A lower slide 523 is mounted on a mounting base 502 and on which a lead screw 553 is mounted; an upper slide 543 is fixedly mounted on the bottom of a milling head 501 and on its bottom wall is a nut 573 that mates with the lead screw 553. A Y-axis drive motor 513 drives the lead screw 553 to rotate via a belt drive device 533, thereby causing the nut 573 and the upper slide 543 to move linearly along the Y-axis. The belt drive device 533 includes two pulleys 536, a belt 537, and a belt cover 538.

[0128] Additionally, it should be noted that in this embodiment, the fully automatic wind turbine blade root milling machine also includes a control system (not shown) and a laser ranging system (not shown). The laser ranging system includes two infrared laser pointers (also called infrared lasers) respectively installed on both sides of the upper frame 201 and a laser rangefinder installed on the milling head device. The control system is configured to perform coarse positioning of the equipment base of the fully automatic wind turbine blade root milling machine based on the laser lines emitted by the infrared laser pointers (or the operator based on the two laser lines). It can control the heading adjustment structure to adjust the heading angle of the upper frame relative to the lower frame based on the data fed back by the laser rangefinder. It can also control the Z-beam folding device to adjust the pitch angle and state transition of the Z-beam. Furthermore, it can control the movement of the X-axis moving frame and the movement and feed of the milling head device, as well as control the movement of the AGV wheel set and the leveling device.

[0129] Through the above structural setup, the fully automatic wind turbine blade root milling machine can automatically control the movement of the equipment (by controlling the AGV wheel set 202), the landing of the equipment (by controlling the height equalization device 600), the heading angle adjustment of the upper frame 201 (by controlling the heading adjustment structure), the pitch angle of the Z-beam (by controlling the Z-beam pitch adjustment mechanism of the Z-beam folding device), the folding of the Z-beam (by controlling the Z-beam folding device), the X-axis movement (by controlling the X-axis drive motor 131 of the X-axis moving frame 100), the Z-axis movement and Y-axis movement, and the milling head feed (by controlling the Z-axis movement component, the Y-axis movement component, and the milling head 501).

[0130] The control method of the fully automatic wind turbine blade root milling machine of the present invention is described below, which specifically includes the following steps: Step S1: Equipment positioning and coarse positioning The AGV wheel set 202 moves the equipment, namely the fully automatic wind turbine blade root milling machine, to the root end of the wind turbine blade (not shown in the figure), and uses two laser beams emitted from both sides of the equipment base frame 200 to position and align the stud end face of the blade root end. Then, the equipment is supported by four equal-height devices extending downwards at the bottom of the equipment base frame. The purpose of this step is to determine the basic positional relationship between the equipment and the root of the blade, and to support and level the equipment after it is in place to ensure the stability of the processing platform, that is, to ensure that the equipment is stable and does not shake or tilt during the processing. It should be noted that the AGV wheel set 202 can be moved manually using a remote control to move the equipment to a position roughly parallel and directly opposite the stud end face at the root of the wind turbine blade, or it can be fully automatically controlled by the control system using sensors (installed on the AGV wheel set) and algorithms.

[0131] Step S2: Heading alignment (i.e., Z-beam heading angle calibration) The laser rangefinders on the upper and lower milling heads are used to measure the left and right stud end faces of the blade root (one is aligned with the left side and the other with the right side). The heading angle deviation of the Z-beam 300 is calculated based on the measured data. The heading drive device 6 is then instructed to drive the upper frame 201 to adjust the heading angle of the Z-beam 300 via the heading safety device 8 until the values ​​measured by the two laser rangefinders are consistent. Step S3: Deploy the equipment and rotate and lock the Z-beam. After the heading is aligned, the Z-beam pitch drive mechanism 3 retracts the Z-beam 300 from the center of the equipment to one side (i.e., from an inward folded state to an outward open state). Then, the Z-beam rotation mechanism 5 starts working to rotate the Z-beam 300 from the horizontal state to the vertical state by 90º. After it is in place, the Z-beam locking mechanism 7 locks the Z-beam 300 in the support position (the middle position, where the Z-beam 300 is stably supported and prevents it from swaying and rotating). Step S4: Pitch alignment (i.e., Z-beam pitch angle calibration) Two laser rangefinders are used to measure the upper and lower stud end faces of the blade root (one is aligned with the upper end and the other with the lower end). The pitch angle deviation of Z-beam 300 is calculated based on the measured data. The pitch drive mechanism 3 of Z-beam is then instructed to adjust the pitch angle of Z-beam 300 until the values ​​measured by the two laser rangefinders are consistent. Step S5: Fine-tune and apply pitch brakes The laser rangefinder on the upper milling head device measures the four quadrants (up, down, left, and right) of the stud end face at the root of the blade, calculates the vertical and horizontal drop, and instructs the heading drive device 6 and the Z-beam pitch drive mechanism 3 to automatically fine-tune the heading and pitch angles until the measured values ​​in the up, down, left, and right directions are all within a predetermined range (e.g., within 0.5mm). Then, the pitch brake mechanism 9 locks the Z-beam 300 to its final position (i.e., the working position, in which the Z-beam cannot sway or rotate, nor can it be pitched). This step ensures that the pitch angle remains constant during processing, guaranteeing processing stability; Step S6: Rough Milling The milling head device 500 automatically completes tool setting based on the distance from the blade root end measured by its laser rangefinder. The upper milling head device is positioned at the top of the blade root end, and the lower milling head device is positioned at the bottom of the blade root end, with both feeding simultaneously. The X-axis drive motor 131 drives the X-axis moving frame 100 to move the Z-beam 300 left and right, while the Z-axis drive motor 512 drives the milling head device 500 up and down. The upper milling head device completes the rough milling of the upper half of the blade root end (i.e., milling along the upper semicircular trajectory), and the lower milling head device completes the rough milling of the lower half of the blade root end (i.e., milling along the lower semicircular trajectory). Step S7: Finish milling After rough milling is completed, the lower milling head device retracts to a non-interference position below the root end of the blade, and the equipment switches to the finish milling mode performed only by the upper milling head device. The upper milling head device executes the full circle milling program alone to achieve finish milling. The purpose is to ensure the flatness and smoothness of the stud end face at the root of the blade; Step S78: Quality Inspection After precision milling is completed, the laser rangefinder on the upper milling head device measures the flatness of the stud end face at the root end of the milled blade and calculates the peak value. The measurement data is automatically stored in the system archive and can be exported as a report to achieve traceability of processing quality. Step S8: Equipment Folding and Turnover After all processing is completed, Z-beam 300 rotates 90º to reset (i.e., changes from vertical to horizontal). Z-beam pitch drive mechanism 3 starts the push-out action to restore the equipment to the folded turnover state (i.e., changes from horizontal to inward folded state). It is then driven by AGV wheel set to the next workstation. Specifically, in this step, the Z-beam 300 is changed from a horizontal state to an inwardly folded state in preparation for transfer to the next work station. The Z-beam locking mechanism 7 releases the support lock on the Z-beam 300, and the pitch brake mechanism 9 releases the brake lock on the Z-beam 300. Then, the Z-beam rotating mechanism 5 rotates the Z-beam 300 by 90° to change it from a vertical state to a horizontal state (i.e., it is arranged horizontally and extends along the X direction). Then, the Z-beam pitch drive mechanism 3 starts the push-out action (to the maximum stroke) to change the Z-beam 300 from a horizontal state to an inwardly folded state in preparation for transfer to the next work station.

[0132] It should be noted that before step 1, the fully automatic wind turbine blade root milling machine is in the initial state of the equipment, that is, in the folded turnover state. Specifically, the Z-beam 300 is in the inward folded state, and the telescopic end of the Z-beam pitch drive mechanism 3 (i.e., the electric cylinder head 31) is pushed out to the maximum stroke. In this way, the center of gravity of the equipment is lowered and the height is reduced, which facilitates the movement of the AGV wheel set.

[0133] This invention offers the following advantages: 1) Foldable equipment for easy turnover: The equipment is folded using a Z-beam rotation mechanism and a pitch cylinder, lowering the center of gravity and reducing height, facilitating transfer between different workstations; 2) High-precision positioning and automatic calibration: Closed-loop control of the laser ranging system and the heading and pitch cylinders enables automatic alignment of the equipment with the blade end face, achieving high positioning accuracy without manual intervention; 3) Wide applicability: The automatic leveling and alignment system adapts to the processing requirements of the root end face of wind turbine blades of different specifications, eliminating the need for workpiece support brackets; 4) Parallel processing with dual milling heads significantly improves efficiency: The two working milling heads are respectively responsible for… 5) Rough and finish milling is performed on the upper and lower halves, doubling the processing efficiency compared to single-head milling equipment; 6) Rough and finish milling are separated to ensure processing quality: rough milling is completed first with two milling heads, and then finish milling of the entire circle is completed with a single milling head. The process is reasonable, taking into account both processing efficiency and good flatness and smoothness of the end face; 7) Full-process automation: In addition to rough positioning, which can be manually controlled (of course, it can also be automatically controlled), the entire process from fine positioning, automatic tool setting, automatic processing to automatic detection is intelligently controlled, reducing the intensity of manual labor and improving processing consistency and reliability; 8) Intelligent measurement and feedback: after processing, the flatness of the milled part is automatically measured, recorded and archived, realizing traceable management of processing quality.

[0134] The technical content and features of this invention have been disclosed above. However, it is understood that, under the inventive concept of this invention, those skilled in the art can make various changes and improvements to the above structure, including combinations of the technical features disclosed or claimed herein, as well as other combinations that explicitly include these features. These modifications and / or combinations all fall within the technical field of this invention and are within the scope of protection of the claims of this invention.

Claims

1. A fully automatic wind turbine blade root milling machine, characterized in that... include: The equipment base frame includes an upper frame, a lower frame, and a heading adjustment structure installed between the upper frame and the lower frame, which includes a heading drive device. The heading adjustment structure is configured to allow the upper frame to adjust its heading angle relative to the lower frame under the drive of the heading drive device. X-axis movable rack, which is movably mounted on the upper rack in the X direction; Z-beam assembly, comprising a Z-beam and a pair of milling head devices movably mounted in the Z direction and spaced apart vertically on the Z-beam; Z-beam folding device, which includes a Z-beam pitch adjustment mechanism and a Z-beam rotation mechanism having a common Z-beam support axis. The Z-beam pitch adjustment mechanism is mounted on the X-axis moving frame and is configured to adjust the pitch angle of the Z-beam supported by the Z-beam support axis under the drive of the Z-beam pitch drive mechanism. The Z-beam rotation mechanism is mounted above the Z-beam pitch adjustment mechanism and is configured to drive the Z-beam to rotate via the Z-beam support axis. The control system and the laser ranging system include two infrared lasers mounted on both ends of the side of the upper frame facing the wind turbine blades and a laser rangefinder mounted on each milling head device.

2. The fully automatic wind turbine blade root milling machine as described in claim 1, characterized in that, The Z-beam pitch adjustment mechanism includes a pitchable support rotatably connected to the top of the X-axis moving frame, a Z-beam pitch drive mechanism whose two ends are respectively movably connected to the bottom of the pitchable support and the base plate of the X-axis moving frame, and a Z-beam support shaft installed on the top of the pitchable support.

3. The fully automatic wind turbine blade root milling machine as described in claim 2, characterized in that, The Z-beam pitch drive mechanism is configured to drive the pitchable support to switch between a vertical and a horizontal position. The Z-beam rotation mechanism is configured to drive the Z-beam support shaft and thus the Z-beam to switch between a vertical and a horizontal state. When the Z-beam pitch drive mechanism is in its initial state, the pitchable support is in a vertical position, and the Z-beam can switch from a vertical to a horizontal state under the drive of the Z-beam rotation mechanism. When the Z-beam is in a horizontal state, the Z-beam pitch drive mechanism can be activated to switch from the initial state to the maximum force state to switch the pitchable support from a vertical to a horizontal position, at which point the Z-axis is in an inward folded state; and vice versa.

4. The fully automatic wind turbine blade root milling machine as described in claim 3, characterized in that, The Z-beam pitch drive mechanism is a pitch electric cylinder; the Z-beam rotation mechanism includes a rotary servo motor and a Z-beam support shaft driven by the rotary servo motor, wherein the Z-beam support shaft passes through the Z-beam and is detachably fixedly connected to the Z-beam. The Z-beam rotation mechanism also includes a mounting housing, a reducer, a small cylindrical gear, and a large cylindrical gear located at the top of the pitchable support. The rotary servo motor, reducer, and small cylindrical gear form a rotary input end and are mounted on the bottom plate of the mounting housing. The Z-beam support shaft and large cylindrical gear form a rotary output end and are mounted on the mounting housing above the rotary input end. Furthermore, the Z-beam rotation mechanism is configured such that the small cylindrical gear drives the large cylindrical gear to rotate under the drive of the rotary servo motor via the reducer, and the large cylindrical gear drives the Z-beam support shaft to rotate, thereby causing the Z-beam to switch between a vertical and a horizontal state.

5. The fully automatic wind turbine blade root milling machine as described in claim 2, characterized in that, The X-axis moving frame includes a base plate and a pair of X-axis tripods arranged parallel to each other on both sides of the base plate. The base plate and the upper frame are connected by a slider and a slide rail structure. An X-axis drive motor with a gear connected to its lower output end is mounted on the base plate, and a rack meshing with the gear is mounted on the upper frame. The pitchable support is rotatably connected to the top of the pair of X-axis tripods. A pair of milling head devices are mounted on one side of the Z-beam. When the Z-beam is in a horizontal state, this side faces upward; when the Z-beam is in an inward folded state, this side faces inward. Each milling head device includes a Z-axis moving component movably mounted on the Z-beam in the Z-axis direction, a Y-axis moving component movably mounted on the Z-axis moving component in the Y-axis direction, and a milling head fixedly mounted on the Y-axis moving component and capable of feeding toward the workpiece.

6. The fully automatic wind turbine blade root milling machine as described in claim 1, characterized in that, The Z-beam folding device also includes a Z-beam locking mechanism, which includes locking brackets connected to both sides of the bottom of the pitchable support of the Z-beam pitch adjustment mechanism, a pair of locking drive mechanisms mounted on the locking brackets, and a pair of locking shafts driven and connected by the pair of locking drive mechanisms. When the pitch angle of the Z-beam is adjusted, the pair of locking shafts can be inserted outward into a pair of pin holes on the Z-beam under the drive of the pair of locking drive mechanisms, thereby putting the Z-beam in a locked and positioned state.

7. The fully automatic wind turbine blade root milling machine as described in claim 6, characterized in that, The Z-beam folding device also includes a pitch brake mechanism; a locking plate is provided at the bottom of the locking bracket; the pitch brake mechanism is installed on the X-axis moving frame corresponding to the locking plate, and includes a brake drive device, a fixed brake plate, and a movable brake plate. The fixed brake plate and the movable brake plate are arranged in parallel and spaced apart, and the movable brake plate is configured such that it can press the locking plate against the fixed brake plate under the drive of the brake drive device; the pitch brake mechanism also includes a brake bracket and a return spring, wherein the fixed brake plate and the movable brake plate are installed in parallel and spaced apart on the brake bracket, and the brake drive device is configured as a brake cylinder and installed on the fixed brake plate. On the bottom outer side, the two ends of the return spring are respectively connected to the bottom ends of the fixed brake plate and the movable brake plate. The piston rod of the brake cylinder can switch between a released state (releasing the movable brake plate) and a braking state (pressing against the movable brake plate). In the released state, the brake cylinder is in a standby state, the return spring is in an initial state, and the locking plate is released and located between the fixed brake plate and the movable brake plate. In the braking state, the brake cylinder is in a working state, the Z-beam is in a locked and positioned state, the return spring is in a stretched state, and the bottom of the movable brake plate, pushed by the piston rod, presses the locking plate against the top of the fixed brake plate.

8. The fully automatic wind turbine blade root milling machine as described in any one of claims 1 to 7, characterized in that, The heading adjustment structure includes a heading rotation device, a support roller device, a heading drive device, and a heading safety device. The heading rotation device includes a heading rotation shaft installed through one end of the equipment base frame, allowing the upper frame to rotate relative to the lower frame around the heading rotation shaft under the rolling support of the support roller device. The heading drive device and the heading safety device are installed at the other end of the equipment base frame and are configured such that the upper frame can adjust its heading angle relative to the lower frame under the drive of the heading drive device and the support and guidance of the heading safety device.

9. The fully automatic wind turbine blade root milling machine as described in claim 8, characterized in that, The heading drive device includes a heading electric cylinder and a spherical bearing head. The heading electric cylinder is movably mounted on the other side of the upper frame. One end of the spherical bearing head is fixedly connected to the telescopic end of the heading electric cylinder, and the other end is movably connected to a fixed shaft mounted on the top of the other end of the lower frame. The heading drive device also includes a pair of shouldered brass sleeves. Each shouldered brass sleeve includes a body and a pair of shoulders. The body is rotatably connected to the cylinder seat of the heading electric cylinder, and each shoulder is fixedly connected to the other side of the upper frame by an internal hexagonal head screw.

10. The fully automatic wind turbine blade root milling machine as described in claim 8, characterized in that, The heading safety devices are arranged in pairs, and each heading safety device includes an upper slide rail mounted on the bottom of the upper frame, a lower slide rail mounted on the top of the lower frame, and a central rotating assembly. The central rotating assembly includes an upper slider slidably connected to the upper slide rail, a lower slider slidably connected to the lower slide rail, and a central shaft fixed relative to the upper slider but rotatable relative to the lower slider. This allows the upper frame and the lower frame to move relative to the central rotating assembly and to rotate relative to each other for heading angle adjustment. The central shaft has a lower flange. The central rotating assembly also includes an upper bearing housing, a pair of upper self-lubricating bearings, a bearing cover, a pair of lower self-lubricating bearings, and a lower bearing housing. The lower flange end is located inside the lower bearing housing. The pair of lower self-lubricating bearings are located between the bearing cover and the lower flange end. The bearing cover is detachably mounted on the lower bearing housing. The pair of upper self-lubricating bearings are located between the upper bearing housing and the bearing cover. The upper end of the central shaft is detachably fastened to the upper bearing housing by a round nut and a round nut retaining washer. The upper slider is detachably fixedly connected to the top of the upper bearing housing, and the lower slider is detachably fixedly connected to the bottom of the lower bearing housing.

11. The fully automatic wind turbine blade root milling machine as described in claim 8, characterized in that, The heading rotation device further includes a bearing housing with an upper flange end and an upper tapered roller bearing and a lower tapered roller bearing respectively mounted on the upper and lower parts of the bearing housing. The bearing housing is installed through the lower frame and its upper flange end is detachably fixed to the top of the lower frame by bolts. The heading rotation shaft is provided with a shaft center flange. The heading rotation shaft is installed through the upper frame and the bearing housing, and its shaft center flange overlaps the upper tapered roller bearing. The lower end of the heading rotation shaft is fastened to the inner ring of the lower tapered roller bearing by a round nut and a round nut with a retaining washer, and the upper end is fastened to the upper frame by a round nut and a round nut with a retaining washer. The heading rotation shaft is installed through the upper frame by a bushing, and the upper end of the heading rotation shaft is fastened to the bushing by a round nut and a round nut with a round nut with a retaining washer.

12. The fully automatic wind turbine blade root milling machine as described in claim 8, characterized in that, The support roller devices are mounted in pairs on the top of one end of the lower frame and symmetrically distributed on both sides of the yaw rotation axis. Each support roller device includes a mounting base, a mounting shaft, a roller, and a pair of deep groove ball bearings. The mounting base is detachably mounted on the lower frame and has a pair of lugs. The mounting shaft is detachably fixed to the pair of lugs on the mounting base. Each end of the roller has a bearing mounting hole. The pair of deep groove ball bearings are fitted onto the mounting shaft and embedded in the corresponding bearing mounting holes. Bearing washers are also installed between the deep groove ball bearings and the lugs.

13. The fully automatic wind turbine blade root milling machine as described in any one of claims 1 to 7, characterized in that, AGV wheel sets and leveling devices are installed at the four corners of the bottom of the lower frame of the equipment base. The leveling devices are configured to switch between an upper stored state and a lower working state. In the upper stored state, the root milling machine is supported by the AGV wheel sets at the four corners; in the lower working state, the root milling machine is supported by the leveling devices at the four corners.

14. The fully automatic wind turbine blade root milling machine as described in claim 13, characterized in that, The height equalization device includes a height equalization mounting base installed on the bottom of the lower frame, a cylinder mounting base and a foot mounting base respectively disposed on both sides of the bottom of the height equalization mounting base, a cylinder installed on the outside of the cylinder mounting base, a foot mounted slidably on the inside of the mounting base, and an inclined block driven by the cylinder and slidably installed between the height equalization mounting base and the foot. The inclined block is configured such that its upper surface is horizontal and its lower surface is inclined and tilted downward toward the direction of the cylinder, and the foot is correspondingly configured such that its lower surface is horizontal and its upper surface is inclined and tilted upward toward the direction of the cylinder.

15. The fully automatic wind turbine blade root milling machine as described in claim 14, characterized in that, The lower surface of the inclined block and the upper surface of the foot are inclined at an angle of 11° relative to the horizontal direction; the piston rod of the cylinder is threadedly connected to the inclined block, so that the inclined block can slide along the inclined upper surface of the foot under the drive of the cylinder, and the foot can slide up and down relative to the foot connecting seat so that the leveling device can switch between the upper storage state and the lower working state.

16. The fully automatic wind turbine blade root milling machine as described in claim 15, characterized in that, The elevation equalization device also includes a pair of connecting rods arranged on both sides of the elevation equalization mounting base, and each connecting rod is threaded to the cylinder mounting base and the foot mounting base at both ends.

17. The control method for a fully automatic wind turbine blade root milling machine as described in any one of claims 1 to 16, characterized in that... Includes the following steps: S1: Equipment positioning and coarse positioning; S2: Heading is correct; S3: Equipment deployment and Z-beam rotation; S4: Alignment (Pitch and height); S5: Precision fine-tuning; S6: Rough milling; S7: Precision milling; S8: Equipment folding and turnover.

18. The control method for a fully automatic wind turbine blade root milling machine as described in claim 17, characterized in that, The process includes step S78: quality inspection, which is performed after step S7 and before step S8.

19. The control method for a fully automatic wind turbine blade root milling machine as described in claim 17, characterized in that, In step S1, the root milling machine is moved to the root end of the wind turbine blade by the AGV wheel set at the bottom of the equipment frame, and the two laser beams emitted by the two infrared lasers on the upper frame are used to position and align the stud end face at the root end of the blade. Then, the support equipment is extended downwards simultaneously by the four equalization devices at the bottom of the equipment base.

20. The control method for a fully automatic wind turbine blade root milling machine as described in claim 17, characterized in that, In step S2, the laser rangefinders on the two milling head devices on the Z-beam measure the left and right stud end faces of the blade root, respectively, and calculate the heading angle deviation of the Z-beam based on the measured data. The heading drive device is then instructed to rotate the upper frame relative to the lower frame to adjust the heading angle of the Z-beam until the values ​​measured by the two laser rangefinders are consistent.

21. The control method for a fully automatic wind turbine blade root milling machine as described in claim 20, characterized in that, In step S3, after the heading is aligned, the Z-beam pitch drive mechanism retracts the Z-beam from an inward folded state to a horizontal state. Then, the Z-beam rotation mechanism starts to rotate the Z-beam 90° from the horizontal state to the vertical state.

22. The control method for a fully automatic wind turbine blade root milling machine as described in claim 21, characterized in that, In step S3, after the Z-beam is rotated to a vertical position, the Z-beam is locked in the support position by the Z-beam locking mechanism of the Z-beam folding device so that the Z-beam is stably supported.

23. The control method for a fully automatic wind turbine blade root milling machine as described in claim 21, characterized in that, In step S4, two laser rangefinders are used to measure the upper and lower stud end faces of the blade root, respectively. The pitch angle deviation of the Z-beam is calculated based on the measured data. The pitch drive mechanism of the Z-beam is then instructed to adjust the pitch angle of the Z-beam until the values ​​measured by the two laser rangefinders are consistent.

24. The control method for a fully automatic wind turbine blade root milling machine as described in claim 23, characterized in that, In step S5, the laser rangefinder on the upper milling head device of the pair of milling head devices measures the four quadrants of the stud end face at the root of the blade, including the upper, lower, left, and right quadrants, respectively, calculates the vertical and horizontal drop, and instructs the heading drive device and the Z-beam pitch drive mechanism to automatically fine-tune the heading angle and pitch angle until the measured values ​​in the upper, lower, left, and right directions are all within the predetermined range.

25. The control method for a fully automatic wind turbine blade root milling machine as described in claim 24, characterized in that, In step S5, the predetermined range is within 0.5 mm.

26. The control method for a fully automatic wind turbine blade root milling machine as described in claim 24, characterized in that, In step S5, after the fine-tuning is completed, the Z-beam is locked in the final position by the pitch brake mechanism to ensure that the pitch angle remains unchanged during the processing.

27. The control method for a fully automatic wind turbine blade root milling machine as described in claim 26, characterized in that, In step S6, both milling head devices automatically perform tool setting based on the distance from the blade root end measured by their laser rangefinders. The upper milling head device is positioned at the top of the blade root end, and the lower milling head device is positioned at the bottom of the blade root end. Both devices advance simultaneously. The X-axis moving frame drives the Z-beam to move left and right along the X-axis, and the milling head devices move up and down along the Z-axis. The upper milling head device completes the rough milling of the upper half of the blade root end, and the lower milling head device completes the rough milling of the lower half of the blade root end.

28. The control method for a fully automatic wind turbine blade root milling machine as described in claim 27, characterized in that, In step S7, after rough milling is completed, the lower milling head device retracts to a non-interference position below the root end of the blade, and the equipment switches to the fine milling mode performed only by the upper milling head device. The upper milling head device executes the full circle milling program alone to achieve fine milling.

29. The control method for a fully automatic wind turbine blade root milling machine as described in claim 28, characterized in that, After step S7 and before step S8, step S78 is also included: quality inspection. In step S78, after the precision milling is completed, the laser rangefinder on the upper milling head device measures the flatness of the stud end face at the root end of the milled blade and calculates the peak value. The measurement data is automatically stored in the system archive and can be exported as a report to achieve traceability of processing quality.

30. The control method for a fully automatic wind turbine blade root milling machine as described in claim 29, characterized in that, In step S8, after all the processing is completed, the Z-beam rotates 90° from a vertical state to a horizontal state. The Z-beam pitch drive mechanism is activated to push out the Z-beam from a horizontal state to an inward folded state in preparation for moving to the next work station.

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