Swing mechanism of blade surface milling device

Abstract

The utility model discloses a swing mechanism of a blade surface milling device, including a fifth mounting frame, a sixth mounting frame, a first electric cylinder, a second electric cylinder and a clamping mechanism, wherein the fifth mounting frame is arranged at the rear end of the fourth mounting frame, a first slider is arranged at the upper end of the fifth mounting frame, a first guide rail is arranged at the lower end of the sixth mounting frame, the first slider corresponds to the first guide rail one by one, the first electric cylinder is arranged at the upper end of the fifth mounting frame, the other end of the first electric cylinder is connected to the sixth mounting frame, the clamping mechanism is hinged to the right end of the sixth mounting frame, a third support column is arranged at the rear end of the fifth mounting frame, and one end of the second electric cylinder is respectively hinged to the third support and the clamping mechanism. The utility model provides a blade surface milling device and a swing mechanism of a blade surface milling device, which can adjust the depth and angle of the milling frame to ensure that the milling frame can be fixed on the wind turbine blade and enhance its structural stability.

Description

Technical Field

[0001] The utility model belongs to the technical field of wind power blade processing, and in particular relates to a swing mechanism of a blade surface milling device. Background Art

[0002] The surface quality of wind turbine blades determines the length of their service life. After the casting is completed, the defective areas need to be polished and polished according to the casting layer to facilitate secondary repair. Traditional polishing is manual polishing, which requires high polishing skills of workers, is time-consuming, cannot guarantee quality, and causes serious pollution.

[0003] In the utility model patent application with the publication number of "CN116175347A", a blade inner surface staggered layer grinding robot and grinding method are disclosed. The grinding robot includes a frame, a suction cup positioning device, a four-axis motion platform, a grinding mechanism, and a laser scanning positioning mechanism. The suction cup positioning device includes a plurality of intermediate suction cups and a plurality of auxiliary suction cups; the four-axis motion platform includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and an R-axis swinging mechanism; the grinding mechanism includes a grinding motor and a grinding milling cutter; and the laser scanning positioning mechanism includes a laser sensor. The utility model can well adapt to the blade surface through the suction cup positioning device, and can stably keep the entire frame and the blade fixed to ensure the grinding quality of the inner staggered layer; through the cooperation of the four-axis motion platform and the laser scanning positioning mechanism, the inner staggered layer can be quickly and effectively positioned to improve the accuracy of grinding; the dust generated during the grinding process can be quickly sucked away and collected by a vacuum cleaner to avoid the dust generated by grinding affecting the workshop environment. This utility model patent application is applicable to the grinding of the inner staggered layers of wind turbine blades. Moreover, there are vibrations during grinding, which leads to insufficient stability and easily causes inaccurate milling.

[0004] In the utility model patent application with the publication number "CN116141145A", a blade outer surface staggered grinding device and grinding method are disclosed, including a trolley, a lifting platform, a robot, a laser scanning positioning mechanism and a grinding mechanism, the lifting platform includes a bracket, a lifting platform, a lifting motor, and a lifting screw; the grinding mechanism includes a grinding motor, a grinding milling cutter, and a fixed mounting plate, and dust baffles are arranged around the grinding milling cutter; the robot is a six-axis robot; the laser scanning positioning mechanism includes a laser sensor and a circuit module. The utility model uses a trolley and a lifting platform to meet the needs of grinding staggered defects on the outer surface of a wind turbine blade of huge size; the laser scanning positioning mechanism can effectively locate the defect position and improve the grinding accuracy; the six-axis robot and a special grinding mechanism are used to realize automatic grinding of defects to ensure the grinding quality; the dust baffle and the dust collector are used to effectively reduce the impact of dust generated during the grinding process on the on-site operators, and the grinding process is more environmentally friendly. This utility model patent application is suitable for the grinding of the inner staggered layers of wind turbine blades. In actual applications, the stability is still insufficient and the processing accuracy cannot be ensured.

[0005] According to the current traditional manual operation and mechanical grinding, the grinding efficiency is still low, and it is not suitable for the internal and external staggered grinding of wind turbine blades at the same time, and the application is not wide enough. Therefore, it is necessary to design a blade surface milling method and a milling device to achieve the rapid grinding of the internal and external staggered layers of wind turbine blades. In particular, in order to ensure that the wind turbine blades can be fitted more closely, it is also necessary to design a swing mechanism of the blade surface milling device to enhance its stability. Utility Model Content

[0006] In order to solve the deficiencies in the prior art, the utility model provides a swing mechanism for a blade surface milling device.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] A swing mechanism of a blade surface milling device, the swing mechanism comprising a fifth mounting frame, a sixth mounting frame, a first electric cylinder, a second electric cylinder and a clamping mechanism, the fifth mounting frame is arranged at the rear end of the fourth mounting frame, the upper end of the fifth mounting frame is provided with a first slider, the lower end of the sixth mounting frame is provided with a first guide rail, the first slider corresponds to the first guide rail one by one, the first electric cylinder is arranged at the upper end of the fifth mounting frame, the other end of the first electric cylinder is connected to the sixth mounting frame, the clamping mechanism is hinged to the right end of the sixth mounting frame, the rear end of the fifth mounting frame is provided with a third support column, one end of the second electric cylinder is hinged to the third support column, The other end of the second electric cylinder is hingedly connected to the clamping mechanism; the clamping mechanism comprises a first swing frame, a first support shaft is provided at the front and rear ends of the first swing frame, a first mounting hole is provided at the right end of the sixth mounting frame, the first support shaft is installed in the first mounting hole through a bearing, a first connecting rod is provided at the rear end of the first support shaft, and the second electric cylinder is hingedly connected to the first connecting rod; the clamping mechanism comprises a second swing frame, a first spring and a first mounting plate, a second support shaft is provided at the left and right ends of the first swing frame, a second mounting hole is provided at the two ends of the second swing frame, the second support shaft is installed in the second mounting hole through a bearing, and the upper end of the first mounting plate A first sleeve is provided, a first guide rod is provided in the second swing frame, the first sleeve corresponds to the first guide rod one-to-one, one end of the first spring is connected to the second swing frame, and the other end of the first spring is connected to the first mounting plate; a second mounting plate is provided at the lower end of the second swing frame, a plurality of first clearance holes are provided on the second mounting plate, the first clearance holes correspond to the first sleeve one-to-one, a first stopper is provided in the middle of the first sleeve, and the first stopper is arranged between the second mounting plate and the second swing frame; the clamping mechanism includes a first mounting member, a second mounting member and a second connecting rod, and the first mounting member is arranged at the first swing frame At both ends, the second mounting piece is hingedly set at both ends of the second swing frame, the second mounting piece is provided with a first guide hole, the second connecting rod corresponds to the first guide hole one by one, one end of the second connecting rod is provided with a second stopper, the second stopper is hinged to the first mounting piece, the other end of the second connecting rod is provided with a third stopper, the second connecting rod is sleeved with a second spring and a third spring, the second spring is arranged between the second stopper and the second mounting piece, and the third spring is arranged between the third stopper and the second mounting piece; the clamping mechanism includes a first distance sensor, and the first distance sensor is arranged on the outside of the second swing frame.

[0009] The utility model discloses a swing mechanism for a blade surface milling device, which has a beneficial effect compared with the prior art in that it adjusts the milling frame to a suitable height through a lifting adjustment mechanism, and adjusts the depth and angle of the milling frame in conjunction with the swing mechanism to ensure that the milling frame can be fixed at any position of the wind turbine blade, thereby enhancing its structural stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of a milling device provided by the utility model from one perspective.

[0011] Figure 2 It is a structural schematic diagram of the milling device provided by the utility model from another perspective.

[0012] Figure 3 It is a structural schematic diagram of a forklift from one perspective of the milling device provided by the utility model.

[0013] Figure 4 It is a structural schematic diagram of a forklift of the milling device provided by the utility model from another perspective.

[0014] Figure 5 It is a structural schematic diagram of a swing mechanism of a milling device provided by the utility model from one perspective.

[0015] Figure 6 It is a schematic diagram of the swing mechanism of the milling device provided by the utility model from another perspective.

[0016] Figure 7 It is a structural schematic diagram of a milling frame of the milling device provided by the utility model from one perspective.

[0017] Figure 8 It is a structural schematic diagram of the milling frame of the milling device provided by the utility model from another perspective.

[0018] Fig. 9 It is a structural schematic diagram from one perspective of the clamping mechanism of the milling device provided by the utility model.

[0019] Fig.10 It is a schematic diagram of the clamping mechanism of the milling device provided by the utility model from another perspective.

[0020] Fig.11 It is a schematic diagram of a milling mechanism of the milling device provided by the utility model from one perspective.

[0021] Fig.12 It is a schematic diagram of the milling mechanism of the milling device provided by the utility model from another perspective.

[0022] Reference numerals include: 1000, forklift; 2100, height adjustment mechanism; 2110, first mounting frame; 2120, second mounting frame; 2130, third mounting frame; 2140, fourth mounting frame; 2150, first hydraulic cylinder; 2160, first sprocket; 2161, first chain; 2170, second sprocket; 2171, second chain; 2200, swing mechanism; 2210, fifth mounting frame; 2211, first slider; 2220, sixth mounting frame; 2221 , first guide rail; 2230, first electric cylinder; 2240, second electric cylinder; 2300, clamping mechanism; 2310, first swing frame; 2320, second swing frame; 2321, second mounting plate; 2330, first mounting plate; 2340, first sleeve; 2341, first stopper; 2350, first connecting rod; 2360, first mounting member; 2370, second mounting member; 2380, second connecting rod; 2381, second spring; 2382, third spring; 2390, first distance sensor; 2391, first spring; 3000, milling mechanism; 3100, milling frame; 3110, second guide rail; 3210, first support column; 3220, second cylinder; 3230, second sleeve; 3231, second guide rod; 3240, first support block; 3250, first suction cup; 3251, first pagoda joint; 3260, first auxiliary rod; 3270, second support column; 3271, first roller; 3300, first support frame; 331 0. first drive motor; 3320. first screw rod; 3400. second support frame; 3410. third guide rail; 3420. second drive motor; 3430. second screw rod; 3500. third support frame; 3510. fourth guide rail; 3600. fourth support frame; 3610. third electric cylinder; 3700. first swing frame; 3710. first swing motor; 3800. grinding motor; 3810. dust baffle; 3820. first dust suction port; 3900. laser sensor. DETAILED DESCRIPTION

[0023] The utility model discloses a blade surface milling method and a milling device. The specific implementation manner of the utility model is further described below in conjunction with a preferred embodiment.

[0024] See attached figure Figure 1-12 , Figure 1 It is a structural schematic diagram of a milling device provided by the utility model from one perspective. Figure 2 It is a structural schematic diagram of the milling device provided by the utility model from another perspective. Figure 3 It is a structural schematic diagram of a forklift 1000 of a milling device provided by the utility model from one perspective. Figure 4 is a structural schematic diagram of a forklift 1000 of a milling device provided by the utility model from another perspective, Figure 5It is a structural schematic diagram of a swing mechanism 2200 of a milling device provided by the utility model from one perspective. Figure 6 is a structural schematic diagram of the swing mechanism 2200 of the milling device provided by the utility model from another perspective, Figure 7 It is a structural schematic diagram of a milling frame 3100 of the milling device provided by the utility model from one perspective. Figure 8 It is a structural schematic diagram of the milling frame 3100 of the milling device provided by the utility model from another perspective. Fig. 9 It is a structural schematic diagram of a clamping mechanism 2300 of a milling device provided by the utility model from one perspective. Fig.10 is a structural schematic diagram of the clamping mechanism 2300 of the milling device provided by the utility model from another perspective, Fig.11 It is a structural schematic diagram of a milling mechanism 3000 of the milling device provided by the utility model from one perspective. Fig.12 It is a structural schematic diagram of the milling mechanism 3000 of the milling device provided by the utility model from another perspective.

[0025] Preferred embodiments.

[0026] This embodiment provides a blade surface milling method, comprising the following steps:

[0027] Step S1: driving the forklift 1000 to move to the side of the wind turbine blade, and using the height adjustment mechanism 2100 and the swing mechanism 2200 in the adjustment module to adjust the height, depth and angle of the milling module, so that both ends of the limit mechanism in the milling module are against the surface of the wind turbine blade;

[0028] Step S2: Use the telescopic pressing mechanism 2300 in the milling module to press the milling frame 3100 onto the wind turbine blade, then use the milling fixing mechanism in the milling module to adsorb and fix the milling module on the surface of the wind turbine blade, and then use the milling mechanism 3000 in the milling module to grind the defects on the wind turbine blade.

[0029] This embodiment also provides a blade surface milling device, comprising:

[0030] A forklift 1000; an adjustment module, the adjustment module comprising a height adjustment mechanism 2100 and a swing mechanism 2200, the height adjustment mechanism 2100 being arranged at the rear end of the forklift 1000, and the swing mechanism 2200 being arranged at the rear end of the height adjustment mechanism 2100;

[0031] The milling module includes a milling frame 3100, a milling fixing mechanism and a milling mechanism 3000. The milling frame 3100 is arranged at the right end of the swing mechanism 2200, the milling fixing mechanism is arranged at the four corners of the milling frame 3100, and the milling mechanism 3000 is arranged at the lower end of the milling frame 3100.

[0032] Further, the height adjustment mechanism 2100 includes a first mounting frame 2110, a second mounting frame 2120, a third mounting frame 2130, a fourth mounting frame 2140 and a first hydraulic cylinder 2150, the lower end of the first mounting frame 2110 is hinged to the forklift 1000, the rear end of the forklift 1000 is hinged with a first cylinder, the other end of the first cylinder is hinged to the first mounting frame 2110, the second mounting frame 2120 is arranged in the first mounting frame 2110, and the second mounting frame 2120 is slidably connected to the first mounting frame 2110, the third mounting frame 2130 is arranged in the second mounting frame 2120, and the third mounting frame 2130 is slidably connected to the second mounting frame, the fourth mounting frame is arranged in the third mounting frame, and the fourth mounting frame is slidably connected to the third mounting frame, the first hydraulic cylinder 2150 is arranged at the upper end of the first mounting frame 2110, and the first hydraulic cylinder 2150 is arranged at the upper end of the first mounting frame 2150. 0 is provided with a first idler wheel 2160 at the upper end, the first idler wheel is provided with a first chain 2161, the first chain 2161 matches the first idler wheel 2160, one end of the first chain 2161 is connected to the lower end of the first mounting frame 2110, the other end of the first chain 2161 is connected to the lower end of the second mounting frame 2120, the upper end of the second mounting frame 2120 is provided with a second idler wheel 2170, the second idler wheel is provided with a second chain 2171, the second chain matches the second idler wheel, one end of the second chain is fixedly connected to the upper end of the first mounting frame 2110, the other end of the second chain is fixedly connected to the lower end of the third mounting frame 2130, a third idler wheel is provided in the middle part of the third mounting frame 2130, the third idler wheel is provided with a third chain, the third chain matches the third idler wheel, and one end of the third chain 2171 is fixedly connected to the lower end of the fourth mounting frame 2140.

[0033] Further, the swing mechanism 2200 includes a fifth mounting frame 2210, a sixth mounting frame 2220, a first electric cylinder 2230, a second electric cylinder 2240 and a pressing mechanism 2300, the fifth mounting frame 2210 is arranged at the rear end of the fourth mounting frame 2140, the upper end of the fifth mounting frame 2210 is provided with a first slider 2211, the lower end of the sixth mounting frame 2220 is provided with a first guide rail 2221, the first slider 2211 corresponds to the first guide rail 2221, the first electric cylinder 2230 is arranged at the upper end of the fifth mounting frame 2210, the other end of the first electric cylinder 2230 is provided with a first slider 2211, and the first slider 2211 corresponds to the first guide rail 2221. The end is connected to the sixth mounting frame 2220, the clamping mechanism 2300 is hinged to the right end of the sixth mounting frame 2220, a third support column is provided at the rear end of the fifth mounting frame 2210, one end of the second electric cylinder 2240 is hinged to the third support column, and the other end of the second electric cylinder 2240 is hinged to the clamping mechanism 2300; the clamping mechanism 2300 includes a first swing frame 2310, and the front and rear ends of the first swing frame 2310 are provided with a first support shaft, the right end of the sixth mounting frame 2220 is provided with a first mounting hole, and the first support shaft is installed in the first mounting hole through a bearing The first supporting shaft is provided with a first connecting rod 2350 at the rear end thereof, and the second electric cylinder 2240 is hinged to the first connecting rod 2350; the pressing mechanism 2300 comprises a second swing frame 2320, a first spring 2391 and a first mounting plate 2330, the left and right ends of the first swing frame 2310 are provided with a second supporting shaft, the two ends of the second swing frame 2320 are provided with a second mounting hole, the second supporting shaft is mounted in the second mounting hole through a bearing, the upper end of the first mounting plate 2330 is provided with a first sleeve 2340, the second swing frame 2320 is provided with a first guide rod, the first sleeve The sleeve 2340 corresponds to the first guide rod one by one, one end of the first spring 2391 is connected to the second swing frame 2320, and the other end of the first spring 2391 is connected to the first mounting plate 2330; a second mounting plate 2321 is provided at the lower end of the second swing frame 2320, and a plurality of first clearance holes are provided on the second mounting plate 2321, and the first clearance holes correspond to the first sleeve 2340 one by one, and a first stopper 2341 is provided in the middle of the first sleeve 2340, and the first stopper 2341 is arranged between the second mounting plate 2321 and the second swing frame 2320;The clamping mechanism 2300 includes a first mounting member 2360, a second mounting member 2370 and a second connecting rod 2380, wherein the first mounting member 2360 is arranged at both ends of the first swing frame 2310, and the second mounting member 2370 is hingedly arranged at both ends of the second swing frame 2320, a first guide hole is arranged on the second mounting member 2370, and the second connecting rod 2380 corresponds to the first guide hole one by one, a second stopper is arranged at one end of the second connecting rod 2380, and the second stopper is hingedly connected to the first mounting member 2360, and a third stopper is arranged at the other end of the second connecting rod 2380, and a second spring 2381 and a third spring 2382 are sleeved on the second connecting rod 2380, the second spring 2381 is arranged between the second stopper and the second mounting member 2370, and the third spring 2382 is arranged between the third stopper and the second mounting member 2370; the clamping mechanism 2300 includes a first distance sensor 2390, and the first distance sensor 2390 is arranged on the outer side of the second swing frame 2320. ;

[0034] Further, the milling fixing rod mechanism includes a limiting mechanism and a suction cup fixing mechanism, the limiting mechanism is arranged at both ends of the milling frame 3100, the suction cup fixing mechanism includes a first support column 3210, a second cylinder 3220, a first support block 3240 and a first suction cup 3250, the first support column 3210 is arranged at the four corners of the milling frame 3100, the second cylinder 3220 is arranged at the upper end of the first support column 3210, the first suction cup 3250 is arranged at the lower end of the first support block 3240, the lower end of the first support column 3210 is provided with a second sleeve 3230, the second sleeve 3230 is provided with a second guide rod 3231, the second guide rod 3231 matches the second sleeve 3230, the upper end of the second guide rod 3231 is connected to the second cylinder 3220, and the second guide rod 3231 is connected to the second cylinder 3220. The lower ends of the two guide rods 3231 are connected to the first support block 3240; first air regulating valves are provided at both ends of the milling frame 3100, and the first air regulating valves correspond one-to-one to the second cylinder 3220; a first guide hole is provided in one end of the second sleeve 3230, and a first auxiliary rod 3260 is provided at one end of the first support block 3240, and the first auxiliary rod 3260 matches the first guide hole; a first pagoda joint 3251 is provided at the upper end of the first suction cup 3250, and the upper end of the first pagoda joint 3251 passes through the first support block 3240 and is fixed on the first support block 3240; the limiting mechanism includes a second support column 3270 and a first walking wheel, the second support column 3270 is arranged at both ends of the milling frame 3100, and the first walking wheel is arranged at the lower end of the second support column 3270.

[0035] Furthermore, the milling mechanism 3000 includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism 2200, wherein the X-axis moving mechanism is arranged at the lower end of the milling frame 3100 and is slidably connected to the milling frame 3100, the Y-axis moving mechanism is arranged at the rear end of the X-axis moving mechanism and is slidably connected to the X-axis moving mechanism, the Z-axis moving mechanism is arranged at the lower end of the Y-axis moving mechanism and is slidably connected to the Y-axis moving mechanism, a laser sensor 3900 is arranged on the Z-axis moving mechanism, the R-axis swinging mechanism 2200 is arranged at the lower end of the Z-axis moving mechanism and is rotatably connected to the Z-axis moving mechanism, and the R-axis swinging mechanism The mechanism 2200 is provided with a grinding motor 3800 and a grinding milling cutter; the X-axis moving mechanism includes a first driving motor 3310, a first screw rod 3320 and a first support frame 3300, the first driving motor 3310 is arranged at the upper end of the milling frame 3100, the two ends of the milling frame 3100 are provided with second guide rails 3110, the two ends of the first support frame 3300 are provided with second sliders, the second guide rails 3110 correspond to the second sliders one by one, the upper end of the first support frame 3300 is provided with a first threaded block, the first threaded hole matches the first screw rod 3320, and the two ends of the first screw rod 3320 are installed on the upper end of the milling frame 3100 through bearings. , the first driving motor 3310 is drivingly connected to the first screw rod 3320; the Y-axis moving mechanism includes a second driving motor 3420, a second screw rod 3430, a second support frame 3400 and a third support frame 3500, the second support frame 3400 is arranged at the lower end of the first support frame 3300, the rear end of the second support frame 3400 is provided with a third guide rail 3410, the front end of the third support frame 3500 is provided with a third slider, the third slider corresponds to the third guide rail 3410 one by one, the two ends of the second screw rod 3430 are arranged at the rear end of the second support frame 3400 through bearings, the front end of the third support frame 3500 is provided with a second threaded block, The second screw rod 3430 matches the second threaded block, the second drive motor 3420 is arranged at the right end of the second support frame 3400, and the second drive motor 3420 is drivingly connected to the second screw rod 3430; the Z-axis moving mechanism includes a fourth support frame 3600 and a third electric cylinder 3610, a fourth guide rail 3510 is provided at the rear end of the third support frame 3500, and a fourth slider is provided at the front end of the fourth support frame 3600, the fourth guide rail 3510 corresponds to the fourth slider one by one, one end of the third electric cylinder 3610 is connected to the third support frame 3500, and the other end of the third electric cylinder 3610 is connected to the fourth support frame 3600;The R-axis swing mechanism 2200 includes a first swing motor 3710 and a first swing frame 3700, wherein the first swing frame 3700 is connected to the fourth support frame 3600 through a bearing, the first swing motor 3710 is disposed at the lower end of the fourth support frame 3600, the first swing motor 3710 is drivingly connected to the first swing frame 3700, the grinding motor 3800 is disposed on the first swing frame 3700, a dust baffle 3810 is disposed at the lower end of the first swing frame 3700, and a first dust suction port 3820 is disposed on the first swing frame 3700. ;

[0036] Working principle: First, fix the produced wind turbine blades and check the defects of the inner and outer layers of the wind turbine blades. Drive the forklift 1000 to the location of the defective wind turbine blades, and drive the third mounting frame 2130 and the fourth mounting frame 2140 to rise and fall through the push of the first hydraulic cylinder 2150. When the first hydraulic cylinder 2150 continues to rise, the first chain 2161 pulls the second mounting frame 2120 to move, so that the fourth mounting frame 2140 can be raised higher.

[0037] The first electric cylinder 2230 is then used to push the sixth mounting frame 2220 to move left and right, so that the milling frame 3100 can be adjusted to be close to the surface of the wind turbine blade; and the second electric cylinder 2240 is used to push the first connecting rod 2350, so as to adjust the angle of the milling frame 3100. The first electric cylinder 2230 and the second electric cylinder 2240 push the milling frame 3100 so that the first walking wheels on both sides are attached to the wind turbine blade, which can protect the grinding milling cutter; the swing angle is controlled by the first distance measuring sensor so that the milling frame 3100 can be as vertical as possible to the surface of the wind turbine blade.

[0038] The second cylinder 3220 then pushes the suction cup downward to get close to the wind turbine blade and adsorb on it, and the clamping force is controlled by a clamping sensor to ensure that the milling frame 3100 does not move during operation. The adsorption of the suction cup and the clamping of the clamping mechanism 2300 can ensure that the milling frame 3100 does not move, thereby ensuring the grinding accuracy.

[0039] Finally, the position of the grinding and milling cutter can be adjusted by the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and the angle of the grinding and milling cutter can be controlled by the R-axis swing mechanism 2200, so as to ensure that the grinding and milling of the wind turbine blades is all-round and without dead angles, that is, the laser sensor 3900 accurately detects the defective location, and the grinding motor 3800 and the grinding and milling cutter can accurately grind and mill the location. Among them, the first dust suction port 3820 cooperates with the dust baffle 3810 to suck away the debris generated by milling, ensuring cleanliness and reducing pollution hazards.

[0040] The wind turbine blade surface milling device of the present application does not need to be hoisted, which is more convenient and can be directly installed on the forklift 1000. It is more flexible in use, simpler and more efficient in maintenance, and the present application can be applied to the grinding of the inner and outer staggered layers of wind turbine blades, which is more widely used and more convenient and efficient for the production of wind turbine blades. The milling frame 3100 is adjusted to a suitable height through the lifting and adjusting mechanism, and the depth and angle of the milling frame 3100 are adjusted in conjunction with the swing mechanism 2200 to ensure that the milling frame 3100 can be fixed at any position of the wind turbine blade. By using the limiting mechanism as a reference, the four first suction cups 3250 on both sides as an auxiliary fixing method, and cooperating with the clamping mechanism 2300 for clamping, the stability of the milling frame 3100 on the surface of the wind turbine blade can be ensured, and its safety can also be improved; through the detection of the laser sensor 3900, the defect can be accurately located, and then the position of the grinding and milling cutter is adjusted through the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and the angle of the grinding and milling cutter is controlled through the R-axis swing mechanism 2200, so that grinding and milling can be completed without dead angles.

[0041] It is worth mentioning that the technical features such as the grinding motor 3800 and the grinding milling pin cutter involved in this utility model patent application should be regarded as the prior art. The specific structure, working principle and possible control method and spatial layout method of these technical features can be selected by conventional methods in the field, and should not be regarded as the utility model points of this utility model patent. This utility model patent will not be further elaborated.

[0042] For those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A swing mechanism of a blade surface milling device, characterized in that: The swing mechanism (2200) comprises a fifth mounting frame (2210), a sixth mounting frame (2220), a first electric cylinder (2230), a second electric cylinder (2240) and a clamping mechanism (2300); the fifth mounting frame (2210) is arranged at the rear end of the fourth mounting frame (2140); a first slider (2211) is arranged at the upper end of the fifth mounting frame (2210); a first guide rail (2221) is arranged at the lower end of the sixth mounting frame (2220); the first slider (2211) and the first guide rail (2221) are connected to each other. Correspondingly, the first electric cylinder (2230) is arranged at the upper end of the fifth mounting frame (2210), the other end of the first electric cylinder (2230) is connected to the sixth mounting frame (2220), the clamping mechanism (2300) is hinged to the right end of the sixth mounting frame (2220), and a third supporting column is provided at the rear end of the fifth mounting frame (2210), one end of the second electric cylinder (2240) is hinged to the third supporting column, and the other end of the second electric cylinder (2240) is hinged to the clamping mechanism (2300).

2. The swing mechanism of the blade surface milling device according to claim 1, characterized in that: The clamping mechanism (2300) includes a first swing frame (2310), the front and rear ends of the first swing frame (2310) are provided with a first support shaft, the right end of the sixth mounting frame (2220) is provided with a first mounting hole, the first support shaft is installed in the first mounting hole through a bearing, the rear end of the first support shaft is provided with a first connecting rod (2350), and the second electric cylinder (2240) is hinged to the first connecting rod (2350).

3. The swing mechanism of the blade surface milling device according to claim 2, characterized in that: The clamping mechanism (2300) includes a second swing frame (2320), a first spring (2391) and a first mounting plate (2330), wherein second support shafts are provided at the left and right ends of the first swing frame (2310), second mounting holes are provided at the two ends of the second swing frame (2320), and the second support shaft is installed in the second mounting hole through a bearing, a first sleeve (2340) is provided at the upper end of the first mounting plate (2330), a first guide rod is provided in the second swing frame (2320), and the first sleeve (2340) corresponds to the first guide rod one by one, one end of the first spring (2391) is connected to the second swing frame (2320), and the other end of the first spring (2391) is connected to the first mounting plate (2330).

4. The swing mechanism of the blade surface milling device according to claim 3, characterized in that: A second mounting plate (2321) is provided at the lower end of the second swing frame (2320), and a plurality of first clearance holes are provided on the second mounting plate (2321), and the first clearance holes correspond to the first sleeve (2340) one by one, and a first stopper (2341) is provided in the middle of the first sleeve (2340), and the first stopper (2341) is arranged between the second mounting plate (2321) and the second swing frame (2320).

5. The swing mechanism of the blade surface milling device according to claim 4, characterized in that: The clamping mechanism (2300) comprises a first mounting member (2360), a second mounting member (2370) and a second connecting rod (2380), wherein the first mounting member (2360) is arranged at two ends of the first swing frame (2310), the second mounting member (2370) is hingedly arranged at two ends of the second swing frame (2320), the second mounting member (2370) is provided with a first guide hole, the second connecting rod (2380) corresponds to the first guide hole one by one, and the second connecting rod (23 A second stopper is provided at one end of the second connecting rod (2380), and the second stopper is hinged to the first mounting member (2360). A third stopper is provided at the other end of the second connecting rod (2380). A second spring (2381) and a third spring (2382) are sleeved on the second connecting rod (2380). The second spring (2381) is arranged between the second stopper and the second mounting member (2370), and the third spring (2382) is arranged between the third stopper and the second mounting member (2370).

6. The swing mechanism of the blade surface milling device according to claim 5, characterized in that: The clamping mechanism (2300) comprises a first distance sensor (2390), and the first distance sensor (2390) is arranged on the outside of the second swing frame (2320).

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