Milling mechanism of blade surface milling device

Abstract

The utility model discloses a milling mechanism of a blade surface milling device, comprising an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism, wherein the X-axis moving mechanism is arranged at the lower end of the milling frame and is slidably connected to the milling frame, 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 is arranged on the Z-axis moving mechanism, the R-axis swinging mechanism is arranged at the lower end of the Z-axis moving mechanism and is rotatably connected to the Z-axis moving mechanism, and a grinding motor and a grinding milling cutter are arranged on the R-axis swinging mechanism. The milling mechanism of a blade surface milling device provided by the utility model can complete grinding and milling without dead angles through detection by a laser sensor and adjustment of the X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism and the R-axis swinging mechanism.

Description

Technical Field

[0001] The utility model belongs to the technical field of wind power blade processing, and in particular relates to a milling 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 inner and outer staggered grinding of wind turbine blades at the same time, and the applicability is not wide enough. Therefore, it is necessary to design a blade surface milling method and a milling device to achieve rapid grinding of the inner and outer staggered layers of wind turbine blades. Utility Model Content

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

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

[0008] A milling mechanism of a blade surface milling device, the milling mechanism comprising an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism, the X-axis moving mechanism is arranged at the lower end of the milling frame and is slidably connected to the milling frame, 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 is provided on the Z-axis moving mechanism, the R-axis swinging mechanism 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 is provided with a grinding motor and a grinding milling cutter; the X-axis moving mechanism includes a first driving motor, a first screw rod and a first support frame, the first driving motor is arranged at the upper end of the milling frame, the two ends of the milling frame are provided with a second guide rail, the two ends of the first support frame are provided with a second slider, the second guide rail corresponds to the second slider one by one, the upper end of the first support frame is provided with a first threaded block, the first threaded block matches the first screw rod, the two ends of the first screw rod are installed at the upper end of the milling frame through bearings, and the first driving motor is connected to the first screw rod; the Y-axis moving mechanism includes a second driving motor, a second screw rod, a second support The second support frame is arranged at the lower end of the first support frame, the rear end of the second support frame is provided with a third guide rail, the front end of the third support frame is provided with a third slider, the third slider corresponds to the third guide rail one by one, the two ends of the second screw rod are arranged at the rear end of the second support frame through bearings, the front end of the third support frame is provided with a second threaded block, the second screw rod matches the second threaded block, the second drive motor is arranged at the right end of the second support frame, and the second drive motor is connected to the second screw rod; the Z-axis moving mechanism includes a fourth support frame and a third electric cylinder, the rear end of the third support frame is provided with a fourth Guide rail, a fourth slider is provided at the front end of the fourth support frame, the fourth guide rail corresponds to the fourth slider one by one, one end of the third electric cylinder is connected to the third support frame, and the other end of the third electric cylinder is connected to the fourth support frame; the R-axis swing mechanism includes a first swing motor and a first swing frame, the first swing frame is connected to the fourth support frame through a bearing, the first swing motor is arranged at the lower end of the fourth support frame, the first swing motor is drivingly connected to the first swing frame, the grinding motor is arranged on the first swing frame, a dust baffle is provided at the lower end of the first swing frame, and a first dust suction port is provided on the first swing frame.

[0009] The utility model discloses a milling mechanism of a blade surface milling device, which has a beneficial effect compared with the prior art in that the defect can be accurately located by detection by a laser sensor, and the position of the grinding and milling cutter is adjusted by an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, and the angle of the grinding and milling cutter is controlled by the R-axis swing mechanism, so that grinding and milling can be completed without dead angles. 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 structural 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 structural 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 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 It is a structural schematic diagram of the forklift 1000 of the 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 block 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 milling mechanism of a blade surface milling device, characterized in that: The milling mechanism (3000) comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism (2200); 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 a grinding motor (3800) and a grinding milling cutter are arranged on the R-axis swinging mechanism (2200).

2. The milling mechanism of the blade surface milling device according to claim 1, characterized in that: The X-axis moving mechanism comprises a first driving motor (3310), a first screw rod (3320) and a first support frame (3300), wherein the first driving motor (3310) is arranged at the upper end of the milling frame (3100), and second guide rails (3110) are arranged at both ends of the milling frame (3100), and second sliders are arranged at both ends of the first support frame (3300), and the second guide rails (3110) correspond to the second sliders one by one, and a first threaded block is arranged at the upper end of the first support frame (3300), and the first threaded block matches the first screw rod (3320), and the two ends of the first screw rod (3320) are installed at the upper end of the milling frame (3100) through bearings, and the first driving motor (3310) is drivingly connected to the first screw rod (3320).

3. The milling mechanism of the blade surface milling device according to claim 2, characterized in that: The Y-axis moving mechanism comprises a second driving motor (3420), a second screw rod (3430), a second support frame (3400) and a third support frame (3500), wherein the second support frame (3400) is arranged at the lower end of the first support frame (3300), a third guide rail (3410) is arranged at the rear end of the second support frame (3400), a third slider is arranged at the front end of the third support frame (3500), and the third slider corresponds to the third guide rail (3410) one by one, both ends of the second screw rod (3430) are arranged at the rear end of the second support frame (3400) through bearings, a second threaded block is arranged at the front end of the third support frame (3500), the second screw rod (3430) matches the second threaded block, the second driving motor (3420) is arranged at the right end of the second support frame (3400), and the second driving motor (3420) is drivingly connected to the second screw rod (3430).

4. The milling mechanism of the blade surface milling device according to claim 3, characterized in that: The Z-axis moving mechanism comprises 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); 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 in a one-to-one manner; 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).

5. The milling mechanism of the blade surface milling device according to claim 4, characterized in that: The R-axis swing mechanism (2200) comprises 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) via a bearing, the first swing motor (3710) is arranged 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 arranged on the first swing frame (3700), a dust baffle (3810) is provided at the lower end of the first swing frame (3700), and a first dust suction port (3820) is provided on the first swing frame (3700).

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