Wind power blade surface grinding machine

Abstract

The utility model discloses a wind power blade surface grinding machine which comprises a moving trolley, a liftable and telescopic rack is fixedly connected to the moving trolley, the rack comprises a lifting assembly, a telescopic connecting assembly is connected to the lifting assembly in a sliding mode, and a horizontal telescopic assembly is fixedly connected to the telescopic connecting assembly. A grinding head connecting assembly is connected to the horizontal telescopic assembly in a sliding manner and is connected with a grinding head; the grinding head comprises a grinding head connecting frame and a grinding assembly, air cylinders are arranged in the grinding head connecting frame, the grinding assembly is used for grinding the surface of the wind power blade, and each air cylinder is connected with the electric proportional valve. The machine frame can achieve high-precision position control, start, stop and speed of each time of movement can be accurately controlled, the structure is relatively simple, the maintenance cost is low, the service life is long, and the grinding efficiency is high. And the grinding assembly can adapt to the up-down diameter change of the wind power blade, so that the grinding assembly can be more effectively attached to concave-convex smooth curved surfaces with different curvature radiuses, and the grinding effect is good.

Description

Technical Field

[0001] The utility model relates to the technical field of wind turbine blade surface grinding, in particular to a wind turbine blade surface grinding machine. Background Art

[0002] Energy is the driving force behind human social development and economic growth. Among renewable energy sources, wind power, besides hydropower, currently has the most promising commercial development potential. In recent years, my country's wind power industry has also experienced rapid development, making it the world's largest and fastest-growing wind power producer. However, the development of my country's wind power equipment manufacturing industry has been slow, particularly in the polishing process for wind turbine blades. According to research, the blade length of wind turbines in my country ranges from 40 to 95 meters, reaching 143 meters by 2024. A single blade weighs over 50 tons, and its root diameter exceeds 5 meters. These blades are large in size and possess highly complex and varied curvatures.

[0003] The grinding assembly of a wind turbine blade grinder generally uses a motor to drive a grinding wheel to grind the surface of the wind turbine blade, but the existing grinding wheel generally uses a spring as a buffer to adjust the grinding force of the grinding wheel. However, when the grinding assembly is tilted upward for grinding, it is necessary to overcome the downward gravity of the grinding assembly itself in order to apply pressure to the blade surface to perform the grinding operation. When the grinding assembly is tilted downward for grinding, since the downward gravity of the grinding assembly itself will increase the pressure on the blade, it is sufficient to apply a very small pressure to the grinding assembly. However, since the elastic force of the spring cannot be controlled, that is, the grinding force of the grinding wheel cannot be automatically adjusted when the grinding wheel rotates to different angles, resulting in the grinding wheel not being able to fit well with the blade surface, making the wind turbine blade grinding wheel unable to adapt to the changes in the upper and lower diameters of the blade and unable to effectively fit with the concave and convex smooth curved surfaces with different curvature radii, which in turn leads to poor grinding effect.

[0004] Furthermore, when using a grinding device to grind the surface of a wind turbine blade, a retractable and elevating frame is required to drive the grinding device to the position on the surface of the wind turbine blade that needs to be polished. Currently, existing methods include using cables and drag chains combined with cylinders to achieve horizontal or vertical movement of the frame. This method is complex in structure, inconvenient to maintain, and cannot achieve high-precision position control, resulting in low grinding efficiency. Alternatively, a hydraulic cylinder is used on a horizontal telescopic arm in the frame to raise and lower the grinding head. However, this method requires a sufficiently high precision of the hydraulic oil, but the grinding process generates a lot of dust, which makes it difficult to ensure the precision of the hydraulic oil. This can also cause deviations in the position and speed of the hydraulic cylinder, resulting in an inability to accurately control the position, and similarly resulting in low grinding efficiency. Alternatively, a robot is used to drive a pneumatic grinder to grind the wind turbine blades. However, this method has poor mobility and requires a dedicated track to accommodate the movement of the robot, resulting in a complex overall equipment structure and high cost.

[0005] Therefore, this field urgently needs a rack with simple structure, low cost, precise control of rack movement position and improved grinding efficiency, and the grinding head can automatically adjust the grinding force, can effectively fit the surface of the wind turbine blade and have a good grinding effect. Summary of the Invention

[0006] The purpose of this utility model is to provide a wind turbine blade surface grinder to solve the problems existing in the above-mentioned prior art. It can provide a frame with simple structure, low cost, accurate control of the frame movement position and improved grinding efficiency. The grinding head can automatically adjust the grinding force, can effectively fit the surface of the wind turbine blade and has a good grinding effect.

[0007] To achieve the above purpose, the present invention provides the following solutions:

[0008] The utility model provides a wind turbine blade surface grinding machine, comprising a mobile vehicle, a lifting and retractable frame fixedly connected to the mobile vehicle, the frame comprising a lifting assembly, a retractable connecting assembly slidably connected to the lifting assembly, the retractable connecting assembly fixedly connected to a horizontal retractable assembly, a grinding head connecting assembly slidably connected to the horizontal retractable assembly, the grinding head connecting assembly being connected to a grinding head, the lifting assembly being capable of driving the grinding head to move up and down, and the horizontal retractable assembly being capable of driving the grinding head to move horizontally;

[0009] The grinding head includes a grinding head connecting frame, the upper end surface of the grinding head connecting frame is used to be connected to the grinding head connecting assembly, a first driving device is arranged inside the grinding head connecting frame, the first driving device is connected to the T-shaped reducer, the two output ends of the T-shaped reducer are respectively connected to a rotating block, the rotating block is connected to the cylinder through the cylinder bracket, the movable end of the cylinder is connected to the support assembly, the fixed end of the cylinder is slidably connected to the support assembly, the support assembly is rotatably connected to the grinding assembly, the grinding assembly is used to grind the surface of the wind turbine blade, each of the cylinders is connected to an electrical proportional valve, and the first driving device and the electrical proportional valve are both connected to the control device.

[0010] Preferably, the mobile vehicle is an AGV cart, which includes a frame, and wheels are connected below the frame to enable the frame to move forward, backward, left, right, turn and rotate in place. The frame also includes a base, and the base is fixedly connected to the frame.

[0011] Preferably, the lifting assembly includes a second lifting column, a first lifting column and a vertical fixed column which are sequentially sleeved from top to bottom, the second lifting column being able to slide inside the first lifting column, the first lifting column being able to slide inside the vertical fixed column, the vertical fixed column being fixedly connected to the base, the upper end of the second lifting column being fixedly connected to a first support rod, the first support rod being connected to a synchronous lifting column, the synchronous lifting column being parallel to the second lifting column, and the synchronous lifting column being able to slide on the vertical fixed column;

[0012] A first servo electric cylinder is provided on both sides of the vertical fixed column, the fixed end of the first servo electric cylinder is connected to the lower part of the vertical fixed column, and the movable end of the first servo electric cylinder is connected to the upper end of the first lifting column. First slide rails are provided on the two outer side walls of the first lifting column, and first sliders are provided on the two inner side walls of the vertical fixed column corresponding to the first slide rails. The first slide rails match the first sliders to enable the first lifting column to slide inside the vertical fixed column;

[0013] A second servo electric cylinder is provided inside the first lifting column. The fixed end of the second servo electric cylinder is fixedly connected to the lower portion of the first lifting column, and the movable end of the second servo electric cylinder is fixedly connected to the upper end of the second lifting column. Second slide rails are provided on the two outer side walls of the second lifting column. Second sliders are provided on the two inner side walls of the first lifting column corresponding to the second slide rails. The second slide rails match the second sliders to enable the second lifting column to slide inside the first lifting column.

[0014] A fixed column extension portion is provided on the outer side wall of the vertical fixed column close to the synchronous lifting column, and a third slide rail is provided on the outer side wall of the vertical fixed column close to the synchronous lifting column and extends upward to the fixed column extension portion. A slider connecting seat is slidably connected between the synchronous lifting column and the vertical fixed column, and a third slider is provided on one side of the slider connecting seat close to the third slide rail, and a connecting seat slider is provided on the other side of the slider connecting seat. A connecting seat slide rail is provided on the inner side wall of the synchronous lifting column, the third slide rail matches the third slider, and the connecting seat slider matches the connecting seat slide rail, and the first servo electric cylinder and the second servo electric cylinder are both connected to the control device.

[0015] Preferably, a fourth slide rail is provided on the side wall of the synchronous lifting column opposite to the third slide block, and a fourth slide block is provided on the telescopic connection assembly, and the fourth slide rail matches the fourth slide block;

[0016] The telescopic connection assembly includes a first connecting plate and a first servo motor, the fourth slider is fixedly connected to the inner wall of the first connecting plate, the first servo motor is connected to the end of the outer wall of the first connecting plate, the output end of the first servo motor is connected to the first gear, the inner side of the fourth slide rail is provided with a first rack, the first gear and the first rack match, and the first servo motor is connected to the control device.

[0017] Preferably, the horizontal telescopic assembly includes a horizontal fixed column and a horizontal telescopic column, the horizontal telescopic column is sleeved inside the horizontal fixed column and can slide horizontally inside the horizontal fixed column, and a first horizontal connecting plate is provided on the side wall of the horizontal fixed column close to the lifting assembly, the first horizontal connecting plate is used to connect with the first connecting plate, so that the horizontal telescopic assembly is connected to the telescopic connecting assembly;

[0018] The horizontal telescopic column is connected to the second support rod, the second support rod is connected to the horizontal synchronous telescopic column, the horizontal synchronous telescopic column is parallel to the horizontal telescopic column and can slide on the horizontal fixed column;

[0019] A third servo electric cylinder is provided on two opposite side walls of the horizontal fixed column, wherein the fixed end of the third servo electric cylinder is provided at the end of the horizontal fixed column away from the horizontal telescopic column, and the movable end of the third servo electric cylinder is provided at the end of the horizontal telescopic column away from the horizontal fixed column, and the third servo electric cylinder is connected to the control device;

[0020] The two opposite side walls of the horizontal telescopic column are respectively provided with fifth slide rails, and the two opposite inner side walls of the horizontal fixed column corresponding to the fifth slide rails are provided with fifth sliders, and the fifth slide rails match the fifth sliders;

[0021] A sixth sliding block is provided on the inner side wall of the horizontal synchronous telescopic column, and a sixth slide rail is provided on the outer side wall of the horizontal fixed column corresponding to the sixth sliding block, and the sixth sliding block matches the sixth slide rail.

[0022] Preferably, the grinding head connecting assembly includes a second connecting plate and a second servo motor, a seventh slider is provided on the side wall of the second connecting plate close to the horizontal telescopic assembly, a seventh slide rail is provided on the side wall of the horizontal synchronous telescopic column close to the seventh slider, the seventh slide rail matches the seventh slide rail, one end of the second connecting plate away from the side wall of the horizontal telescopic assembly is connected to the second servo motor, and the other end is used to connect to the grinding head;

[0023] The output end of the second servo motor is connected to a second gear, a second rack is provided on the inner side of the seventh slide rail, the second gear matches the second rack, and the second servo motor is connected to the control device.

[0024] Preferably, the first driving device is a third servo motor, which is arranged inside the grinding head connecting frame, and the output end of the third servo motor is connected to the input end of the T-shaped reducer, and the rotation of the two output shafts of the T-shaped reducer can drive the rotation of the rotating block; the rotating block is connected to the cylinder bracket, and the fixed end of the cylinder is fixedly connected to the upper end surface of the cylinder bracket, and the outer side surface of the cylinder bracket is provided with an eighth slider;

[0025] The support assembly includes a first support member, an eighth slide rail arranged axially on the inner side of the first support member, and the eighth slider cooperates with the eighth slide rail so that the eighth slider can slide on the eighth slide rail;

[0026] The support assembly also includes a second support member, one end of the first support member is fixedly connected to the end of the second support member, so that the two first support members and the second support members form a semi-enclosed structure, the T-shaped reducer and the two cylinders are located inside the semi-enclosed structure, and the movable end of the cylinder is connected to the second support member.

[0027] Preferably, the grinding assembly includes a grinding bracket and a fourth servo motor. The fourth servo motor is arranged on the upper part of the grinding bracket. The output end of the fourth servo motor is connected to the driving pulley. The driving pulley is provided with a belt. The belt is connected to the driven pulley. The driven pulley is connected to the grinding wheel shaft. The grinding wheel shaft is connected to a grinding wheel. The grinding wheel is arranged inside the grinding bracket. The fourth servo motor is connected to the control device.

[0028] Preferably, a first swing support frame is provided at the end of the grinding bracket away from the grinding wheel, and the first swing support frame can abut against the inside of the second support member, and the upper end face and the lower end face of the first swing support frame are respectively provided with corresponding first swing support frame through holes, and the upper end face and the lower end face of the second support member are respectively provided with corresponding second support member through holes, and the swing shaft can pass through the two second support member through holes and the two first swing support frame through holes, so that the first swing support frame can swing relative to the second support member via the swing shaft.

[0029] Preferably, a contact wheel is provided at each end of the grinding bracket, and the diameter of the contact wheel is smaller than the diameter of the grinding wheel;

[0030] A dust collecting cover is provided at the lower end of the polishing bracket, and a dust suction port is provided on the outer wall of the dust collecting cover;

[0031] A hanging ring is symmetrically provided at one end of the grinding bracket away from the grinding wheel, and a support rib is provided on the outer side of the first support bracket. The support rib is provided with support rib through holes evenly arranged along the length direction, and the spring can be hung on the hanging ring and the support rib through holes.

[0032] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0033] 1. The wind turbine blade surface grinding machine provided by this utility model has a simultaneously elevating and retractable frame. Activating the elevating assembly raises the grinding head to the height of the wind turbine blade surface to be ground, and activating the horizontal retracting assembly moves the grinding head to the horizontal position required for grinding. This machine is easy to operate. By using first, second, and third servo electric cylinders to drive the movement of the corresponding columns, high-precision position control can be achieved, enabling precise control of the start, end, and speed of each movement. This machine has a relatively simple structure, low maintenance costs, a long service life, and high grinding efficiency.

[0034] 2. The grinding head in the wind turbine blade surface grinder provided by the utility model, the rotation of the output end of the first servo motor will drive the rotation of the input end of the T-shaped reducer, and then drive the rotation of the two output ends of the T-shaped reducer, and then drive the rotation of the rotating block, and then drive the rotation of the cylinder bracket and the support assembly, and finally drive the rotation of the grinding assembly, so that the grinding assembly can adapt to the upper and lower diameter changes of the wind turbine blade, so that it can fit more effectively with the concave and convex smooth curved surfaces with different curvature radii.

[0035] 3. The grinding head of the wind turbine blade surface grinding machine provided by the present invention is provided with an electric proportional valve, which accurately controls the stroke of the cylinder, so that the movable end of the cylinder can push the grinding assembly to move horizontally, so that the grinding assembly can be attached to the surface of the wind turbine blade for grinding. The electric proportional valve can be controlled to achieve automatic adjustment of the grinding force of the grinding assembly. The slider is fixedly connected to the fixed end of the cylinder. When the movable end of the cylinder is moved horizontally by the control device, it will drive the slide rail to move horizontally, and then drive the first support member and the second support member to move horizontally, and then drive the grinding assembly to move horizontally, so that the grinding assembly can be attached horizontally to the surface of the wind turbine blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 This is a schematic diagram of the three-dimensional structure of the wind turbine blade surface grinding machine of the present invention;

[0038] Figure 2 This is a schematic diagram of the three-dimensional structure of the wind turbine blade surface grinding machine in the present invention under working conditions;

[0039] Figure 3 This is a schematic diagram of the three-dimensional structure of the frame of the wind turbine blade surface grinding machine in the present invention;

[0040] Figure 4 This is a schematic diagram of the three-dimensional structure of the frame of the wind turbine blade surface grinding machine in the present invention under working conditions;

[0041] Figure 5 This is a side view of the frame of the wind turbine blade surface grinding machine in the present invention under working conditions;

[0042] Figure 6 This is a schematic structural diagram of the lifting assembly of the wind turbine blade surface grinding machine in the present invention;

[0043] Figure 7 For this utility model Figure 6 A partial enlarged cross-sectional view at point A;

[0044] Figure 8 For this utility model Figure 6 A partial enlarged cross-sectional view at point B in the middle;

[0045] Figure 9 This is a cross-sectional view of the lifting assembly of the wind turbine blade surface grinding machine in the present invention;

[0046] Figure 10 This is a schematic diagram of the three-dimensional structure of the horizontal telescopic assembly of the wind turbine blade surface grinding machine in the present invention;

[0047] Figure 11 This is a structural schematic diagram of the horizontal telescopic assembly of the wind turbine blade surface grinder in the present invention from another perspective;

[0048] Figure 12 For this utility model Figure 11 A partial enlarged cross-sectional view at point C in FIG.

[0049] Figure 13This is a schematic diagram of the three-dimensional structure of the grinding head of the wind turbine blade surface grinding machine in the present invention;

[0050] Figure 14 This is a top sectional view of the grinding head of the present invention;

[0051] Figure 15 This is a front view of the grinding head in the present utility model;

[0052] Figure 16 This is a schematic diagram of the three-dimensional structure of the grinding bracket of the grinding head in the present invention;

[0053] Figure 17 This is a schematic diagram of the three-dimensional structure of the grinding bracket of the grinding head in the present invention from another perspective.

[0054] In the figure: 1-AGV trolley, 101-frame, 102-wheel, 103-groove;

[0055] 2-frame, 201-base, 202-second lifting column, 203-first lifting column, 204-vertical fixed column, 205-first support rod, 206-synchronous lifting column, 207-first servo cylinder, 208-first slide rail, 209-first slider, 210-second servo cylinder, 211-second slide rail, 212-second slider, 213-fixed column extension, 214-third slide rail, 215-slide connector, 216-third slider, 217-connecting seat slider, 218-connecting seat slide rail, 219-fourth slide rail, 220-fourth slider , 221-first connecting plate, 222-first servo motor, 223-first gear, 224-first rack, 225-horizontal fixed column, 226-horizontal telescopic column, 227-first horizontal connecting plate, 228-second support rod, 229-third servo cylinder, 230-fifth slide rail, 231-fifth slider, 232-sixth slider, 233-sixth slide rail, 234-second connecting plate, 235-second servo motor, 236-seventh slider, 237-seventh slide rail, 238-second gear, 239-second rack, 240-horizontal synchronous telescopic column;

[0056] 3-grinding head, 301-grinding head connecting frame, 302-third servo motor, 303-T-shaped reducer, 304-rotating block, 305-cylinder bracket, 306-cylinder, 307-eighth slider, 308-first support member, 309-eighth slide rail, 310-second support member, 311-grinding bracket, 312-fourth servo motor, 313-driving pulley, 314-belt, 315-driven pulley, 316-grinding wheel shaft, 317-grinding wheel, 318-first swing support frame, 319-first swing support frame through hole, 320-second support member through hole, 321-swing shaft, 322-contact wheel, 323-dust hood, 324-dust suction port, 325-hanging ring, 326-support rib, 327-support rib through hole, 328-spring DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0058] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0059] The utility model provides a wind turbine blade surface grinding machine, such as Figures 1-17 As shown, it includes a mobile car, the mobile car is fixedly connected to a liftable and retractable frame 2, the frame 2 includes a lifting assembly, the lifting assembly is slidably connected to a telescopic connection assembly, the telescopic connection assembly is fixedly connected to a horizontal telescopic assembly, the horizontal telescopic assembly is slidably connected to a grinding head connection assembly, the grinding head connection assembly is connected to a grinding head 3, the lifting assembly can drive the grinding head 3 to move up and down, and the horizontal telescopic assembly can drive the grinding head 3 to move horizontally;

[0060] The grinding head 3 includes a grinding head connecting frame 301. The upper end surface of the grinding head connecting frame 301 is used to be connected to the grinding head connecting assembly. A first driving device is arranged inside the grinding head connecting frame 301. The first driving device is connected to the T-shaped reducer 303. The two output ends of the T-shaped reducer 303 are respectively connected to a rotating block 304. The rotating block 304 is connected to the cylinder 306 through the cylinder bracket 305. The movable end of the cylinder 306 is connected to the support assembly. The fixed end of the cylinder 306 is slidingly connected to the support assembly. The support assembly is rotatably connected to the grinding assembly. The grinding assembly is used to grind the surface of the wind turbine blade. Each cylinder 306 is connected to an electrical proportional valve. The first driving device and the electrical proportional valve are both connected to the control device. The mobile vehicle is an AGV trolley 1, which includes a frame 101. The frame 101 is connected to the bottom with wheels 102 that enable the frame 2 to move forward, backward, left and right, turn and rotate in place, so that the wind turbine blade grinder can be brought to any position where grinding is required. The frame 2 also includes a base 201, which is fixedly connected to the frame 101. The upper top plate of the frame 101 is provided with a stepped groove 103, and the grinding head 3 can be placed in the groove 103. When not in working condition, the grinding head 3 can be moved into the groove 103. The structure is compact and space is saved.

[0061] The wind turbine blade surface grinding machine provided by the present invention, in a specific application process, uses an AGV trolley to drive the wind turbine blade surface grinding machine to the position where the wind turbine blade needs to be ground, activates the lifting assembly to raise the grinding head 3 to the height position where the wind turbine blade surface needs to be ground, and then activates the horizontal telescopic assembly to move the grinding head 3 to the horizontal position required for grinding, thereby achieving precise control of the position of the grinding head 3 and simple operation. After this rough adjustment operation, the grinding head 3 is moved to the approximate position for the grinding operation. Then, the grinding assembly is placed on the wind turbine blade, and the cylinder 306 is activated by the control device. The cylinder 306 will push the grinding assembly to move, and then approach the wind turbine blade to achieve grinding. When the diameter of the wind turbine blade changes, the first driving device is started through the control device, and the rotation of the output shaft of the first driving device will drive the grinding assembly to rotate, thereby adjusting the fit between the grinding assembly and the wind turbine blade, that is, the grinding assembly can adapt to the changes in the upper and lower diameters of the wind turbine blade, and can also adapt to the effective fit of smooth curved surfaces with different curvature radii, and can automatically adjust the grinding force, so as to achieve a good grinding effect.

[0062] By setting an electrical proportional valve, the electrical proportional valve can accurately control the stroke of the cylinder 306, so that the movable end of the cylinder 306 can push the grinding assembly to move horizontally, and the electrical proportional valve can be controlled to realize the automatic adjustment of the grinding force of the grinding assembly. Compared with the spring used in the prior art, due to the uncontrollability of the spring elastic force, the grinding assembly cannot accurately control the pressure on the wind turbine blade when grinding the surface of the wind turbine blade at different angles. It may happen that the pressure is too high and the grinding force is large when tilting downward, while the pressure is too low and the grinding force is small when tilting upward. The electrical proportional valve is more sensitive to load changes, has a faster response, and can be remotely controlled. When grinding the surface of the wind turbine blade, it can be adjusted at any time to control the grinding force of the grinding assembly on the surface of the wind turbine blade, so that the grinding assembly fits the blade surface more accurately and the grinding effect is better.

[0063] In this embodiment, the lifting assembly includes a second lifting column 202, a first lifting column 203, and a vertical fixed column 204, which are sequentially arranged from top to bottom. The second lifting column 202 can slide within the first lifting column 203, and the first lifting column 203 can slide within the vertical fixed column 204. The vertical fixed column 204 is fixedly connected to the base 201. The second lifting column 202 and the first lifting column 203 serve as two movable columns, allowing the grinding head 3 to be raised to a desired height. The upper end of the second lifting column 202 is fixedly connected to the first support rod 205, and the first support rod 205 is connected to the synchronous lifting column 206. The synchronous lifting column 206 is parallel to the second lifting column 202, and the synchronous lifting column 206 can slide on the vertical fixed column 204; due to the connecting effect of the first support rod 205, the second lifting column 202 and the synchronous lifting column 206 are lifted and lowered as a whole, which not only realizes the lifting and lowering of the second lifting column 202 itself, but also realizes the lifting and lowering of the grinding head 3, and the structure is simple and compact.

[0064] A first servo electric cylinder 207 is provided on both sides of the vertical fixed column 204. The fixed end of the first servo electric cylinder 207 is connected to the lower part of the vertical fixed column 204, and the movable end of the first servo electric cylinder 207 is connected to the upper end of the first lifting column 203. First slide rails 208 are provided on the two outer walls of the first lifting column 203, and first sliders 209 are provided on the two inner walls of the vertical fixed column 204 corresponding to the first slide rails 208. The first slide rails 208 and the first slider 209 match to enable the first lifting column 203 to slide inside the vertical fixed column 204. A second servo cylinder 210 is provided inside the first lifting column 203. The fixed end of the second servo cylinder 210 is fixedly connected to the lower portion of the first lifting column 203, and the movable end of the second servo cylinder 210 is fixedly connected to the upper end of the second lifting column 202. Second slide rails 211 are provided on the two outer side walls of the second lifting column 202. Second sliders 212 are provided on the two inner side walls of the first lifting column 203 corresponding to the second slide rails 211. The second slide rails 211 and the second sliders 212 match to enable the second lifting column 202 to slide inside the first lifting column 203. A fixed column extension 213 is provided on the outer side wall of the vertical fixed column 204 close to the synchronous lifting column 206, and a third slide rail 214 is provided on the outer side wall of the vertical fixed column 204 close to the synchronous lifting column 206 and extends upward to the fixed column extension 213. A slider connecting seat 215 is slidably connected between the synchronous lifting column 206 and the vertical fixed column 204, thereby enhancing the stability of the synchronous lifting column 206. A third slider 216 is provided on one side of the slider connecting seat 215 close to the third slide rail 214, and a connecting seat slider 217 is provided on the other side of the slider connecting seat 215. A connecting seat slide rail 218 is provided on the inner side wall of the synchronous lifting column 206. The third slide rail 214 matches the third slider 216, and the connecting seat slider 217 matches the connecting seat slide rail 218. The first servo electric cylinder 207 and the second servo electric cylinder 210 are both connected to the control device.

[0065] Specifically, through the control device, the second servo electric cylinder 210 is started, and the movable end of the second servo electric cylinder 210 will drive the second slide rail 211 on the second lifting column 202 to move upward relative to the second slider 212, thereby realizing the upward movement of the second lifting column 202. At the same time, the connecting seat slide rail 218 on the synchronous lifting column 206 will slide upward relative to the connecting seat slider 217, thereby realizing the upward movement of the synchronous lifting column 206 at the same time, and the second lifting column 202 and the synchronous lifting column 206 move upward synchronously. When the second lifting column 202 is raised to its highest height, the first servo electric cylinder 207 is activated. The movable end of the first servo electric cylinder 207 drives the first slide rail 208 on the first lifting column 203 to move upward relative to the first slider 209, thereby realizing the upward movement of the first lifting column 203. At the same time, the synchronous lifting column 206 and the slider connecting seat 215 integrally drive the third slider 216 to slide upward relative to the third slide rail 214, realizing the synchronous lifting column 206 and the second lifting column 202 as a whole and the first lifting column 203. By providing two lifting columns, the lifting assembly can reach a higher height and can accurately move the grinding head 3 to the required height position. By using the first servo electric cylinder 207 and the second servo electric cylinder 210 to drive the lifting of the corresponding columns, high-precision position control can be achieved, and the start, end and speed of each lift can be accurately controlled. The structure is relatively simple, the maintenance cost is low, and the service life is long, which improves the grinding efficiency.

[0066] In this embodiment, a fourth slide rail 219 is provided on the side wall of the synchronous lifting column 206 opposite the third slider 216, and a fourth slide rail 220 is provided on the telescopic connection assembly, with the fourth slide rail 219 and the fourth slide rail 220 matching each other. The cooperation between the fourth slide rail 219 and the fourth slide rail 220 enables the telescopic connection assembly to slide on the synchronous lifting column 206, thereby achieving the sliding of the telescopic connection assembly and the lifting assembly. The telescopic connection assembly includes a first connecting plate 221 and a first servo motor 222. The fourth slide rail 220 is fixedly connected to the inner side wall of the first connecting plate 221. The first servo motor 222 is connected to the end of the outer side wall of the first connecting plate 221. The output end of the first servo motor 222 is connected to a first gear 223. A first rack 224 is provided on the inner side of the fourth slide rail 219, with the first gear 223 matching the first rack 224. The first servo motor 222 is connected to a control device.

[0067] Specifically, the first servo motor 222 is started by the control device, and the rotation of the output shaft of the first servo motor 222 will drive the rotation of the first gear 223. Due to the meshing action of the first gear 223 and the first rack 224, the first gear 223 is driven to move up and down on the first rack 224, and the fourth slide rail 220 on the first connecting plate 221 is driven to move up and down relative to the fourth slide rail 219, thereby realizing the sliding of the first connecting plate 221 and the synchronous lifting column 206, and thereby realizing the sliding of the telescopic connecting assembly relative to the lifting assembly.

[0068] In this embodiment, the horizontal telescopic assembly includes a horizontal fixed column 225 and a horizontal telescopic column 226. The horizontal telescopic column 226 is mounted within the horizontal fixed column 225 and is capable of sliding horizontally therein. A first horizontal connecting plate 227 is provided on the side wall of the horizontal fixed column 225, adjacent to the lifting assembly. The first horizontal connecting plate 227 is used to connect to the first connecting plate 221, thereby connecting the horizontal telescopic assembly to the telescopic connection assembly. The horizontal telescopic column 226 is connected to a second support rod 228, which is connected to a horizontal synchronous telescopic column 240. The horizontal synchronous telescopic column 240 is parallel to the horizontal telescopic column 226 and is capable of sliding on the horizontal fixed column 225. A third servo electric cylinder 229 is arranged on two opposite side walls of the horizontal fixed column 225. The fixed end of the third servo electric cylinder 229 is arranged at the end of the horizontal fixed column 225 away from the horizontal telescopic column 226, and the movable end of the third servo electric cylinder 229 is arranged at the end of the horizontal telescopic column 226 away from the horizontal fixed column 225. The third servo electric cylinder 229 is connected to the control device.

[0069] Specifically, the first horizontal connecting plate 227 is connected to the first connecting plate 221, and the horizontal telescopic assembly is fixed to the telescopic connecting assembly. The third servo electric cylinder 229 is activated by the control device. The movement of the movable end of the third servo electric cylinder 229 causes the horizontal telescopic column 226 to extend outward. Due to the connection function of the second support rod 228, the horizontal synchronous telescopic column 240 is also driven to extend outward, achieving the synchronous telescopic extension of the horizontal telescopic column 226 and the horizontal synchronous telescopic column 240 as a whole. This not only achieves the horizontal movement of the horizontal telescopic column 226 itself, but also drives the grinding head 3 to move to the desired horizontal position. By using the third servo electric cylinder 229 to drive the horizontal movement of the corresponding column, precise control of the horizontal position can be achieved, with a simple structure, low maintenance costs, and a long service life.

[0070] Fifth slide rails 230 are provided on the two opposing side walls of the horizontal telescopic column 226, and fifth sliders 231 are provided on the two opposing inner side walls of the horizontal fixed column 225 corresponding to the fifth slide rails 230. The fifth slide rails 230 and the fifth sliders 231 mate with each other. A sixth slider 232 is provided on the inner side wall of the horizontal synchronous telescopic column 240, and a sixth slide rail 233 is provided on the outer side wall of the horizontal fixed column 225 corresponding to the sixth slider 232. The sixth slider 232 and the sixth slide rail 233 mate with each other.

[0071] Specifically, the movement of the movable end of the third servo electric cylinder 229 will cause the fifth slide rail 230 on the horizontal telescopic column 226 to move horizontally relative to the fifth slider 231, thereby realizing the sliding of the horizontal telescopic column 226 relative to the horizontal fixed column 225. At the same time, the sixth slider 232 moves relative to the sixth slide rail 233, thereby realizing the movement of the horizontal synchronous telescopic column 240 relative to the horizontal fixed column 225, realizing the horizontal movement function of the horizontal telescopic assembly, and driving the grinding head 3 to move to the required horizontal position.

[0072] In this embodiment, the grinding head connection assembly includes a second connecting plate 234 and a second servo motor 235. A seventh slider 236 is provided on the side wall of the second connecting plate 234 near the horizontal telescopic assembly. A seventh slide rail 237 is provided on the side wall of the horizontal synchronous telescopic column 240 near the seventh slider 236. The seventh slide rail 237 mates with the seventh slider 236. One end of the second connecting plate 234, away from the side wall of the horizontal telescopic assembly, is connected to the second servo motor 235, and the other end is used to connect to the grinding head 3. The output end of the second servo motor 235 is connected to a second gear 238. A second rack 239 is provided on the inner side of the seventh slide rail 237. The second gear 238 mates with the second rack 239. The second servo motor 235 is connected to the control device.

[0073] Specifically, the control device activates the second servo motor 235. The rotation of the output shaft of the second servo motor 235 drives the rotation of the second gear 238. Due to the meshing of the second gear 238 with the second rack 239, the second gear 238 moves horizontally on the second rack 239, thereby driving the seventh slider 236 to move relative to the seventh slide rail 237. This in turn enables the second connecting plate 234 to move relative to the horizontal synchronous telescopic column 240, thereby enabling the sliding of the grinding head connecting assembly and the horizontal telescopic assembly. The grinding head 3 is connected to the second connecting plate 234. The horizontal movement of the second connecting plate 234 realizes the horizontal position control of the grinding head 3.

[0074] In this embodiment, the first drive device is a third servo motor 302, which is mounted within the grinding head mounting bracket 301. The output of the third servo motor 302 is connected to the input of a T-shaped reducer 303. The rotation of the two output shafts of the T-shaped reducer 303 drives the rotation of the rotating block 304. Specifically, the third servo motor 302 is mounted within the grinding head mounting bracket 301 and has a compact structure. The output of the third servo motor 302 is connected to the input of the T-shaped reducer 303. The two output shafts of the T-shaped reducer 303 are symmetrically provided with axially disposed flat keys, and the rotating block 304 is provided with flat key grooves that match the flat keys. This allows the rotation of the two output shafts of the T-shaped reducer 303 to drive the rotation of the rotating block 304. The output shafts of the rotating block 304 and the T-shaped reducer 303 are connected by a key, ensuring a stable connection between the rotating block 304 and the T-shaped reducer 303.

[0075] The rotating block 304 is connected to the cylinder bracket 305. The fixed end of the cylinder 306 is fixedly connected to the upper end surface of the cylinder bracket 305. The outer side surface of the cylinder bracket 305 is provided with an eighth slider 307. The support assembly includes a first support member 308. The inner side of the first support member 308 is provided with an eighth slide rail 309 arranged axially. The eighth slider 307 cooperates with the eighth slide rail 309 to enable the eighth slider 307 to slide on the eighth slide rail 309. The support assembly also includes a second support member 310. One end of the first support member 308 is fixedly connected to the end of the second support member 310, so that the two first support members 308 and the second support member 310 form a semi-enclosed structure. The T-shaped reducer 303 and the two cylinders 306 are all located within the semi-enclosed structure. The movable ends of the cylinders 306 are connected to the second support member 310. Specifically, the eighth slider 307 is fixedly connected to the fixed end of the cylinder 306. When the movable end of the cylinder 306 is moved horizontally through the control device, the eighth slide rail 309 will be driven to move horizontally, and then the first support member 308 and the second support member 310 will be driven to move horizontally, and then the grinding assembly will be driven to move horizontally, thereby realizing the horizontal fit between the grinding assembly and the surface of the wind turbine blade.

[0076] In this embodiment, the grinding assembly includes a grinding bracket 311 and a fourth servo motor 312. The fourth servo motor 312 is disposed above the grinding bracket 311. The output end of the fourth servo motor 312 is connected to a driving pulley 313. The driving pulley 313 is provided with a belt 314. The belt 314 is connected to a driven pulley 315. The driven pulley 315 is connected to a grinding wheel shaft 316. The grinding wheel shaft 316 is connected to a grinding wheel 317. The grinding wheel 317 is disposed within the grinding bracket 311. The fourth servo motor 312 is connected to a control device. Specifically, when the fourth servo motor 312 is activated by the control device, the rotation of the fourth servo motor 312 drives the driving pulley 313 to rotate, which in turn drives the belt 314, which in turn drives the driven pulley 315, which in turn drives the grinding wheel shaft 316, and then drives the grinding wheel 317. The grinding wheel 317 is provided with a brush to grind the surface of the wind turbine blade.

[0077] In this embodiment, a first swing support frame 318 is provided at the end of the grinding bracket 311 away from the grinding wheel 317. The first swing support frame 318 can abut against the interior of the second support member 310. The upper and lower end surfaces of the first swing support frame 318 are respectively provided with corresponding first swing support frame through holes 319, and the upper and lower end surfaces of the second support member 310 are respectively provided with corresponding second support member through holes 320. The swing shaft 321 can pass through the two second support member through holes 320 and the two first swing support frame through holes 319, so that the first swing support frame 318 can swing relative to the second support member 310 via the swing shaft 321. Specifically, when the grinding assembly is grinding the wind turbine blade, the swing of the first swing support frame 318 can drive the grinding bracket 311 to swing, and then drive the grinding wheel 317 to swing left and right. When the blade curvature radius changes, the grinding wheel 317 can swing left and right, so that the grinding wheel 317 fits the blade surface better, and the grinding effect is better.

[0078] In this embodiment, a contact wheel 322 is provided at each end of the grinding bracket 311. The diameter of the contact wheel 322 is smaller than that of the grinding wheel 317. The grinding wheel 317 first contacts the wind turbine blade, and then the contact wheel 322 contacts the wind turbine blade to press it. This improves the stability of the grinding process, indirectly improving the grinding quality and achieving a better grinding effect.

[0079] In this embodiment, a dust hood 323 is provided at the lower end of the grinding bracket 311, and a dust suction port 324 is provided on the outer wall of the dust hood 323; the dust generated during the grinding process can be collected in the dust hood 323 and then sucked away through the dust suction port 324, thereby ensuring the cleanliness of the processing area and effectively improving the working environment.

[0080] In this embodiment, a hanging ring 325 is symmetrically provided on the end of the grinding bracket 311 away from the grinding wheel 317. Support ribs 326 are provided on the outer side of the first support frame. The support ribs 326 are provided with support rib through-holes 327 evenly spaced along their lengths. Springs 328 can be hung on the hanging ring 325 and support rib through-holes 327. The spring 328 is provided between the grinding bracket 311 and the first support member 308 to prevent the grinding assembly from swinging too much left and right during upward movement.

[0081] This utility model uses specific examples to illustrate the principles and implementation methods of this utility model. The above examples are only used to help understand the method and core concept of this utility model. At the same time, for those skilled in the art, according to the concept of this utility model, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A wind turbine blade surface grinding machine, comprising a mobile vehicle, characterized in that: The mobile vehicle is fixedly connected to a liftable and retractable frame, the frame including a lifting assembly, a retractable connecting assembly slidably connected to the lifting assembly, the retractable connecting assembly fixedly connected to a horizontal retractable assembly, a grinding head connecting assembly slidably connected to the horizontal retractable assembly, the grinding head connecting assembly is connected to the grinding head, the lifting assembly can drive the grinding head to move up and down, and the horizontal retractable assembly can drive the grinding head to move horizontally; The grinding head includes a grinding head connecting frame, the upper end surface of the grinding head connecting frame is used to be connected to the grinding head connecting assembly, a first driving device is arranged inside the grinding head connecting frame, the first driving device is connected to the T-shaped reducer, the two output ends of the T-shaped reducer are respectively connected to a rotating block, the rotating block is connected to the cylinder through the cylinder bracket, the movable end of the cylinder is connected to the support assembly, the fixed end of the cylinder is slidably connected to the support assembly, the support assembly is rotatably connected to the grinding assembly, the grinding assembly is used to grind the surface of the wind turbine blade, each of the cylinders is connected to an electrical proportional valve, and the first driving device and the electrical proportional valve are both connected to the control device.

2. The wind turbine blade surface grinding machine according to claim 1, characterized in that: The mobile vehicle is an AGV vehicle, which includes a frame. The lower part of the frame is connected to wheels that enable the frame to move forward, backward, left, right, turn and rotate in place. The frame also includes a base that is fixedly connected to the frame.

3. The wind turbine blade surface grinding machine according to claim 2, characterized in that: The lifting assembly includes a second lifting column, a first lifting column and a vertical fixed column which are sequentially sleeved from top to bottom, the second lifting column being able to slide inside the first lifting column, the first lifting column being able to slide inside the vertical fixed column, the vertical fixed column being fixedly connected to the base, the upper end of the second lifting column being fixedly connected to a first support rod, the first support rod being connected to a synchronous lifting column, the synchronous lifting column being parallel to the second lifting column, and the synchronous lifting column being able to slide on the vertical fixed column; A first servo electric cylinder is provided on both sides of the vertical fixed column, the fixed end of the first servo electric cylinder is connected to the lower part of the vertical fixed column, and the movable end of the first servo electric cylinder is connected to the upper end of the first lifting column. First slide rails are provided on the two outer side walls of the first lifting column, and first sliders are provided on the two inner side walls of the vertical fixed column corresponding to the first slide rails. The first slide rails match the first sliders to enable the first lifting column to slide inside the vertical fixed column; A second servo electric cylinder is provided inside the first lifting column. The fixed end of the second servo electric cylinder is fixedly connected to the lower portion of the first lifting column, and the movable end of the second servo electric cylinder is fixedly connected to the upper end of the second lifting column. Second slide rails are provided on the two outer side walls of the second lifting column. Second sliders are provided on the two inner side walls of the first lifting column corresponding to the second slide rails. The second slide rails match the second sliders to enable the second lifting column to slide inside the first lifting column. A fixed column extension portion is provided on the outer side wall of the vertical fixed column close to the synchronous lifting column, and a third slide rail is provided on the outer side wall of the vertical fixed column close to the synchronous lifting column and extends upward to the fixed column extension portion. A slider connecting seat is slidably connected between the synchronous lifting column and the vertical fixed column, and a third slider is provided on one side of the slider connecting seat close to the third slide rail, and a connecting seat slider is provided on the other side of the slider connecting seat. A connecting seat slide rail is provided on the inner side wall of the synchronous lifting column, the third slide rail matches the third slider, and the connecting seat slider matches the connecting seat slide rail, and the first servo electric cylinder and the second servo electric cylinder are both connected to the control device.

4. The wind turbine blade surface grinding machine according to claim 3, characterized in that: A fourth slide rail is provided on the side wall of the synchronous lifting column opposite to the third slide block, and a fourth slide block is provided on the telescopic connection assembly, and the fourth slide rail matches the fourth slide block; The telescopic connection assembly includes a first connecting plate and a first servo motor, the fourth slider is fixedly connected to the inner wall of the first connecting plate, the first servo motor is connected to the end of the outer wall of the first connecting plate, the output end of the first servo motor is connected to the first gear, the inner side of the fourth slide rail is provided with a first rack, the first gear and the first rack match, and the first servo motor is connected to the control device.

5. The wind turbine blade surface grinding machine according to claim 4, characterized in that: The horizontal telescopic assembly includes a horizontal fixed column and a horizontal telescopic column. The horizontal telescopic column is sleeved inside the horizontal fixed column and can slide horizontally inside the horizontal fixed column. A first horizontal connecting plate is provided on the side wall of the horizontal fixed column close to the lifting assembly. The first horizontal connecting plate is used to connect with the first connecting plate, so that the horizontal telescopic assembly is connected to the telescopic connecting assembly. The horizontal telescopic column is connected to the second support rod, the second support rod is connected to the horizontal synchronous telescopic column, the horizontal synchronous telescopic column is parallel to the horizontal telescopic column and can slide on the horizontal fixed column; A third servo electric cylinder is provided on two opposite side walls of the horizontal fixed column, wherein the fixed end of the third servo electric cylinder is provided at the end of the horizontal fixed column away from the horizontal telescopic column, and the movable end of the third servo electric cylinder is provided at the end of the horizontal telescopic column away from the horizontal fixed column, and the third servo electric cylinder is connected to the control device; The two opposite side walls of the horizontal telescopic column are respectively provided with fifth slide rails, and the two opposite inner side walls of the horizontal fixed column corresponding to the fifth slide rails are provided with fifth sliders, and the fifth slide rails match the fifth sliders; A sixth sliding block is provided on the inner side wall of the horizontal synchronous telescopic column, and a sixth slide rail is provided on the outer side wall of the horizontal fixed column corresponding to the sixth sliding block, and the sixth sliding block matches the sixth slide rail.

6. The wind turbine blade surface grinding machine according to claim 5, characterized in that: The grinding head connecting assembly includes a second connecting plate and a second servo motor, a seventh slider is provided on the side wall of the second connecting plate close to the horizontal telescopic assembly, a seventh slide rail is provided on the side wall of the horizontal synchronous telescopic column close to the seventh slider, the seventh slide rail matches the seventh slide rail, one end of the second connecting plate away from the side wall of the horizontal telescopic assembly is connected to the second servo motor, and the other end is used to connect to the grinding head; The output end of the second servo motor is connected to a second gear, a second rack is provided on the inner side of the seventh slide rail, the second gear matches the second rack, and the second servo motor is connected to the control device.

7. The wind turbine blade surface grinding machine according to claim 1, characterized in that: The first driving device is a third servo motor, which is arranged inside the grinding head connecting frame. The output end of the third servo motor is connected to the input end of the T-shaped reducer. The rotation of the two output shafts of the T-shaped reducer can drive the rotation of the rotating block; the rotating block is connected to the cylinder bracket, and the fixed end of the cylinder is fixedly connected to the upper end surface of the cylinder bracket. The outer side surface of the cylinder bracket is provided with an eighth slider; The support assembly includes a first support member, an eighth slide rail arranged axially on the inner side of the first support member, and the eighth slider cooperates with the eighth slide rail so that the eighth slider can slide on the eighth slide rail; The support assembly also includes a second support member, one end of the first support member is fixedly connected to the end of the second support member, so that the two first support members and the second support members form a semi-enclosed structure, the T-shaped reducer and the two cylinders are located inside the semi-enclosed structure, and the movable end of the cylinder is connected to the second support member.

8. The wind turbine blade surface grinding machine according to claim 7, characterized in that: The grinding assembly includes a grinding bracket and a fourth servo motor. The fourth servo motor is arranged on the upper part of the grinding bracket. The output end of the fourth servo motor is connected to the driving pulley. The driving pulley is provided with a belt. The belt is connected to the driven pulley. The driven pulley is connected to the grinding wheel shaft. The grinding wheel shaft is connected to a grinding wheel. The grinding wheel is arranged inside the grinding bracket. The fourth servo motor is connected to the control device.

9. The wind turbine blade surface grinding machine according to claim 8, characterized in that: A first swing support frame is provided at the end of the grinding bracket away from the grinding wheel, and the first swing support frame can abut against the inside of the second support member, and the upper end face and the lower end face of the first swing support frame are respectively provided with corresponding first swing support frame through holes, and the upper end face and the lower end face of the second support member are respectively provided with corresponding second support member through holes, and the swing shaft can pass through the two second support member through holes and the two first swing support frame through holes, so that the first swing support frame can swing relative to the second support member via the swing shaft.

10. The wind turbine blade surface grinding machine according to claim 8, characterized in that: A contact wheel is provided at each end of the grinding bracket, and the diameter of the contact wheel is smaller than the diameter of the grinding wheel; A dust collecting cover is provided at the lower end of the polishing bracket, and a dust suction port is provided on the outer wall of the dust collecting cover; A hanging ring is symmetrically provided at one end of the grinding bracket away from the grinding wheel, a support rib is provided on the outer side of the first support member, and support rib through holes are provided on the support rib and are evenly arranged along the length direction, and a spring can be hung on the hanging ring and the support rib through holes.

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