Self-leveling wind power blade end face milling machine

Abstract

The utility model discloses a self-leveling wind power blade end face milling machine which comprises an inner ring, an outer ring and a rotating arm, the inner ring is arranged inside the outer ring in a rotating mode, the rotating arm is fixed on the front end face of the inner ring in the diameter direction of the inner ring, a milling assembly is arranged on the rotating arm, a positioning magnetic attraction assembly is arranged on the rear end face of the inner ring, and main supporting legs are arranged on the periphery of the outer ring. The main supporting leg comprises a first telescopic rod, the first telescopic rod is connected with a worm gear screw lifter through a servo motor to achieve radial telescoping of the first telescopic rod, a sliding assembly is arranged on one side of the first telescopic rod and comprises a first sliding rail connected with the first telescopic rod, and a first ball screw is arranged in the first sliding rail. A first sliding seat is arranged on the first sliding rail and fixedly connected with a first supporting plate supported on the inner surface of the blade. The self-leveling wind power blade end face milling machine is high in safety and high in adjusting precision, meanwhile, it is guaranteed that the end face has good planeness and smoothness, and blades of different specifications can be machined.

Description

Technical Field

[0001] The utility model relates to the technical field of wind turbine blade end face milling machines, in particular to a self-leveling wind turbine blade end face milling machine. Background Art

[0002] A wind turbine is a power generation device that converts wind energy into mechanical energy and then electrical energy through blades. Blades are key components of wind turbines. Generally, the blades and hub are connected together via bolts. Therefore, during the blade manufacturing process, a high-strength bolt sleeve is embedded in the end face of the blade root. This bolt sleeve end face is assembled with the hub flange, and the two flange surfaces are then locked together using high-strength screws. However, the blades need to withstand wind sweeping from different directions, and the stress they are subjected to is very high. If the connection surface between the blade and hub is uneven, it will cause the blade to wobble, or even damage the entire wind turbine. Therefore, the connection strength between the blade and hub is very high.

[0003] Since the blade end face is very large and has no positioning reference, and due to the limitations of its shape, it cannot be placed on an ordinary processing machine tool for processing, which further increases the difficulty of processing. Existing wind turbine blade end face processing equipment generally includes a rotating component, a feed component, a support and positioning component, and a milling component. The rotating component includes an inner ring, an outer ring, and a rotating arm. The two ends of the rotating arm are provided with a feed component, which controls the extension or retraction of the milling component. The milling component mills the root end face of the wind turbine blade. The support and positioning component is evenly arranged on the rear end face of the outer ring and supported inside the wind turbine blade so that when the milling component mills the root end face of the wind turbine blade, the wind turbine blade processing equipment as a whole will not shake relative to the root end face of the wind turbine blade. It can improve the processing efficiency of the root end face of the blade while ensuring that the end face has good flatness and smoothness.

[0004] However, in the existing equipment, when the wind turbine blade processing equipment is moved to support the inside of the wind turbine blade, manual adjustment is performed to make the rotating arm parallel to the end face of the wind turbine blade, which has low safety and low manual adjustment accuracy. In addition, when the wind turbine blade milling equipment is moved by the existing equipment, a hook is connected to the top of the outer ring, and a wire rope is manually hung on the hook to realize the movement of the wind turbine blade milling equipment, which has low safety. Utility Model Content

[0005] The purpose of the utility model is to provide a self-leveling wind turbine blade end face milling machine, which has high safety and high adjustment accuracy, while ensuring that the end face has good flatness and smoothness, and can process blades of different specifications.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A self-leveling wind turbine blade end milling machine includes a rotating assembly, which includes an inner ring, an outer ring and a rotating arm. The inner ring is rotatably arranged inside the outer ring, and a turntable is fixedly connected to the positive end face of the inner ring. The rotating arm is fixed to the turntable along the diameter direction of the turntable. A milling assembly and a laser rangefinder are provided on the rotating arm. A positioning magnetic attraction assembly is also provided on the turntable. The positioning magnetic attraction assembly is used to be adsorbed on the external wind turbine blade end face; a main support leg is provided on the periphery of the outer ring, and the main support leg includes a first telescopic rod. The first telescopic rod is connected to a worm screw elevator through a servo motor to achieve the first telescopic The rod is telescopic in radial direction, and a sliding assembly is provided on the side of the first telescopic rod close to the inner surface of the wind turbine blade. The sliding assembly includes a first slide rail, which is connected to the first telescopic rod. A first ball screw is provided in the first slide rail, and one end of the first ball screw is fixedly connected to the output end of the servo motor and can rotate under the drive of the servo motor; a first slide seat is provided on the first slide rail, and the first slide seat is fixedly connected to the first support plate. The first support plate is supported on the inner surface of the blade, and the first slide seat is screwed on the first ball screw and can slide on the first slide rail under the drive of the first ball screw.

[0008] Preferably, latch teeth are provided on the inner circumference of the inner ring, and the inner ring is connected to a gear via a servo motor and is driven to rotate by meshing the gear with the latch teeth.

[0009] Preferably, the magnetic attraction component includes a magnetic attraction support connected to the turntable, and a magnet is provided on the end of the magnetic attraction support close to the wind turbine blade.

[0010] Preferably, the magnetic supports are provided in three groups, and the three groups of magnetic supports have the same length.

[0011] Preferably, a feed assembly is further provided between the rotating arm and the milling assembly, the feed assembly comprising a first mounting plate, a second slide rail being fixedly connected to the first mounting plate, the second slide rail being arranged at both ends of the rotating arm, a second ball screw being provided in the second slide rail, a second slide seat being further provided on the second slide rail, the second slide seat being screwed to the second ball screw and being able to slide on the second slide rail driven by the second ball screw; the milling assembly comprising a milling motor, the milling motor being connected to the second slide seat, and the milling motor being fixedly connected to the milling cutter.

[0012] Preferably, a base is provided at both ends of the rotating arm, a third slide rail is provided on the base, a third ball screw is provided inside the third slide rail, a third slide seat is also provided on the third slide rail, the third slide seat is fixedly connected to the mounting plate, the third slide seat is screwed to the third ball screw and can slide on the third slide rail under the drive of the third ball screw.

[0013] Preferably, it also includes an auxiliary support leg, the auxiliary support leg includes a second telescopic rod, the second telescopic rod is connected to the first cylinder and is controlled by the first cylinder to extend and retract radially, and a second support plate is provided at the end of the second telescopic rod.

[0014] Preferably, an anti-falling assembly is provided on the turntable, and the anti-falling assembly includes a fourth slide rail, a fourth slide seat is provided on the fourth slide rail, a tightening member is provided at one end of the fourth slide seat, the fourth slide seat is connected to the second cylinder, and the tightening member is controlled by the second cylinder to contact the inner surface of the wind turbine blade.

[0015] Preferably, it also includes a lifting assembly, which includes a connecting part that is fixed to the turntable, a second mounting plate is provided on the top of the connecting part, and a first hook and an electric push rod are provided on the second mounting plate. When the external steel wire passes through the first hook, the electric push rod moves toward the side of the first hook and locks the external steel wire in the first hook.

[0016] Preferably, it further comprises a transfer vehicle, on which an electrical control device and a mounting frame are provided; and a second hook is provided on the top of the outer ring.

[0017] In the above technical solution, an electric push rod and an electromagnetic induction switch are arranged on the lifting assembly. When the wire rope is passed through the first hook, the electromagnetic induction switch receives a signal and transmits the signal to the PLC controller. The PLC controls the electric push rod to move toward the side close to the hook and locks the wire rope inside the bucket, so that it is connected to the first hook. The wire rope will not fall out during the movement. The solution is highly practical and does not require manual intervention, which improves safety.

[0018] Furthermore, by providing a main support leg, when the positioning magnetic assembly is attached to the end face of a wind turbine blade, the main support leg propels the self-leveling wind turbine blade end milling machine to move as a whole, pushing the wind turbine blade end milling machine out to a point where the magnetic assembly no longer adheres to the wind turbine blade end face. This ensures that the magnetic assembly does not contact the wind turbine blade end face when the inner ring rotates. The main support leg includes a first telescopic rod, which is connected to a reducer via a servo motor, and the reducer is connected to a worm screw elevator to achieve radial extension and retraction of the first telescopic rod. A first support plate is provided at the end of the first telescopic rod. When the milling machine is fixed on the inner surface of the wind turbine blade, the first support plate abuts against the inner surface of the wind turbine blade. At this time, the rotation of the first ball screw is controlled by the servo motor. The first ball screw is fixedly connected to the first support plate. Since the first support plate abuts against the inner surface of the wind turbine blade and does not slip, the first ball screw drives the first slide rail to slide relative to the first slide seat when it rotates, thereby pushing the milling machine as a whole to move outward, so that the positioning magnetic suction component is separated from the end face of the wind turbine blade. There is no need for manual placement and leveling, which improves automation and safety.

[0019] By setting a second cylinder to control the tightening or loosening of the anti-fall assembly, when the leveling operation of the milling machine is completed, the second cylinder is controlled by PLC to push the fourth slide to slide on the four slide rails, so that the tightening member is supported on the inner surface of the wind turbine blade. In the event of an operational error or a power outage, the second cylinder will not be affected. The anti-fall assembly controls the tightening member through the second cylinder to contact and support the inner surface of the wind turbine blade, which can effectively prevent the wind turbine blade from falling and causing danger.

[0020] By setting up main supporting legs and auxiliary supporting legs to support the wind turbine blades at the same time, the contact with the inside of the wind turbine blades is increased while the stability of the support is improved. In addition, anti-slip pads are provided on the main supporting legs and the auxiliary supporting legs. When the milling machine moves to the inside of the wind turbine blades and supports the wind turbine blades, the anti-slip pads are against the inner surface of the wind turbine blades, which increases friction and enhances stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention from another angle;

[0023] Figure 3 This is a schematic diagram of the three-dimensional structure of the utility model without a turntable;

[0024] Figure 4 This is a schematic diagram of the internal connection structure of the utility model;

[0025] Figure 5 This is an enlarged structural diagram of the top of the hoisting assembly of the utility model;

[0026] Figure 6 This is a schematic diagram of the connection structure between the feed assembly and the milling assembly of the present invention;

[0027] Figure 7 This is a schematic diagram of the position of the second electromagnetic induction switch of the present invention;

[0028] Figure 8 This is a schematic diagram of the connection relationship of the sliding assembly of the present invention;

[0029] Figure 9 This is a schematic structural diagram of the anti-fall assembly of the present utility model;

[0030] Figure 10 This is a schematic diagram of the position of the second hook of the present invention;

[0031] In the figure, 1 is a rotating assembly; 11 is an inner ring; 12 is a turntable; 121 is a conductive slip ring; 122 is a latch; 123 is a first servo motor; 124 is a gear; 13 is an outer ring; 131 is a second electromagnetic induction switch; 132 is a second hook; 14 is a rotating arm; 141 is a base; 142 is a third slide rail; 143 is a third ball screw; 144 is a third slide seat; 145 is a bolt; 146 is an end portion of the third ball screw; 147 is a laser rangefinder; 2 is a feed assembly; 21 is a first mounting plate; 22 is a first electromagnetic induction switch; 23 is a second slide rail; 24 is a second ball screw; 25 is a second servo motor; 26 is a second slide seat; 3 is a milling assembly; 31 is a milling motor; 32 is a milling cutter; 33 is a vacuum tube ; 4 positioning magnetic attraction assembly; 41 magnetic attraction support; 42 magnet; 5 main support leg; 51 first telescopic rod; 52 third servo motor; 53 reducer; 54 worm gear screw elevator; 6 sliding assembly; 61 first slide rail; 62 first ball screw; 63 first slide seat; 64 first support plate; 65 anti-slip pad; 66 fourth servo motor; 7 auxiliary support leg; 71 second telescopic rod; 72 first cylinder; 73 second support plate; 8 anti-fall assembly; 81 fourth slide rail; 82 fourth slide seat; 83 tightening member; 84 second cylinder; 9 lifting assembly; 91 connecting part; 92 second mounting plate; 93 first hook; 94 electric push rod; 95 third electromagnetic induction switch. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings:

[0033] like Figures 1 to 10 As shown, a self-leveling wind turbine blade end face milling machine includes a rotating component 1, a feeding component 2, a positioning magnetic attraction component 4, a milling component 3 and a main support leg 5.

[0034] The rotating assembly 1 comprises an inner ring 11, an outer ring 13, and a rotating arm 14. The inner ring 11 is rotatably connected to the inner ring 13. Gears 122 are provided along the inner circumference of the inner ring 11. The inner ring 11 is connected to a reducer via a first servo motor 123. The reducer is connected to a gear 124, which meshes with the gears 122 to drive the inner ring 11 in rotation. The front end surface of the inner ring 11 is fixedly connected to the turntable 12. The rotating arm 14 is fixedly connected to the middle position of the turntable 12 in the radial direction. A base 141 is provided at each end of the rotating arm 14. A third slide rail 142 is provided on the base 141 along the radial direction of the rotating arm 14. A third ball screw 143 is provided within the third slide rail 142. A third slide seat 144 is also provided on the third slide rail 142. The third slide seat 144 is screwed to the third ball screw 143 and can move on the third slide rail 142 under the drive of the third ball screw 143. To control the movement of the third slide 144, first loosen the bolt 145 at the end of the third ball screw 143. Then, using a wrench or other tool, connect the bolt 145 to the end 146 of the third ball screw and rotate it to drive the third ball screw 143. This allows the third slide 144 to slide on the third rail 142 to the milling position that aligns with the wind turbine blade. The bolt 145 is then tightened. Compared to direct manual adjustment, adding a ball screw saves effort. The mechanical connection method using bolt 145 here can improve the stability and reliability of the connection and prevent deviation caused by vibration during operation that affects processing accuracy.

[0035] The feed assembly 2 includes a first mounting plate 21, which is fixedly connected between the third slide 144 and the second slide rail 23. A second ball screw 24 is provided in the second slide rail 23, and the end of the second ball screw 24 is connected to a second servo motor 25. The second slide rail 23 is also provided with a second slide 26, which is screwed onto the second ball screw 24 and can slide on the second slide rail 23 under the drive of the second ball screw 24. The milling assembly 3 includes a milling motor 31, which is connected to the second slide 26 and fixedly connected to the milling cutter 32. A protective cover (not shown) is provided at the end of the milling cutter 32 to prevent dust from being discharged and splashed. At the same time, a dust suction pipe 33 is connected to the protective cover, and the dust suction pipe 33 is also connected to a vacuum cleaner to absorb and collect dust from milling to maintain a clean and hygienic working environment. In this embodiment, two first electromagnetic induction switches 22 are provided on the first mounting plate. The two first electromagnetic induction switches 22 are respectively located at the original position and the feeding position of the feeding assembly 2 .

[0036] A positioning magnetic assembly 4 is also provided on the turntable 12. The positioning magnetic assembly 4 is used to attach to the end face of an external wind turbine blade and lock the initial position of the milling machine connected to the wind turbine blade. The positioning magnetic assembly 4 includes three groups of magnetic supports 41 connected to the turntable 12. The three groups of magnetic supports 41 are of the same length and spacing. Magnets 42 are provided at the ends of the magnetic supports 41 near the wind turbine blade. The three groups of magnetic supports 41 accurately position the milling machine when connected to the end face of the wind turbine blade. When the three groups of magnets 42 are completely attached to the end face of the wind turbine blade, the rotating arm 14 is flush with the end face of the wind turbine blade.

[0037] A main support leg 5 is provided on the periphery of the outer ring 13. The main support legs 5 are provided in three groups, and the three groups of main support legs 5 all include a first telescopic rod 51. The first telescopic rod 51 is connected to the reducer 53 through a third servo motor 52, and is connected to the worm screw elevator 54 through the reducer 53 to realize the radial extension and contraction of the first telescopic rod 51 along the inner ring 11. A sliding assembly 6 is provided on the side of the first telescopic rod 51 close to the inner surface of the wind turbine blade. The sliding assembly 6 includes a first slide rail 61, which is connected to the first telescopic rod 51. A first ball screw 62 is provided in the first slide rail 61. One end of the first ball screw 62 is fixedly connected to one end of the reducer 53 and can be rotated under the drive of the fourth servo motor 66 and the reducer 53. A first slide seat 63 is provided on the first slide rail 61. The first slide seat 63 is fixedly connected to the first support plate 64. An anti-slip pad 65 is provided on the first support plate 64. When the first support plate 64 is supported on the inner surface of the blade, slippage between the first support plate 64 and the inner surface of the blade is prevented. The first slide 63 is threaded onto the first ball screw 62 and, driven by the first ball screw 62, can slide on the first slide rail 61. When the milling machine is fixed to the inner surface of a wind turbine blade, the first support plate 64 abuts against the inner surface of the wind turbine blade. At this time, the motor connected to the reducer 53 controls the rotation of the first ball screw 62, which is fixed to the first support plate 64. Since the first support plate 64 abuts the inner surface of the wind turbine blade and does not slip, the rotation of the first ball screw 62 causes the first slide rail 61 to slide relative to the first slide 63, thereby pushing the entire milling machine outward until the positioning magnetic assembly 4 separates from the end surface of the wind turbine blade. Manual placement and leveling are no longer required, improving automation and safety. In this embodiment, a second electromagnetic induction switch 131 is provided on the end surface of the outer ring 13. When the main support legs 5 retract to the origin, the second electromagnetic induction switch transmits a signal to the PLC, allowing the PLC to determine whether the milling machine is ready for hoisting. In this embodiment, an elevator cylinder sleeve is provided on the outer periphery of the worm screw elevator, and the first telescopic rod of the elevator is not used directly as the support of the axial force, so the structure is more stable.

[0038] In a preferred embodiment, the machine further includes two sets of auxiliary support legs 7, spaced apart above the rotating arm 14. Each set of auxiliary support legs 7 includes a second telescopic rod 71, which is connected to a first cylinder 72 and radially extends and retracts via the first cylinder 72. A second support plate 73 is located at the end of the second telescopic rod 71, and anti-slip pads 65 are installed on the second support plate 73 to enhance friction with the inner wall of the wind turbine blade. By providing simultaneous support for the wind turbine blade with both the main support legs 5 and the auxiliary support legs 7, the machine increases contact with the inner surface of the wind turbine blade while also improving support stability. Furthermore, anti-slip pads 65 are installed on both the main support legs 5 and the auxiliary support legs 7. When the milling machine moves into the interior of the wind turbine blade and supports it, the anti-slip pads 65 rest against the inner surface of the blade, further securing the milling machine's position. In this embodiment, a cylinder sleeve is placed around the outer periphery of the first cylinder, allowing the second telescopic rod, without the cylinder, to directly support axial forces, resulting in a more stable structure.

[0039] In a preferred embodiment, an anti-fall assembly 8 is provided on the positive end face of the inner ring 11. The anti-fall assembly 8 includes a fourth slide rail 81, a fourth slide seat 82 is provided on the fourth slide rail 81, and a tightening member 83 is provided at one end of the fourth slide seat 82. The fourth slide seat 82 is connected to a second cylinder 84, and the second cylinder 84 controls the tightening member 83 to contact the inner surface of the wind turbine blade. The second cylinder 84 controls the pressure relief operation through an induction valve. When the leveling operation of the milling machine is completed, the second cylinder 84 is controlled by the PLC to push the fourth slide seat 82, sliding on the four slide rails, so that the tightening member 83 is supported on the inner surface of the wind turbine blade. In the event of an operational error or a power outage, the second cylinder 84 will not be affected. The anti-fall assembly 8 controls the tightening member 83 to contact and support the inner surface of the wind turbine blade through the second cylinder 84, which can effectively prevent the wind turbine blade from falling and causing danger.

[0040] In a preferred embodiment, a hoisting assembly 9 is further included. The hoisting assembly 9 includes a connecting portion 91 for fixing the turntable, a second mounting plate 92 is provided on the top of the connecting portion 91, and a first hook 93 and an electric push rod 94 are provided on the second mounting plate 92. When the external steel wire passes through the first hook 93, the electric push rod 94 moves toward the side of the first hook 93 and locks the external steel wire in the first hook 93. By arranging the electric push rod 94 on the hoisting assembly 9, when the steel wire rope is passed through the first hook 93, the third electromagnetic induction switch 95 receives a signal and transmits the signal to the PLC controller, which controls the electric push rod 94 through the PLC to move toward the side close to the first hook 93 and lock the steel wire rope inside the first hook 93, so that it is connected to the first hook 93. In addition, the steel wire rope will not fall out during the movement. The utility model is highly practical and does not require manual intervention, thereby improving safety.

[0041] In a preferred case, a transfer vehicle is also included. The transfer vehicle is provided with an electrical control device and a mounting frame. A conductive slip ring 121 is provided in the center of the rotating arm 14. The cable of the electrical control device passes through the conductive slip ring 121 to transmit electricity and signals to the milling machine, ensuring the normal operation of the milling machine and making the operation of the machine more stable and efficient, so that the continuous rotation of the rotating arm 14 can be achieved and the end face of the blade can be fully and continuously milled. When the milling machine is not in use, it can be placed and fixed on the mounting frame. The transfer vehicle can conveniently transport the milling machine. A second hook 132 is also provided on the top of the outer ring 13 to ensure that the second hook 132 is always facing upward. When the turntable 12 stops unexpectedly, it can be hoisted on the second hook 132 by a wire rope to achieve the movement of the turntable 12.

[0042] When the above embodiment is in use, a transfer vehicle is used to transport the milling machine to the vicinity of the end face of the blade root, and then a lifting device is used to hang the wire rope on the first hook 93 and receive a signal through the electromagnetic induction switch, and the signal is transmitted to the PLC controller. The PLC controls the electric push rod 94 to move toward the side close to the first hook and lock the wire rope inside the first hook. At this time, the milling machine is hoisted to the root of the blade, so that the two lower groups of main support legs 5 are against the lower side wall of the blade root, and the milling machine is initially supported and positioned. Then, the milling machine is continued to be brought closer to the end face of the blade, and at the same time, the two lower groups of magnetic components are adsorbed on the end face of the wind turbine blade. Then, the top magnetic component is also adsorbed on the end face of the wind turbine blade by moving the lifting device. At this time, the top group of main support legs 5 extends out and contacts the inner surface of the wind turbine blade. At this time, the three groups of main support legs 5 are supported from the inside of the wind turbine blade, so that the wind turbine blade and the milling machine are in a connected state. At this time, the end face of the wind turbine blade and the rotating arm 14 are in a parallel state. The reducer 53 is further connected through the third servo motor 52, and the first ball screw 62 is driven to rotate by the reducer 53 to realize the overall translation of the milling machine until the distance between the positioning magnetic suction component 4 and the end face of the wind turbine blade is 20 mm. After that, the inner ring 11 is controlled to rotate by the first servo motor 123 and the rotating arm 14 is driven to rotate synchronously, and the leveling operation is performed by the laser rangefinder 147 arranged at the end of the rotating arm 14. After the leveling operation is completed, the second cylinder 84 pushes the tightening member 83 to be fixed on the inner surface of the wind turbine blade, and the auxiliary support leg 7 is supported on the inner surface of the wind turbine blade. Further adjust the position of the third slide on the third slide rail so that the milling cutter 32 corresponds to the end face of the wind turbine blade and use the bolt 145 to fix the third slide on the third slide rail. Then, the rotating arm 14 rotates under the drive of the inner ring 11. The milling cutter 32 accurately controls the feed amount under the action of the second ball screw to mill the end face of the wind turbine blade to ensure the consistency of the milling. The milling cutter 32 quickly mills the uneven position to make its flatness smoother and the processing process is fast and convenient. After the processing is completed, the milling machine is hoisted to the fixed frame of the transfer vehicle for fixed placement.

[0043] This embodiment is only an illustration of the concept and implementation of the utility model, and does not limit it. Under the concept of the utility model, technical solutions that have not been substantially changed are still within the scope of protection.

Claims

1. A self-leveling wind turbine blade end milling machine, comprising a rotating assembly, the rotating assembly comprising an inner ring, an outer ring, and a rotating arm, wherein the inner ring is rotatably arranged inside the outer ring, a rotating disk is fixedly connected to the positive end face of the inner ring, and the rotating arm is fixed to the rotating disk along the diameter direction of the rotating disk, and a milling assembly and a laser rangefinder are provided on the rotating arm, characterized in that: A positioning magnetic attraction component is also provided on the turntable, and the positioning magnetic attraction component is used to be adsorbed on the external end face of the wind turbine blade; a main support leg is provided on the periphery of the outer ring, and the main support leg includes a first telescopic rod, and the first telescopic rod is connected to a worm screw elevator through a servo motor to realize radial extension and contraction of the first telescopic rod, and a sliding component is provided on the side of the first telescopic rod close to the inner surface of the wind turbine blade, and the sliding component includes a first slide rail, the first slide rail is connected to the first telescopic rod, and a first ball screw is provided in the first slide rail, one end of the first ball screw is fixedly connected to the output end of the servo motor and can rotate under the drive of the servo motor; a first slide seat is provided on the first slide rail, and the first slide seat is fixedly connected to the first support plate, and the first support plate is supported on the inner surface of the blade, and the first slide seat is screwed on the first ball screw and can slide on the first slide rail under the drive of the first ball screw.

2. The self-leveling wind turbine blade end milling machine according to claim 1, characterized in that: The inner ring is provided with latching teeth in the circumferential direction. The inner ring is connected to the gear via a servo motor and the gear is engaged with the latching teeth to drive the inner ring to rotate.

3. The self-leveling wind turbine blade end milling machine according to claim 1, characterized in that: The magnetic attraction component includes a magnetic attraction support connected to the turntable, and a magnet is provided on one side of the end of the magnetic attraction support close to the wind turbine blade.

4. The self-leveling wind turbine blade end milling machine according to claim 3, characterized in that: The magnetic supports are provided in three groups, and the three groups of magnetic supports have the same length.

5. The self-leveling wind turbine blade end milling machine according to claim 1, characterized in that: A feeding assembly is also provided between the rotating arm and the milling assembly, and the feeding assembly includes a first mounting plate, a second slide rail is fixedly connected to the first mounting plate, the second slide rail is arranged at both ends of the rotating arm, a second ball screw is provided in the second slide rail, and a second slide seat is also provided on the second slide rail, the second slide seat is screwed to the second ball screw and can slide on the second slide rail under the drive of the second ball screw; the milling assembly includes a milling motor, the milling motor is connected to the second slide seat, and the milling motor is fixedly connected to the milling cutter.

6. The self-leveling wind turbine blade end milling machine according to claim 5, characterized in that: A base is also provided at both ends of the rotating arm, a third slide rail is provided on the base, a third ball screw is provided inside the third slide rail, a third slide seat is also provided on the third slide rail, the third slide seat is fixedly connected to the mounting plate, the third slide seat is screwed on the third ball screw and can slide on the third slide rail under the drive of the third ball screw.

7. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: It also includes an auxiliary supporting leg, which includes a second telescopic rod. The second telescopic rod is connected to the first cylinder and is controlled by the first cylinder to extend and retract radially. A second support plate is provided at the end of the second telescopic rod.

8. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: An anti-falling assembly is provided on the turntable, and the anti-falling assembly includes a fourth slide rail, a fourth slide seat is provided on the fourth slide rail, a tightening piece is provided at one end of the fourth slide seat, the fourth slide seat is connected to the second cylinder, and the tightening piece is controlled by the second cylinder to contact with the inner surface of the wind turbine blade.

9. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: It also includes a lifting assembly, which includes a connecting part that is fixed to the turntable, a second mounting plate is provided on the top of the connecting part, and a first hook and an electric push rod are provided on the second mounting plate. When the external steel wire passes through the first hook, the electric push rod moves toward the side of the first hook and locks the external steel wire in the first hook.

10. The self-leveling wind turbine blade end milling machine according to any one of claims 1 to 6, characterized in that: It also includes a transfer vehicle, which is provided with an electrical control device and a mounting frame; and a second hook is provided on the top of the outer ring.

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