A leveling mechanism of a full-automatic milling machine for a wind power blade root end face

Abstract

The utility model discloses a kind of leveling mechanism of wind power blade root end surface full-automatic milling machine, including base and support arm being vertically arranged on base, horizontal sliding component is equipped between base and support arm, first steering assembly is equipped on the both sides of base, and first steering assembly controls support arm to rotate along horizontal direction;Second steering assembly is equipped on the side of support arm, and second steering assembly is connected vertical sliding component and controls vertical sliding component to rotate along vertical direction, and vertical sliding component is used to connect external milling assembly.The leveling mechanism can realize high-precision adjustment of horizontal and vertical direction, ensure the milling precision of external milling assembly;Meanwhile, by setting steering assembly and auxiliary connecting structure, stable support is provided for external milling assembly, so that external milling assembly reduces shaking in milling process, guarantees milling quality.

Description

Technical Field

[0001] This utility model relates to the field of wind turbine blade processing technology, specifically to a leveling mechanism for a fully automatic milling machine for the root end face of a wind turbine blade. Background Technology

[0002] In the field of wind turbine blade manufacturing, the milling accuracy of the blade root end face has a crucial impact on the assembly quality and performance of the blade. The fully automatic blade root end face milling machine, as a key piece of equipment for this process, includes a leveling mechanism and milling components. The performance of the leveling mechanism directly determines the stability and accuracy of the milling process.

[0003] Currently, existing milling machine leveling mechanisms on the market include a transfer carriage with a support wall on it. One side of the support arm has a rotating wall connected to an external milling assembly. The support arm relies on horizontal and vertical steering components to achieve flexible adjustment in both horizontal and vertical directions. In horizontal adjustment, some horizontal steering components use bearings for steering, which lacks support during rotation, easily leading to unstable rotation and affecting milling quality.

[0004] Regarding vertical adjustment, the connection between the rotating wall and the support arm is not stable enough, which easily causes wobbling during milling and affects the flatness of the milled surface. At the same time, existing leveling mechanisms often lack effective auxiliary connection structures between the rotating wall and the support arm, resulting in insufficient rigidity of the connection between the rotating wall and the support arm, which reduces milling accuracy when subjected to large milling forces. Utility Model Content

[0005] The purpose of this invention is to provide a leveling mechanism for a fully automatic milling machine for the root end face of wind turbine blades. This leveling mechanism can achieve high-precision adjustment in both horizontal and vertical directions, ensuring the milling accuracy of the external milling components. At the same time, by setting a steering component and an auxiliary connection structure, it provides stable support for the external milling components, reducing shaking of the external milling components during the milling process and ensuring milling quality.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A leveling mechanism for a fully automatic milling machine for the root end face of a wind turbine blade includes a base and a support arm vertically mounted on the base. A horizontal sliding assembly is provided between the base and the support arm. First steering assemblies are provided on both sides of the base, and the first steering assemblies control the support arm to rotate in the horizontal direction. A second steering assembly is provided on one side of the support arm, and the second steering assembly is connected to a vertical sliding assembly and controls the vertical sliding assembly to rotate in the vertical direction. The vertical sliding assembly is used to connect to an external milling assembly.

[0008] The horizontal sliding assembly includes a first slide rail and a rack. A first slide block is provided on the first slide rail. The first slide block is used to connect to the support arm. The first slide block is connected to a gear. The gear meshes with the rack. When the gear moves along the rack, it drives the first slide block to move on the first slide rail. The vertical sliding assembly includes a rotating wall parallel to the support arm. A first sliding assembly and a second sliding assembly are provided on the rotating wall.

[0009] The first steering assembly includes a fixed support, a power support, and an auxiliary support. The fixed support is connected to one end of the base, the power support is connected to the other end of the base, and the auxiliary support is supported on both sides of the base. The power support is used to make steering movements around the fixed support as the center, so as to adjust the milling assembly in the horizontal direction.

[0010] The second steering assembly includes a power mechanism rotatably connected to the first slide block, and the power mechanism is rotatably connected to the rotating wall; a rotating component is provided between the support arm and the rotating wall, and when the rotating wall is driven to rotate by the power mechanism, the rotating wall rotates around the rotating component as the center, thereby realizing the adjustment of the milling assembly in the vertical direction.

[0011] Preferably, the first slide rail and rack are fixedly mounted on the base along the length direction of the base. The first slide has a mounting hole, and the first servo motor passes through the mounting hole and connects to the gear. The power support is connected to the second servo motor, and the second servo motor provides steering power to the power support. The support arm has a connecting hole, and one end of the power mechanism passes through the connecting hole and is rotatably connected to one end of the rotating wall. The rotating component is located at the middle position of the support arm near the rotating wall.

[0012] Preferably, the fixed support, the power support, and the auxiliary support all include a mounting base connected to the side wall of the base. The mounting base includes a first mounting plate fixedly connected to the side wall of the base and a second mounting plate perpendicular to the first mounting plate. The second mounting plate has a through hole, and a worm gear screw jack is fixedly connected to the second mounting plate. The output rod of the worm gear screw jack passes through the through hole and its end is connected to a support platform.

[0013] A self-rotating component is provided between the output rod of the worm gear screw jack and the support platform. The self-rotating component includes a sleeve and a hemispherical seat. The sleeve is fixed to the hemispherical seat by a fastener with a notch, and the notch cooperates with the locking platform so that the locking platform is locked in the notch of the fastener, so that when the support platform is supported on the ground, the base can rotate with the first steering component.

[0014] The first sliding assembly includes a second slide rail and a first ball screw. The first ball screw is connected to a third servo motor. The second slide rail and the first ball screw are fixedly installed on the rotating wall along the length of the rotating wall. A second slide block is provided on the second slide rail. The second slide block is screwed to the first screw of the first ball screw and slides along the second slide rail under the drive of the first screw. The second slide block is used to connect to an external first milling assembly.

[0015] The second sliding assembly includes a third slide rail and a second ball screw. The second ball screw is connected to a fourth servo motor. The third slide rail and the second ball screw are fixedly installed on the rotating wall along the length of the rotating wall. A third slide block is provided on the third slide rail. The third slide block is screwed onto the second screw of the second ball screw and slides along the third slide rail under the drive of the second screw. The third slide block is used to connect to an external second milling assembly.

[0016] Preferably, the sleeve includes a sleeve sleeved on the output rod of the worm gear screw jack and a hemispherical structure fixedly connected to the bottom of the sleeve and concentrically arranged with the sleeve. The diameter of the hemispherical structure is larger than the diameter of the sleeve, and a locking platform is formed at the connection between the hemispherical structure and the sleeve.

[0017] The hemispherical base is fixedly connected above the support platform. The hemispherical base is a cuboid with a circular pit in the center of its top surface. The diameter of the hemispherical structure is the same as the inner diameter of the circular pit.

[0018] Preferably, the auxiliary support and the power support further include a sliding assembly disposed between the support platform and the hemispherical seat. The sliding assembly includes a guide rail fixedly connected to the top of the support platform and a guide seat fixedly connected to the bottom of the hemispherical seat. The guide seat is engaged with the guide rail and can slide along the guide rail. The path of the guide rail of the power support is the same as the path of the tangent to a circle with the fixed support as the center and the distance between the power support and the fixed support as the radius. The path of the guide rail of the auxiliary support is the same as the path of the tangent to a circle with the fixed support as the center and the distance between the auxiliary support and the fixed support as the radius.

[0019] Preferably, the second servo motor is fixedly connected to the support platform, and the output end of the second servo motor is connected to the third ball screw. A fourth slide is screwed onto the third screw of the third ball screw. The fourth slide is fixedly connected to the bottom of the hemispherical seat. By moving the fourth slide on the third screw, the hemispherical seat is driven to slide along the guide rail, thereby realizing the rotation of the base.

[0020] Preferably, the power mechanism includes a fourth ball screw, which includes a fourth screw and a fifth slide. The fifth slide is screwed to the fourth screw. When the fourth screw rotates, the fifth slide can move along the fourth screw. The fifth slide passes through a connecting hole and is rotatably connected to the rotating wall through a first bearing.

[0021] A fifth servo motor is connected to one end of the fourth ball screw, and a screw fixing seat is fixedly connected to one end of the fifth servo motor. The screw fixing seat is sleeved on the periphery of the fourth screw. The screw fixing seat is rotatably connected to the first slide block through a second bearing.

[0022] The rotating component is a third bearing and includes a third outer ring and a third inner ring. The third outer ring is fixedly connected to the rotating wall, and the third inner ring is fixedly connected to the side wall of the support arm.

[0023] Preferably, the support arm is hollow, and an auxiliary connection structure is provided between the support arm and the rotating wall. Two auxiliary connection structures are provided and are respectively connected to the upper and lower ends of the rotating component. The auxiliary connection structure includes a cross slide and an electromagnetic structure. A fourth bearing is provided on the cross slide. The cross slide is connected to the vertical steering assembly. The fourth inner ring of the fourth bearing is fixedly connected to the cross slide, and the fourth outer ring of the bearing is fixedly connected to the support arm.

[0024] The electromagnetic structure includes an electromagnet disposed on the side wall of the support arm and a suction plate disposed on the rotating wall that can be attracted to the electromagnet. The electromagnet can be attracted to the suction plate after being energized.

[0025] Preferably, the base includes a base plate and casters. There are six casters arranged in a rectangle at the bottom of the transport vehicle. The six casters include four active casters and two auxiliary casters. The two active casters are located at the four vertices of the rectangle to provide power for the leveling mechanism. The two auxiliary casters are located in the middle of the long side of the rectangle.

[0026] Preferably, it also includes a PLC controller, and the first steering component, the second steering component, the horizontal sliding component, and the vertical sliding component are all controlled by the PLC controller; a laser positioning device is provided on one side of the base; radars are provided on both sides of the base; and anti-collision strips are provided at both ends of the base.

[0027] In the above technical solution, the problem of insufficient positioning accuracy of existing milling equipment transfer vehicles is solved by setting first steering components on both sides of the base plate. Specifically, the first steering component includes a fixed support, a power support, and an auxiliary support. The fixed support is connected to one end of the base plate, serving as the reference point for the entire steering component. The power support is connected to the other end of the base plate, and a second servo motor drives a third ball screw to rotate, thereby driving a fourth slide to slide along the third screw, achieving steering movement with the fixed support as the center. The auxiliary supports are located on both sides of the base plate, cooperating with the power support to enhance the overall stability and steering flexibility of the leveling mechanism. In addition, the self-rotating component set between the output rod of the worm gear screw jack and the support platform, through the cooperation of the hemispherical structure and the hemispherical seat, enables the support platform to be stably supported on the ground while also rotating flexibly with the base.

[0028] The vertical adjustment of the milling assembly is achieved by setting a second steering component. One end of the power mechanism is rotatably connected to the first slide, and the other end passes through a pre-set connecting hole on the support arm and is rotatably connected to the rotating wall. A rotating component is located in the middle of the side of the support arm near the first sliding component. By driving one end of the rotating wall to move along the connecting hole through the power mechanism, the rotating wall rotates around the rotating component as the center, thereby achieving vertical adjustment of the external milling assembly.

[0029] An auxiliary connection structure is provided between the support arm and the second steering assembly. Two auxiliary connection structures are provided, one connected to the upper end and the other to the lower end of the second steering assembly. The auxiliary connection structure includes a cross slide and an electromagnetic structure. Bearings are provided on the cross slide to connect the support arm and the rotating wall, reducing vibration of the support arm during operation caused by rotating parts and enhancing the connection between the rotating wall and the support arm. After the second steering assembly rotates, it is attracted to a suction plate by an electromagnet, further strengthening the connection between the rotating wall and the support arm.

[0030] By setting up a horizontal sliding component, the support arm can slide smoothly along the length of the base. By setting up a vertical sliding component, it can connect and slide with the external milling component, allowing the milling component to move synchronously with the horizontal and vertical sliding components, thereby realizing the milling of the root of the wind turbine blade. Attached Figure Description

[0031] Figure 1 This is a three-dimensional structural diagram of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade;

[0032] Figure 2 This is a schematic diagram showing the connection between the base of the leveling mechanism and the first steering component of the fully automatic milling machine for the root end face of the wind turbine blade.

[0033] Figure 3This is a three-dimensional structural diagram of the horizontal sliding component of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade;

[0034] Figure 4 This is a schematic diagram of the gear and rack meshing of the horizontal sliding component of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade;

[0035] Figure 5 This is a three-dimensional structural diagram of the vertical sliding component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade.

[0036] Figure 6 This is a three-dimensional structural diagram of the auxiliary support component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade.

[0037] Figure 7 This is a schematic diagram showing the disassembled structure of the auxiliary support component of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade;

[0038] Figure 8 This is a three-dimensional structural diagram of the fixed support component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade.

[0039] Figure 9 This is a schematic diagram showing the disassembled structure of the fixed support component of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade;

[0040] Figure 10 This is a three-dimensional structural diagram of the power support component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade.

[0041] Figure 11 This is a three-dimensional structural diagram of the power support component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade from another angle.

[0042] Figure 12 This is a schematic diagram showing the disassembled structure of the power support component of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade.

[0043] Figure 13 This is a schematic diagram of the disassembled structure of the leveling mechanism and the hemispherical seat of the fully automatic milling machine for the root end face of the wind turbine blade.

[0044] Figure 14 This is a three-dimensional structural diagram of the mounting base for the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade.

[0045] Figure 15 This is a three-dimensional structural diagram of the fixing component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade.

[0046] Figure 16This is a three-dimensional structural diagram of the second steering component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade.

[0047] Figure 17 This is a three-dimensional structural diagram of the second steering component of the leveling mechanism of the fully automatic milling machine for the root end face of the wind turbine blade, which is mounted on the support arm.

[0048] Figure 18 This is a schematic diagram showing the disassembled structure of the power mechanism of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade.

[0049] Figure 19 This is a schematic diagram showing the connection relationship of the cross slide of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade;

[0050] Figure 20 This is a schematic diagram of the connection structure of the electromagnet in the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade.

[0051] Figure 21 This is a schematic diagram of the radar and positioning instrument positions of the leveling mechanism of the fully automatic milling machine for the root end face of this wind turbine blade.

[0052] In the diagram, 1 is the base; 11 is the base plate; 12 is the active omnidirectional wheel; 13 is the auxiliary omnidirectional wheel; 2 is the horizontal sliding assembly; 21 is the first slide rail; 22 is the first slide block; 23 is the rack; 24 is the gear; 25 is the first servo motor; 26 is the first reducer; 3 is the support arm; 31 is the connecting hole; 4 is the vertical sliding assembly; 41 is the rotating wall; 42 is the first sliding assembly; 421 is the second slide rail; 422 is the second slide block; 423 is the first ball screw; 424 is the first screw; 425 is the third servo motor; 426 is the third reducer; 4 3 Second sliding assembly; 431 Third slide rail; 432 Third slide block; 433 Second ball screw; 434 Second screw; 435 Fourth servo motor; 436 Fourth reducer; 5 First steering assembly; 51 Fixed support; 52 Mounting base; 521 First mounting plate; 522 Second mounting plate; 523 Through hole; 524 Reinforcing plate; 53 Worm gear screw jack; 54 Support platform; 55 Rotation assembly; 56 Socket; 57 Sleeve; 58 Hemispherical structure; 59 Clamping platform; 60 Hemispherical seat ; 61 Circular pit; 62 Fixing component; 63 Retaining part; 64 Snap-fit ​​part; 65 Arc-shaped surface; 66 Notch; 7 Auxiliary support component; 71 Sliding assembly; 711 Guide rail; 712 Guide seat; 8 Power support component; 81 Second servo motor; 811 Second reducer; 82 Third ball screw; 83 Third screw; 84 Fourth slide; 91 Power mechanism; 92 Fourth ball screw; 93 Fourth screw; 94 Fifth slide; 95 Fifth servo motor; 951 Fifth reducer; 96 First bearing; 9 61 First outer ring; 962 First inner ring; 98 Mounting sleeve; 99 Second bearing; 991 Second outer ring; 992 Second inner ring; 100 Connecting seat; 101 Third bearing; 1011 Third outer ring; 1012 Third inner ring; 110 Auxiliary connecting structure; 111 Cross slide; 112 Fourth bearing; 1121 Fourth inner ring; 1122 Fourth outer ring; 113 Electromagnetic structure; 114 Electromagnet; 115 Suction plate; 120 Laser positioning device; 130 Radar; 140 Anti-collision strip. Detailed Implementation

[0053] The present invention will be further described below with reference to the accompanying drawings:

[0054] like Figure 1 and Figure 2As shown, the leveling mechanism of this fully automatic milling machine for the root end face of wind turbine blades includes a base 1. The base 1 includes a base plate 11 and six casters connected to the bottom of the base plate 11. These casters are arranged in a rectangle at the bottom of the transport vehicle, providing power and steering for the leveling mechanism. These six casters include four active casters 12 and two auxiliary casters 13. The active and auxiliary casters 12 are existing equipment. The four active casters 12 are located at the four corners of the rectangle and include a power motor and a steering motor, providing power and steering for the movement of the leveling mechanism. The two auxiliary casters 13 are located in the middle of the rectangle, providing auxiliary support and steering. The combination of the four active casters 12 and the two auxiliary casters 13 gives the leveling mechanism good maneuverability and flexibility during movement, enabling it to adapt to complex road conditions and steering requirements within the workshop.

[0055] like Figure 3 and Figure 4 As shown, a horizontal sliding assembly 2 is provided on the base plate 11. The horizontal sliding assembly 2 includes a first slide rail 21 and a rack 23. The first slide rail 21 and the rack 23 are fixedly installed on the base plate 11 along its length. There are three first slide rails 21, which are evenly arranged along the length of the base plate 11. A rack 23 is provided between two of the first slide rails 21. A first slide block 22 is provided on the first slide rail 21. The first slide block 22 has a mounting hole. A first servo motor 25 is provided on the first slide block 22. The first servo motor 25 is connected to a first reducer 26. The output rod of the first reducer 26 passes through the mounting hole and connects to a gear 24. The gear 24 meshes with the rack 23. Driven by the first servo motor 25, the gear 24 slides along the rack 23 and drives the first slide block 22 to slide along the first slide rail 21. A support arm 3 is fixedly mounted on the first slide block 22. The support arm 3 is hollow, reducing the overall weight of the leveling mechanism. The support arm 3 is perpendicular to the base plate 11 and can slide along the first slide rail 21 under the drive of the first slide block 22. The position of the support arm 3 on the base plate 11 can be adjusted by setting the horizontal sliding component 2. The first servo motor 25 is connected to the gear 24 and provides power to the gear 24. The first slide rail 21 provides support for the first slide block 22, so that when the first slide block 22 drives the support arm 3 to slide along the rack 23, the first slide block 22 can move stably on the base 1 without shaking or offset. It should be noted that in this embodiment, the horizontal movement of the support arm 3 on the base plate 11 is achieved by the cooperation of the rack 23 and the gear 24. It can also be achieved by the cooperation of the lead screw and the sliding component, as long as the lead screw and the sliding component are adapted and connected to the corresponding components.

[0056] like Figure 5As shown, a vertical sliding assembly 4 is provided on one side of the support arm 3. The vertical sliding assembly 4 is used to connect an external milling assembly, which includes a first milling assembly and a second milling assembly. The vertical sliding assembly 4 includes a rotating wall 41 parallel to the support arm 3. On the other side of the rotating wall 41, a first sliding assembly 42 and a second sliding assembly 43 are provided. The first sliding assembly 42 includes a second slide rail 421 and a first ball screw 423. The second slide rail 421 and the first ball screw 423 are fixedly installed on the rotating wall 41 along its length. The first ball screw 423 is powered by a third servo motor 425 and a third reducer 426. A second slide block 422 is provided on the second slide rail 421. The second slide block 422 is screwed onto the first screw 424 of the first ball screw 423 and slides along the second slide rail 421 under the drive of the first screw 424. The second slide block 422 is used to connect to the external first milling assembly and drive the external first milling assembly to slide along the second slide rail 421. The second sliding assembly 43 includes a third slide rail 431 and a second ball screw 433. The third slide rail 431 and the second ball screw 433 are fixedly installed on the rotating wall 41 along the length direction of the rotating wall 41. The second ball screw 433 is powered by a fourth servo motor 435 and a fourth reducer 436. A third slide block 432 is provided on the third slide rail 431. The third slide block 432 is screwed onto the second screw 434 of the second ball screw 433 and slides along the third slide rail 431 under the drive of the second screw 434. The third slide block 432 is used to connect to the external second milling assembly and drive the external second milling assembly to slide along the third slide rail 431. It should be noted that in this embodiment, the first ball screw 423 and the second slide block 422 are used in cooperation, and the second ball screw 433 and the third slide block 432 are used in cooperation to realize the vertical movement of the milling assembly on the rotating wall 41. Alternatively, a gear and rack can be used to achieve the same result, as long as the gear and rack are adapted and connected to the corresponding components.

[0057] like Figure 1 , Figures 6 to 15 As shown, a first steering assembly 5 is provided on both sides of the base plate 11. The first steering assembly 5 is used to support and control the base plate 11 to rotate in the horizontal direction. Specifically, the first steering assembly 5 includes a fixed support member 51, a power support member 8, and an auxiliary support member 7. The fixed support member 51 is connected to one end of the base plate 11, and the power support member 8 is connected to the other end of the base plate 11. The line connecting the power support member 8 and the fixed support member 51 is an oblique line passing through the center of the base plate 11. Ten auxiliary support members 7 are provided and supported on both sides of the base plate 11, so that the length of the base plate 11 can be extended to six meters, which can be used to mill the roots of large wind turbine blades. Moreover, the auxiliary support members 7, the power support member 8, and the fixed support member 51 are symmetrically distributed about the base plate 11, so that the leveling mechanism can maintain stability during support and steering, avoiding swaying or tilting of the leveling mechanism due to uneven force.

[0058] The fixed support 51, auxiliary support 7, and power support 8 all include mounting bases 52 connected to the side wall of the base plate 11. Each mounting base 52 includes a first mounting plate 521 fixedly connected to the side wall of the base plate 11 and a second mounting plate 522 fixedly connected to the bottom of the first mounting plate 521 and perpendicular to it. The first mounting plate 521 and the second mounting plate 522 are welded together or integrally formed. Reinforcing plates 524 are connected to both sides of the first mounting plate 521 and the second mounting plate 522. The reinforcing plates 524 enhance the strength and stability of the mounting base 52, enabling it to withstand greater external forces. A through hole 523 is provided in the middle of the second mounting plate 522. A worm gear screw jack 53 is also fixedly connected to the second mounting plate 522. The output rod of the worm gear screw jack 53 passes through the through hole 523, and a support platform 54 is connected to the end of the output rod. The worm gear screw jack 53 controls the rise and fall of the support platform 54, so that after the leveling mechanism is transported, the support platform 54 is supported on the ground, causing the casters to disengage from the ground and supporting the leveling mechanism. This also ensures that the support platform 54 can be stably supported on the ground when the external milling equipment moves or performs milling operations. A self-rotating component 55 is provided between the output rod of the worm gear screw jack 53 and the support platform 54. The self-rotating component 55 includes a sleeve 56 and a hemispherical seat 60. The socket 56 includes a sleeve 57 fitted onto the output rod of the worm gear screw jack 53 and a hemispherical structure 58 fixedly connected to the bottom of the sleeve 57 and concentrically arranged with the sleeve 57. The diameter of the hemispherical structure 58 is larger than the diameter of the sleeve 57, and a locking platform 59 is formed at the connection between the hemispherical structure 58 and the sleeve 57. The hemispherical structure 58 and the sleeve 57 are integrally formed or welded together. A hemispherical seat 60 is fixedly connected to the top of the support platform 54. The hemispherical seat 60 is a cuboid with a circular pit 61 in the center of its top surface. The diameter of the hemispherical structure 58 is the same as the inner diameter of the circular pit 61, allowing the hemispherical structure 58 to be placed in and mate with the circular pit 61. The hemispherical structure 58 is connected to the hemispherical seat 60 by a fastener 62. Four fasteners 62 are provided, each including a retaining part 63 and a snap-fit ​​part 64 integrally formed with the retaining part 63. A notch 66 is formed between the snap-fit ​​part 64 and the retaining part 63 to engage with the locking platform 59. The notch 66 mates with the locking platform 59. The end face of the snap-fit ​​part 64 away from the retaining part 63 is an arc-shaped surface 65, which can fit against the outer diameter of the sleeve 57. The retaining part 63 is fixedly connected to the hemispherical seat 60 by bolts, and the notch 66 limits the locking platform 59. This ensures that the support platform 54 is stably supported on the ground and that the base plate 11 does not wobble when rotating with the first steering assembly 5. Therefore, when the first steering assembly 5 is supported on the ground, the fixed support 51, the auxiliary support 7, and the power support 8 can all rotate.

[0059] The auxiliary support 7 and the power support 8 also include a sliding assembly 71 disposed between the support platform 54 and the hemispherical seat 60. The sliding assembly 71 includes a guide rail 711 fixedly connected to the top of the support platform 54 and a guide seat 712 fixedly connected to the bottom of the hemispherical seat 60. The guide seat 712 is engaged with the guide rail 711 and can slide along the guide rail 711. The path of the guide rail 711 of the power support 8 is the same as the path of the tangent to a circle with the fixed support 51 as the center and the distance between the power support 8 and the fixed support 51 as the radius. The path of the guide rail 711 of the auxiliary support 7 is the same as the path of the tangent to a circle with the fixed support 51 as the center and the distance between the auxiliary support 7 and the fixed support 51 as the radius. The sliding component 71 enables the auxiliary support component 7 to slide along a specific path in coordination with the movement of the power support component 8 when the power support component 8 drives the leveling mechanism to turn. This allows the first steering component 5 to perform steering operations smoothly and steadily, avoiding steering jamming or even deviation caused by uncoordinated movement of the auxiliary support component 7, and further improving the steering accuracy of the leveling mechanism.

[0060] The power support component 8 is connected to a second servo motor 81, which is fixedly connected to the support platform 54. The output end of the second servo motor 81 is connected to a third ball screw 82, which includes a third screw 83 and a fourth slide 84. The fourth slide 84 is fixedly connected to the bottom of the hemispherical seat 60. By moving the fourth slide 84 on the third screw 83, the hemispherical seat 60 is driven to slide along the guide rail 711, thereby realizing the rotation of the base 1 and thus driving the leveling mechanism to rotate. To better control the movement of the power support component 8, the power support component 8 is also equipped with a second reducer 811, which is connected to the second servo motor 81. The second servo motor 81 works in conjunction with the second reducer 811 to control the movement speed and displacement of the power support component 8, thereby achieving precise control of the rotation of the base 1 and improving the operating accuracy of the leveling mechanism.

[0061] like Figures 16 to 18As shown, a second steering assembly is provided between the support arm 3 and the vertical sliding assembly 4. The second steering assembly includes a power mechanism 91 rotatably connected to the first slide 22 and a rotating component connected between the support arm 3 and the vertical sliding assembly 4 and located at the midpoint between the two components. The power mechanism 91 includes a fourth ball screw 92 and a screw fixing seat. The fourth ball screw 92 includes a fourth screw 93 and a fifth slide 94. The fifth slide 94 is screwed to the fourth screw 93. When the fourth screw 93 rotates, the fifth slide 94 can move along the fourth screw 93. A connecting hole 31 is provided on the side of the support arm 3 near the vertical sliding assembly 4. The fifth slide 94 passes through the connecting hole 31 and is connected to the rotating wall 41 through a first bearing 96. The first outer ring 961 of the first bearing 96 is connected to the rotating wall 41, and the first inner ring 962 of the first bearing 96 is fixedly connected to the fifth slide 94. One end of the fourth ball screw 92 is connected to the fifth servo motor 95 and the fifth reducer 951, and the fifth servo motor 95 provides power to the fourth ball screw 92. A screw fixing seat is fixedly connected to one end of the fifth reducer 951. The screw fixing seat includes a mounting sleeve 98 sleeved around the fourth screw 93 and a connecting seat 100 rotatably connected to the mounting sleeve 98. The connecting seat 100 is fixedly connected to the first slide 22. The mounting sleeve 98 does not affect the rotation of the fourth screw 93; it only serves a connecting function. The mounting sleeve 98 and the connecting seat 100 are connected by a second bearing 99, and the second outer ring 991 of the second bearing 99 is connected to the connecting seat 100, while the second inner ring 992 of the second bearing 99 is fixedly connected to the periphery of the mounting sleeve 98, so that when the fifth servo motor 95 drives the fourth screw 93 to rotate, the fifth slide 94 can move along the fourth screw 93. Since the fifth slide 94 is rotatably connected to one end of the vertical sliding assembly 4, and the vertical sliding assembly 4 and the support arm 3 are connected by a rotating component located in the middle of the support arm 3 and the vertical sliding assembly 4, when the fifth slide 94 moves along the fourth screw 93 under the drive of the fourth screw 93, the vertical sliding assembly 4 will move along an arc formed by the rotating component as the center and the distance from the center of the rotating component to the fifth slide 94 as the radius. That is to say, the travel path of the fifth slide 94 is arc-shaped. The rotational connection of the fourth screw 93 relative to the first slide 22 is achieved by the setting of the second bearing 99, thereby completing the precise steering of the support wall. The rotating component is the third bearing 101, which includes a third outer ring 1011 and a third inner ring 1012. The third outer ring 1011 is fixedly connected to the vertical sliding assembly 4, and the third inner ring 1012 is fixedly connected to the support arm 3.

[0062] like Figure 19 and Figure 20As shown, in a preferred embodiment, an auxiliary connection structure 110 is further provided between the support arm 3 and the rotating wall 41. Two auxiliary connection structures 110 are provided and respectively connected to the upper and lower ends of the rotating component. The auxiliary connection structure 110 includes a cross slide 111 and an electromagnetic structure 113. A fourth bearing 112 is provided on the cross slide 111, which is connected to the rotating wall 41. The fourth inner ring 1121 of the fourth bearing 112 is fixedly connected to the cross slide 111, and the fourth outer ring 1122 of the fourth bearing 112 is fixedly connected to the support arm 3, thereby strengthening the connection between the rotating arm 41 and the support arm 3.

[0063] The electromagnetic structure 113 includes an electromagnet 114 disposed on the side wall of the support arm 3 and a suction plate 115 disposed on the rotating wall 41, which can be attracted to the electromagnet 114. When the electromagnet 114 is energized, it can be attracted to the suction plate 115. This ensures that after the rotation is completed, the rotating arm 41 can maintain the angle and prevent the rotating arm 41 from moving.

[0064] like Figure 21 As shown, a laser positioning device 120 is also provided on one side of the base plate 11 where the power support component 8 is located. The laser positioning device 120 can position the base 1 when it is transported to the root of the wind turbine blade to be milled. Specifically, it first moves by means of casters. When the leveling mechanism moves to the blade root end face and the laser positioning device 120 scans the root of the wind turbine blade to be milled, the leveling mechanism stops moving. At this time, coarse positioning of the leveling mechanism is achieved. Afterwards, the worm gear screw jack 53 controls the fixed support component 51, the power support component 8 and the auxiliary support component 7 to be supported on the ground and to perform subsequent steering operations.

[0065] In a preferred embodiment, radar 130 is provided at the middle position on both sides of the base 1. Radar 130 includes a vertical radar and a horizontal radar. The vertical radar faces upwards towards the leveling mechanism to prevent the leveling mechanism from encountering obstacles in the vertical direction during movement. The horizontal radar faces away from the base 1 to prevent the leveling mechanism from encountering obstacles in the horizontal direction during movement. Anti-collision strips are provided at both ends of the base 1 to prevent the ends of the leveling mechanism from encountering obstacles during operation.

[0066] In a preferred embodiment, a warning light is also provided on the base 1 to alert the user that the leveling mechanism is in operation.

[0067] This embodiment also includes a PLC controller. The first steering component 5, the second steering component, the horizontal sliding component 2, and the vertical sliding component 4 are all controlled by the PLC controller. In this embodiment, the leveling mechanism is first moved to the vicinity of the root of the wind turbine blade by the active universal wheel 12 and the auxiliary universal wheel 13. The laser positioning device 120 scans the root of the wind turbine blade to be milled for coarse positioning, so that the leveling mechanism is located near the end face of the wind turbine blade root and stops moving. Then, the PLC controller controls the horizontal sliding component 2 and the vertical sliding component 4 to move, so that the laser rangefinder on the external milling component scans the end face of the blade root. Based on the scanning results, the PLC controller controls the first steering component 5 and the second steering component to turn, so that the external milling equipment is adjusted to be parallel to the end face of the wind turbine blade root. Specifically, based on the scanning results, the PLC controller controls the worm gear screw jack 53 to adjust the height of the support platform 54, so that the steering support component contacts the ground and supports the leveling mechanism. Next, the second servo motor 81 drives the power support 8 to move in a turning direction around the fixed support 51. At the same time, the auxiliary support 7, through the sliding component 71, cooperates with the movement of the power support 8 to achieve precise turning and positioning of the leveling mechanism in the horizontal direction. Simultaneously, based on the scanning results, the PLC controller controls the fifth servo motor 95 to drive the fourth ball screw 92 to rotate, so that the fifth slide 94, along with the rotation of the fourth screw 93, causes the rotating arm 41 to move in a turning direction along the rotating component, achieving precise turning and positioning of the leveling mechanism in the vertical direction, thereby completing the positioning work of the external milling equipment.

[0068] This embodiment is merely an illustration of the concept and implementation of this utility model, and is not intended to limit it. Under the concept of this utility model, the technical solution without substantial changes is still within the protection scope.

Claims

1. A leveling mechanism for a fully automatic milling machine for the root end face of a wind turbine blade, comprising a base and a support arm vertically mounted on the base, characterized in that, A horizontal sliding assembly is provided between the base and the support arm. A first steering assembly is provided on both sides of the base, and the first steering assembly controls the support arm to rotate in the horizontal direction. A second steering assembly is provided on one side of the support arm. The second steering assembly is connected to a vertical sliding assembly and controls the vertical sliding assembly to rotate in the vertical direction. The vertical sliding assembly is used to connect to an external milling assembly. The horizontal sliding assembly includes a first slide rail and a rack. A first slide block is provided on the first slide rail. The first slide block is used to connect to the support arm. The first slide block is connected to a gear. The gear meshes with the rack. When the gear moves along the rack, it drives the first slide block to move on the first slide rail. The vertical sliding assembly includes a rotating wall parallel to the support arm. A first sliding assembly and a second sliding assembly are provided on the rotating wall. The first steering assembly includes a fixed support, a power support, and an auxiliary support. The fixed support is connected to one end of the base, the power support is connected to the other end of the base, and the auxiliary support is supported on both sides of the base. The power support is used to make steering movements around the fixed support as the center, so as to adjust the milling assembly in the horizontal direction. The second steering assembly includes a power mechanism rotatably connected to the first slide block, and the power mechanism is rotatably connected to the rotating wall; a rotating component is provided between the support arm and the rotating wall, and when the rotating wall is driven to rotate by the power mechanism, the rotating wall rotates around the rotating component as the center, thereby realizing the adjustment of the milling assembly in the vertical direction.

2. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to claim 1, characterized in that, The first slide rail and rack are fixedly installed on the base along the length of the base. The first slide rail is provided with a mounting hole, and the first servo motor passes through the mounting hole and connects to the gear. The power support is connected to the second servo motor and provides steering power to the power support through the second servo motor. The support arm is provided with a connecting hole, and one end of the power mechanism passes through the connecting hole and is rotatably connected to one end of the rotating wall. The rotating component is located at the middle position of the support arm near the rotating wall.

3. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to claim 2, characterized in that, The fixed support, power support, and auxiliary support all include a mounting base connected to the side wall of the base. The mounting base includes a first mounting plate fixedly connected to the side wall of the base and a second mounting plate perpendicular to the first mounting plate. The second mounting plate has a through hole, and a worm gear screw jack is fixedly connected to the second mounting plate. The output rod of the worm gear screw jack passes through the through hole and its end is connected to the support platform. A self-rotating component is provided between the output rod of the worm gear screw jack and the support platform. The self-rotating component includes a sleeve and a hemispherical seat. The sleeve is fixed to the hemispherical seat by a fastener with a notch, and the notch cooperates with the locking platform so that the locking platform is locked in the notch of the fastener, so that when the support platform is supported on the ground, the base can rotate with the first steering component. The first sliding assembly includes a second slide rail and a first ball screw. The first ball screw is connected to a third servo motor. The second slide rail and the first ball screw are fixedly installed on the rotating wall along the length of the rotating wall. A second slide block is provided on the second slide rail. The second slide block is screwed to the first screw of the first ball screw and slides along the second slide rail under the drive of the first screw. The second slide block is used to connect to an external first milling assembly. The second sliding assembly includes a third slide rail and a second ball screw. The second ball screw is connected to a fourth servo motor. The third slide rail and the second ball screw are fixedly installed on the rotating wall along the length of the rotating wall. A third slide block is provided on the third slide rail. The third slide block is screwed onto the second screw of the second ball screw and slides along the third slide rail under the drive of the second screw. The third slide block is used to connect to an external second milling assembly.

4. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to claim 3, characterized in that, The connecting piece includes a sleeve fitted on the output rod of the worm gear screw jack and a hemispherical structure fixedly connected to the bottom of the sleeve and concentrically arranged with the sleeve. The diameter of the hemispherical structure is larger than the diameter of the sleeve, and a locking platform is formed at the connection between the hemispherical structure and the sleeve. The hemispherical base is fixedly connected above the support platform. The hemispherical base is a cuboid with a circular pit in the center of its top surface. The diameter of the hemispherical structure is the same as the inner diameter of the circular pit.

5. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to claim 4, characterized in that, The auxiliary support and the power support also include a sliding assembly disposed between the support platform and the hemispherical seat. The sliding assembly includes a guide rail fixedly connected to the top of the support platform and a guide seat fixedly connected to the bottom of the hemispherical seat. The guide seat is engaged with the guide rail and can slide along the guide rail. The path of the guide rail of the power support is the same as the path of the tangent to a circle with the fixed support as the center and the distance between the power support and the fixed support as the radius. The path of the guide rail of the auxiliary support is the same as the path of the tangent to a circle with the fixed support as the center and the distance between the auxiliary support and the fixed support as the radius.

6. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to claim 5, characterized in that, The second servo motor is fixedly connected to the support platform. The output end of the second servo motor is connected to the third ball screw. A fourth slide is screwed onto the third screw of the third ball screw. The fourth slide is fixedly connected to the bottom of the hemispherical seat. By moving the fourth slide on the third screw, the hemispherical seat is driven to slide along the guide rail, thereby realizing the rotation of the base.

7. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to any one of claims 2 to 6, characterized in that, The power mechanism includes a fourth ball screw, which includes a fourth screw and a fifth slide. The fifth slide is screwed to the fourth screw. When the fourth screw rotates, the fifth slide can move along the fourth screw. The fifth slide passes through a connecting hole and is rotatably connected to the rotating wall through a first bearing. A fifth servo motor is connected to one end of the fourth ball screw, and a screw fixing seat is fixedly connected to one end of the fifth servo motor. The screw fixing seat is sleeved on the periphery of the fourth screw. The screw fixing seat is rotatably connected to the first slide block through a second bearing. The rotating component is a third bearing and includes a third outer ring and a third inner ring. The third outer ring is fixedly connected to the rotating wall, and the third inner ring is fixedly connected to the side wall of the support arm.

8. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to claim 7, characterized in that, The support arm is hollow, and an auxiliary connection structure is provided between the support arm and the rotating wall. There are two auxiliary connection structures, which are respectively connected to the upper and lower ends of the rotating component. The auxiliary connection structure includes a cross slide and an electromagnetic structure. A fourth bearing is provided on the cross slide. The cross slide is connected to the vertical steering assembly. The fourth inner ring of the fourth bearing is fixedly connected to the cross slide, and the fourth outer ring of the bearing is fixedly connected to the support arm. The electromagnetic structure includes an electromagnet disposed on the side wall of the support arm and a suction plate disposed on the rotating wall that can be attracted to the electromagnet. The electromagnet can be attracted to the suction plate after being energized.

9. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to any one of claims 1 to 6, characterized in that, The base includes a base plate and casters. There are six casters arranged in a rectangle at the bottom of the transport vehicle. The six casters include four active casters and two auxiliary casters. The two active casters are located at the four vertices of the rectangle to provide power for the leveling mechanism. The two auxiliary casters are located in the middle of the long side of the rectangle.

10. The leveling mechanism of the fully automatic milling machine for the root end face of wind turbine blades according to any one of claims 1 to 6, characterized in that, It also includes a PLC controller, and the first steering component, the second steering component, the horizontal sliding component, and the vertical sliding component are all controlled by the PLC controller; a laser positioning device is provided on one side of the base; radar is provided on both sides of the base; and anti-collision strips are provided at both ends of the base.

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