A full-automatic milling machine for the end face of a wind turbine blade root

Abstract

The utility model discloses a kind of full-automatic milling machines of wind power blade blade root end surface, including base and support arm being vertically arranged on base, first steering assembly is equipped on the both sides of base, first steering assembly controls support arm to rotate along horizontal direction;Horizontal sliding component is equipped between base and support arm, second steering assembly is equipped on the side of support arm, second steering assembly connects vertical sliding component and controls vertical sliding component to rotate along vertical direction, milling positioning assembly is equipped on vertical sliding component.The milling machine can realize high-precision adjustment of horizontal and vertical direction, ensure the milling accuracy of milling positioning assembly;Meanwhile, by setting steering assembly and auxiliary connecting structure, milling positioning assembly is provided with stable support, so that milling positioning assembly reduces shaking in milling process, guarantees milling quality;It also has obstacle avoidance function, improves safety.

Description

Technical Field

[0001] This utility model relates to the field of wind turbine blade processing technology, specifically to 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 precision of the blade root face is crucial, directly affecting the assembly quality and subsequent performance of the blade. Currently, most milling machines on the market have relatively simple structures and limited functions. A typical milling machine includes a transport trolley with a support wall on it. A rotating wall is located on one side of the support arm, and the blade root face is milled using milling positioning components mounted on the rotating wall. The support arm relies on horizontal and vertical steering components for flexible adjustment in both horizontal and vertical directions.

[0003] However, existing horizontal and vertical steering assemblies rely on bearings for rotational adjustment. Due to the heavy weight and long length of the support arm, the bearings in the horizontal steering assembly are prone to jamming during prolonged operation. This not only affects the smoothness of adjustment but also interferes with the stability of the entire milling process. In vertical steering, there is a lack of effective auxiliary support devices after the steering operation is completed. The rotating wall, due to its long length, is prone to wobbling during milling. This wobbling is directly transmitted to the milling positioning assembly, leading to a significant reduction in milling accuracy and failing to meet the stringent high-precision milling requirements of wind turbine blade manufacturing. Utility Model Content

[0004] The purpose of this invention is to provide a fully automatic milling machine for the root end face of wind turbine blades. This milling machine can achieve high-precision adjustment in both horizontal and vertical directions, ensuring the milling accuracy of the milling positioning component. At the same time, by setting a steering component and an auxiliary connection structure, it provides stable support for the milling positioning component, reducing shaking during the milling process and ensuring milling quality. It also has an obstacle avoidance function to improve safety.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] 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. First steering components are provided on both sides of the base, and the first steering components control the support arm to rotate in the horizontal direction. A horizontal sliding component is provided between the base and the support arm. A second steering component is provided on one side of the support arm. The second steering component is connected to a vertical sliding component and controls the vertical sliding component to rotate in the vertical direction. A milling positioning component is provided on the vertical sliding component.

[0007] 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.

[0008] 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 connected to a first servo motor. The power support is used to make steering movements around the fixed support as the center, so as to adjust the milling positioning assembly in the horizontal direction.

[0009] The second steering assembly includes a power mechanism rotatably connected to the first slide block, the power mechanism being 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 positioning assembly in the vertical direction;

[0010] The milling positioning assembly includes a first milling positioning assembly and a second positioning assembly. A first ranging laser head is provided on both the first and second milling positioning assemblies. The first ranging laser head is used to measure the distance between the first or second milling positioning assembly and the root end face of the wind turbine blade.

[0011] Preferably, the first slide rail and the rack are fixedly mounted on the base along the length direction of the base. The first slide rail is provided with a mounting hole, and the second servo motor passes through the mounting hole and connects to the gear. 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.

[0012] Preferably, the first sliding assembly includes a second slide rail and a first ball screw. The end of 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 onto 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 the first milling positioning assembly.

[0013] The second sliding assembly includes a third slide rail and a second ball screw. The end of 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 the second milling positioning assembly.

[0014] Both the first and second milling positioning components include a feed component and a milling head. The feed component includes a fixed plate, which is mounted on the side of the rotating wall away from the support arm. A fourth slide rail and a third ball screw are provided on the fixed plate along its length. The third ball screw is connected to a fifth servo motor. A fourth slide block is provided on the fourth slide rail. The fourth slide block is screwed onto the third screw of the third ball screw and slides on the fourth slide rail under the drive of the fifth servo motor. The milling head is fixedly mounted on the fourth slide block.

[0015] Preferably, 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 a support platform.

[0016] 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 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.

[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 the top surface. The diameter of the hemispherical structure is the same as the inner diameter of the circular pit. It is fixed to the hemispherical base by a fastener with a notch, and the notch cooperates with the locking platform so that the locking platform is engaged with the notch of the fastener. This allows the base to rotate with the first steering component when the support platform is supported on the ground.

[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 of 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 of a circle with the fixed support as the center and the distance between the auxiliary support and the fixed support as the radius.

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

[0020] Preferably, the support arm is hollow; the power mechanism includes a fifth ball screw, the fifth ball screw includes a fifth screw and a sixth slide, the sixth slide is screwed to the fifth screw, when the fifth screw rotates, the sixth slide can move along the fifth screw, the sixth slide passes through a connecting hole and is rotatably connected to the rotating wall through a first bearing;

[0021] A sixth 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 sixth servo motor. The screw fixing seat is sleeved on the periphery of the fifth 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, 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 to the milling machine. The two auxiliary casters are located in the middle of the long side of the rectangle.

[0026] Preferably, it also includes a PLC controller, wherein the first steering component, the second steering component, the horizontal sliding component, and the vertical sliding component are all controlled by the PLC controller.

[0027] Preferably, a second ranging laser head is provided on one side of the base where the power support is located; radars are provided on both sides; and anti-collision strips are provided at both ends of the base.

[0028] In the above technical solution, by placing the milling machine on the outside of the wind turbine blade to mill the root of the blade, deformation of the blade end face is avoided, thus preventing it from affecting the machining accuracy. By setting up a PLC controller and cooperating with servo motors, the movement of the first steering component, the second steering component, the horizontal sliding component, the vertical sliding component, and the feed component can be monitored in real time, thereby achieving automatic positioning.

[0029] A first steering assembly is installed on both sides of the base plate. This 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 plate, serving as the reference point for the entire steering assembly. The power support is connected to the other end of the base plate and, through a first servo motor, drives a first ball screw to rotate, achieving steering movement around the fixed support. The auxiliary support is supported on both sides of the base plate and works in conjunction with the power support to enhance the overall stability and steering flexibility of the transport vehicle.

[0030] The vertical adjustment of the milling positioning component is achieved by setting a second steering component. The second steering component is mounted on the first slide. 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 closest to the second sliding component. The power mechanism drives one end of the rotating wall to move along the connecting hole, causing the rotating wall to rotate around the rotating component as the center, thereby achieving vertical adjustment of the milling positioning component.

[0031] 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. A fourth bearing is provided on the cross slide, which connects the support arm and the rotating wall, reducing vibration of the support arm during operation caused by the rotating component connection 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.

[0032] 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 be connected and slid with the milling positioning component, so that the milling positioning component can move synchronously with the movement of the horizontal and vertical sliding components, thereby realizing the milling of the root of the wind turbine blade. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of the fully automatic milling machine for the root end face of the wind turbine blade;

[0034] Figure 2 This is a three-dimensional structural diagram of the fully automatic milling machine for the root end face of the wind turbine blade from another angle;

[0035] Figure 3 This is a schematic diagram showing the connection between the base of the fully automatic milling machine for the root end face of the wind turbine blade and the first steering assembly.

[0036] Figure 4 This is a schematic diagram of the gear and rack meshing of the horizontal sliding assembly of the fully automatic milling machine for the root end face of this wind turbine blade;

[0037] Figure 5 This is a three-dimensional structural diagram of the vertical sliding component of the fully automatic milling machine for the root end face of the wind turbine blade;

[0038] Figure 6 This is a three-dimensional structural diagram of the milling positioning component of the fully automatic milling machine for the root end face of this wind turbine blade;

[0039] Figure 7 This is a three-dimensional structural diagram of the feed assembly of the fully automatic milling machine for the root end face of the wind turbine blade;

[0040] Figure 8 This is a three-dimensional structural diagram of the auxiliary support component of the fully automatic milling machine for the root end face of the wind turbine blade;

[0041] Figure 9 This is a schematic diagram showing the disassembled structure of the auxiliary support component of the fully automatic milling machine for the root end face of this wind turbine blade;

[0042] Figure 10 This is a three-dimensional structural diagram of the fixed support component of the fully automatic milling machine for the root end face of the wind turbine blade;

[0043] Figure 11 This is a schematic diagram of the disassembled structure of the fixed support component of the fully automatic milling machine for the root end face of this wind turbine blade;

[0044] Figure 12 This is a three-dimensional structural diagram of the power support component of the fully automatic milling machine for the root end face of the wind turbine blade;

[0045] Figure 13 This is a three-dimensional structural diagram of the power support component of the fully automatic milling machine for the root end face of the wind turbine blade from another angle.

[0046] Figure 14 This is a schematic diagram of the disassembled structure of the power support component of the fully automatic milling machine for the root end face of this wind turbine blade;

[0047] Figure 15 This is a schematic diagram of the disassembled structure of the sleeve and hemispherical seat of the fully automatic milling machine for the root end face of the wind turbine blade;

[0048] Figure 16 This is a three-dimensional structural diagram of the mounting base for the fully automatic milling machine for the root end face of this wind turbine blade;

[0049] Figure 17 This is a three-dimensional structural diagram of the fixing component of the fully automatic milling machine for the root end face of the wind turbine blade;

[0050] Figure 18 This is a three-dimensional structural diagram of the second steering component of the fully automatic milling machine for the root end face of the wind turbine blade;

[0051] Figure 19 This is a three-dimensional structural diagram of the second steering component of the fully automatic milling machine for the root end face of the wind turbine blade, which is mounted on the support arm.

[0052] Figure 20 This is a schematic diagram showing the disassembled structure of the power mechanism of the fully automatic milling machine for the root end face of this wind turbine blade;

[0053] Figure 21 This is a schematic diagram showing the connection relationship of the cross slide of the fully automatic milling machine for the root end face of this wind turbine blade;

[0054] Figure 22 This is a schematic diagram of the connection structure of the electromagnet in the fully automatic milling machine for the root end face of this wind turbine blade;

[0055] Figure 23 This is a schematic diagram showing the location of the radar and positioning device of the fully automatic milling machine for the root end face of this wind turbine blade.

[0056] 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 second servo motor; 26 is the second 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; 43 is the second sliding assembly; 431 is the third slide rail; 432 is the third slide block; 433 is the third slide block. 434 Second ball screw; 435 Fourth servo motor; 436 Fourth reducer; 44 First milling positioning assembly; 45 Second milling positioning assembly; 47 Feed assembly; 471 Fixed plate; 472 Fourth slide rail; 473 Fourth slide block; 474 Third ball screw; 475 Third screw; 476 Fifth servo motor; 48 Milling head; 481 Wire mesh; 482 Dust collection connection; 49 Dust collection box; 5 First steering assembly; 51 Fixed support; 52 Mounting base; 521 First mounting plate; 522 Second mounting plate; 523 Through hole; 524 Addition 53. Strong plate; 54. Worm gear screw jack; 55. Support platform; 56. Rotation component; 57. Sleeve; 58. Hemispherical structure; 59. Clamping platform; 60. Hemispherical seat; 61. Circular pit; 62. Fixing component; 63. Retention part; 64. Clamping part; 65. Arc surface; 66. Notch; 7. Auxiliary support component; 71. Sliding component; 711. Guide rail; 712. Guide seat; 8. Power support component; 81. First servo motor; 811. First reducer; 82. Fourth ball screw; 83. Fourth screw; 84. Fifth slide; 91. Power mechanism; 92. Fifth ball screw; 93. Fifth screw; 94. Sixth slide. ; 95 Sixth servo motor; 951 Sixth reducer; 96 First bearing; 961 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

[0057] The present invention will be further described below with reference to the accompanying drawings:

[0058] like Figures 1 to 3As shown, 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 milling machine. 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 milling machine's movement. 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 milling machine good maneuverability and flexibility during movement, enabling it to adapt to complex road conditions and steering requirements within the workshop.

[0059] like 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 second servo motor 25 is provided on the first slide block 22. The second servo motor 25 is connected to a second reducer 26. The output rod of the second reducer 26 passes through the mounting hole and connects to a gear 24. The gear 24 meshes with the rack 23. Driven by the second 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 second 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.

[0060] 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 the milling positioning assembly, which includes a first milling positioning assembly 44 and a second milling positioning assembly 45. 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 the length direction of the rotating wall 41. 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 the first milling positioning assembly 44 and drive the first milling positioning assembly 44 to slide along the second slide rail 421. The third sliding assembly 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 the second milling positioning component 45 and drive the second milling positioning component 45 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 cooperate, and the second ball screw 433 and the third slide block 432 cooperate to realize the vertical movement of the milling positioning component 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.

[0061] like Figure 6 and Figure 7As shown, both the first milling positioning assembly 44 and the second milling positioning assembly 45 include a feed assembly 47 and a milling head 48. The feed assembly 47 includes a fixed plate 471. The fixed plate 471 of the first milling positioning assembly 44 is fixedly connected to the second slide block 422, and the fixed plate 471 of the second milling positioning assembly 45 is fixedly connected to the third slide block 432. A fourth slide rail 472 and a third ball screw 474 are provided on the fixed plate 471 along the length direction of the fixed plate 471. The third ball screw 474 is connected to a fifth servo motor 476. A fourth slide block 473 is provided on the fourth slide rail 472. The fourth slide block 473 is screwed onto the third screw 475 of the third ball screw 474 and slides on the fourth slide rail 472 under the drive of the fifth servo motor 476. The milling head 48 is fixedly mounted on the fourth slide block 473. The feed assembly 47 controls the horizontal movement of the fourth slide block 473 on the fourth slide rail 472 and drives the milling positioning assembly to move synchronously. A first ranging laser head is provided on both the first milling positioning assembly 44 and the second milling positioning assembly 45. The first ranging laser head can measure the distance between the first milling positioning assembly 44 or the second milling positioning assembly 45 and the root of the wind turbine blade.

[0062] In a preferred embodiment, a wire mesh 481 is provided on the milling head 48, and the wire mesh 481 is arranged circumferentially around the milling head 48, so that when the milling head 48 grinds the root of the wind turbine blade, the dust ground off can be collected through the wire mesh 481, reducing dust dispersion. A dust collection connection part 482 is provided at the end of the milling head 48, and a dust collection box 49 is provided on the support arm 3. The dust collection connection part 482 is connected to the dust collection box 49 through a dust collection pipe to collect the dust generated during milling.

[0063] like Figures 8 to 17 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 auxiliary support members 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 mill the root of large wind turbine blades. Moreover, the auxiliary support members 7, the power support member 8, and the fixed support members 51 are symmetrically distributed about the base plate 11, so that the milling machine can maintain stability during support and steering, and avoid the milling machine shaking or tilting due to uneven force.

[0064] The fixed support 51, auxiliary support 7, and power support 8 all include a mounting base 52 connected to the side wall of the base plate 11. The 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 milling positioning component moves or when milling is performed. 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.

[0065] 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 milling machine.

[0066] The power support component 8 is connected to a first servo motor 81, which is fixedly connected to the support platform 54. The output end of the first servo motor 81 is connected to a fourth ball screw 82, which includes a fourth screw 83 and a fifth slide 84. The fifth slide 84 is fixedly connected to the bottom of the hemispherical seat 60. By moving the fifth slide 84 on the fourth 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 milling machine to rotate. In order to better control the movement of the power support component 8, the power support component 8 is also equipped with a first reducer 811, which is connected to the first servo motor 81. The first servo motor 81 works in conjunction with the first 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 milling machine.

[0067] like Figures 18 to 20As 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 block 22 and a rotating component connected between the support arm 3 and the vertical sliding assembly 4 and located at the midpoint between the support arm 3 and the vertical sliding assembly 4. The power mechanism 91 includes a fifth ball screw 92 and a screw fixing seat. The fifth ball screw 92 includes a fifth screw 93 and a sixth slide block 94. The sixth slide block 94 is screwed to the fifth screw 93. When the fifth screw 93 rotates, the sixth slide block 94 can move along the fifth screw 93. A connecting hole 31 is provided on the side of the support arm 3 near the vertical sliding assembly 4. The sixth slide block 94 passes through the connecting hole 31 and is connected to the rotating wall 41 through the 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 block 84. One end of the fifth ball screw 92 is connected to the sixth servo motor 95 and the sixth reducer 951, and the sixth servo motor 95 provides power to the fifth ball screw 92. A screw fixing seat is fixedly connected to one end of the sixth reducer 951. The screw fixing seat includes a mounting sleeve 98 sleeved around the fifth 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 fifth screw 93, but 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 sixth servo motor 95 drives the fifth screw 93 to rotate, the sixth slide 94 can move along the fifth screw 93. Since the sixth 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 sixth slide 94 moves along the fifth screw 93 under the drive of the fifth 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 sixth slide 94 as the radius. That is to say, the travel path of the sixth slide 94 is arc-shaped. The rotational connection of the fifth 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 and 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.

[0068] like Figure 21 and Figure 22As 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. Each 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 and the support arm 3.

[0069] 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 the rotating arm can maintain the angle after rotation and prevents the rotating arm from moving.

[0070] like Figure 23 As shown, a second ranging laser head 120 is also provided on one side of the base plate 11 where the power support 8 is located. The second ranging laser head 120 is set according to the size of the blade root so that when the second ranging laser head 120 scans the blade root end, the milling machine is located in the middle position of the blade root. The second ranging laser head 120 can position the base 1 when the base 1 is transported to the root of the wind turbine blade to be milled. Specifically, it first moves by means of casters. When the milling machine moves to the blade root end face and the second ranging laser head 120 scans the root of the wind turbine blade to be milled, the milling machine stops moving. At this time, the coarse positioning of the milling machine is achieved. Afterwards, the worm gear screw jack 53 controls the fixed support 51, the power support 8 and the auxiliary support 7 to be supported on the ground and to perform subsequent steering operations.

[0071] In a preferred embodiment, radar 130 is provided at the middle position on both sides of the base 1. The radar 130 includes a vertical radar 130 and a horizontal radar 130. The vertical radar 130 faces upwards towards the milling machine to prevent the milling machine from encountering obstacles in the vertical direction during movement. The horizontal radar 130 faces away from the base 1 to prevent the milling machine from encountering obstacles in the horizontal direction during movement. Anti-collision strips 140 are provided at both ends of the base 1 to prevent the ends of the milling machine from encountering obstacles during operation.

[0072] 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.

[0073] This embodiment also includes a PLC controller. The first steering assembly 5, the second steering assembly, the horizontal sliding assembly 2, the vertical sliding assembly 4, and the milling positioning assembly are all controlled by the PLC controller. In this embodiment, the milling machine is first moved to the vicinity of the root of the wind turbine blade by the active universal wheels 12 and the auxiliary universal wheels 13. The second ranging laser head 120 scans the root of the wind turbine blade to be milled for coarse positioning, so that the milling machine is located near the end face of the root of the wind turbine blade and stops moving. Then, the PLC controller controls the horizontal sliding assembly 2 and the vertical sliding assembly 4 to move, so that the second ranging laser head 120 on the first milling positioning assembly 44 and the second milling positioning assembly 45 scans the end face of the blade root. Based on the scanning results, the PLC controller controls the first steering assembly 5 and the second steering assembly to turn, so that the milling machine is adjusted to be parallel to the end face of the root of the wind turbine blade. 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 assembly contacts the ground and supports the milling machine. Next, the first servo motor 81 drives the power support 8 to rotate around the fixed support 51. Simultaneously, the auxiliary support 7, through the sliding component 71, coordinates with the movement of the power support 8 to achieve precise horizontal rotation and positioning of the milling machine. Simultaneously, based on the scanning results, the PLC controller controls the sixth servo motor 95 to rotate the fifth ball screw 92, causing the sixth slide 94 to rotate along the rotating component with the rotation of the fifth screw 93, achieving precise vertical rotation and positioning of the milling machine, thus completing the positioning work of the milling positioning component. After positioning, the feed component 47 extends, allowing the milling head 48 to contact the root of the wind turbine blade and grind it. The PLC controller then controls the horizontal sliding component 2 and the vertical sliding component 4 to move simultaneously, enabling the milling positioning component to move circumferentially along the end face of the wind turbine blade root, thereby achieving the milling of the wind turbine blade root.

[0074] 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 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 first steering assembly is provided on both sides of the base, which controls the support arm to rotate in the horizontal direction; a horizontal sliding assembly is provided between the base and the support arm, and a second steering assembly is provided on one side of the support arm. The second steering assembly is connected to the vertical sliding assembly and controls the vertical sliding assembly to rotate in the vertical direction. A milling positioning assembly is provided on the vertical sliding 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 connected to a first servo motor. The power support is used to make steering movements around the fixed support as the center, so as to adjust the milling positioning assembly in the horizontal direction. The second steering assembly includes a power mechanism rotatably connected to the first slide block, the power mechanism being 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 positioning assembly in the vertical direction; The milling positioning assembly includes a first milling positioning assembly and a second positioning assembly. A first ranging laser head is provided on both the first and second milling positioning assemblies. The first ranging laser head is used to measure the distance between the first or second milling positioning assembly and the root end face of the wind turbine blade.

2. 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 second servo motor passes through the mounting hole and connects to the gear. 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 fully automatic milling machine for the root end face of wind turbine blades according to claim 2, characterized in that, The first sliding assembly includes a second slide rail and a first ball screw. The end of 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 onto 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 the first milling positioning assembly. The second sliding assembly includes a third slide rail and a second ball screw. The end of 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 the second milling positioning assembly. Both the first and second milling positioning components include a feed component and a milling head. The feed component includes a fixed plate, which is mounted on the side of the rotating wall away from the support arm. A fourth slide rail and a third ball screw are provided on the fixed plate along its length. The third ball screw is connected to a fifth servo motor. A fourth slide block is provided on the fourth slide rail. The fourth slide block is screwed onto the third screw of the third ball screw and slides on the fourth slide rail under the drive of the fifth servo motor. The milling head is fixedly mounted on the fourth slide block.

4. The fully automatic milling machine for the root end face of wind turbine blades according to claim 3, 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 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 the top surface. The diameter of the hemispherical structure is the same as the inner diameter of the circular pit. It is fixed to the hemispherical base by a fastener with a notch, and the notch cooperates with the locking platform so that the locking platform is engaged with the notch of the fastener. This allows the base to rotate with the first steering component when the support platform is supported on the ground.

5. 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 of 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 of a circle with the fixed support as the center and the distance between the auxiliary support and the fixed support as the radius. The first servo motor is fixedly connected to the support platform. The output end of the first servo motor is connected to the fourth ball screw. A fifth slide is screwed onto the fourth screw of the fourth ball screw. The fifth slide is fixedly connected to the bottom of the hemispherical seat. By moving the fifth slide on the fourth screw, the hemispherical seat is driven to slide along the guide rail, thereby realizing the rotation of the base.

6. The fully automatic milling machine for the root end face of wind turbine blades according to claim 5, characterized in that, The support arm is hollow; the power mechanism includes a fifth ball screw, which includes a fifth screw and a sixth slide. The sixth slide is screwed to the fifth screw. When the fifth screw rotates, the sixth slide can move along the fifth screw. The sixth slide passes through a connecting hole and is rotatably connected to the rotating wall through a first bearing. A sixth 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 sixth servo motor. The screw fixing seat is sleeved on the periphery of the fifth 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.

7. The fully automatic milling machine for the root end face of wind turbine blades according to claim 6, characterized in that, An auxiliary connection structure is also provided between the support arm and the rotating wall. Two auxiliary connection structures are provided and are respectively connected to the upper end and the lower end 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.

8. The fully automatic milling machine for the root end face of wind turbine blades according to claim 7, 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 to the milling machine. The two auxiliary casters are located in the middle of the long side of the rectangle.

9. The fully automatic milling machine for the root end face of wind turbine blades according to claim 7, 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.

10. The fully automatic milling machine for the root end face of wind turbine blades according to claim 7, characterized in that, A second ranging laser head is provided on one side of the base where the power support is installed; radars are provided on both sides; and anti-collision strips are provided at both ends of the base.

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