An automatic cutting device for cutting blade burrs and a lifting frame installed on an AGV trolley.

Abstract

This utility model discloses a lifting frame installed on an AGV trolley and an automatic blade trimming device, belonging to the technical field of wind turbine blade processing equipment. The lifting frame includes: a base frame, comprising two pillars fixedly connected to the AGV trolley, with lifting guide rails on the side walls of the pillars; an upper frame, vertically and vertically connected to the base frame; and a top platform, vertically and vertically connected to the upper frame. This lifting frame includes a base frame, an upper frame, and a top platform, wherein the base frame and upper frame constitute a first-stage lifting mechanism, and the upper frame and top platform constitute a second-stage lifting mechanism. Therefore, the lifting state of the entire lifting frame can be flexibly adjusted, and its overall height can be reduced by half compared to existing technologies. This allows the AGV trolley equipped with this lifting frame to move freely and flexibly across the construction site, and can also be flexibly adjusted according to the different heights of the cutting object, providing optimal traction for the blade assembly and ensuring the smooth completion of the cutting task.

Description

[0001] This application is a divisional application of application number 202521836275.9 filed on August 27, 2025, entitled "An automatic blade holder assembly and blade trimming device". Technical Field

[0002] This utility model relates to the technical field of wind turbine blade processing equipment, and in particular to a device installed on...

[0003] The lifting frame of the AGV trolley and the automatic blade trimming equipment. Background Technology

[0004] Wind turbine blades are key components in wind turbine generator sets. During the production process of wind turbine blades, butterfly-shaped guide grooves, commonly known as flash, remain after the blades are formed. These flashes need to be cut manually and then polished with an angle grinder. However, manual operation cannot guarantee the cutting accuracy, and repeated cutting and polishing are required before the blades can be used. This is time-consuming and labor-intensive, and the production process cannot guarantee safety.

[0005] In existing technologies, automated cutting devices have been used to cut and process flash. For example, Chinese Patent Application No. 202410308299.0 discloses an automated cutting device for wind turbine blades, which uses an AGV (Automated Guided Vehicle) to carry the cutting device for automatic cutting of flash, solving the problems of low efficiency and safety associated with traditional manual operations. In practical use, the AGV needs to be moved around the construction site. However, due to the fixed height of the support frame on the AGV, its movement within the site is very inconvenient. For example, it may be blocked when moving through doorways or other scaffolding.

[0006] In view of this, a new technical solution is needed to solve the above-mentioned technical problems. Utility Model Content

[0007] The purpose of this utility model is to provide a lifting frame and automatic blade trimming equipment installed on an AGV trolley. The lifting frame has a three-stage lifting mechanism, which can flexibly and freely adjust its height, thereby facilitating its relocation at the construction site.

[0008] To achieve the above objectives, the present invention employs the following technical means:

[0009] The first aspect of this utility model provides a lifting frame installed on an AGV trolley, comprising:

[0010] The base frame includes two pillars fixedly connected to the AGV trolley, and the side walls of the pillars are provided with lifting guide rails;

[0011] The upper frame can be raised and lowered to connect to the base frame;

[0012] The top platform is vertically and can be connected to the upper frame.

[0013] As a further improvement, the bottom of the upper frame is provided with a guide slide, which surrounds the side wall of the support column, and a slider is fixedly connected to the inner side of the guide slide, which is slidably connected to the lifting guide rail.

[0014] As a further improvement, a first lead screw is provided on one side of the support column, and the first lead screw is arranged parallel to and spaced apart from the support column; a lead screw nut is fixedly connected to the inner side of the guide slide, and the lead screw nut is connected to the first lead screw.

[0015] As a further improvement, each of the pillars is provided with a lifting guide rail on both the front and rear sides, and the first lead screw is located on the inner side of the pillar; the guide slide includes three interconnected panels for surrounding the front, inner and rear sides of each pillar.

[0016] As a further improvement, the upper frame has a rectangular frame body, and the top platform includes a front frame, a rear frame, and a middle frame.

[0017] A second lead screw is vertically connected to the middle of the upper frame. The intermediate frame is inserted inside the upper frame, and a second lead screw nut is fixedly connected to the intermediate frame. The second lead screw nut is connected to the second lead screw.

[0018] As a further improvement, the upper frame is provided with second guide rails on both sides of the columns, and the middle frame is provided with second sliders on both sides that slide in cooperation with the second guide rails.

[0019] As a further improvement, the upper frame is also provided with a working platform, which includes a flat plate that is fixedly connected to the bottom edge of the upper frame and extends toward one side of the upper frame.

[0020] As a further improvement, the upper frame is also provided with a ladder, the bottom of which is connected to the working platform, and the top of which is connected to the top edge of the upper frame through an extension plate.

[0021] As a further improvement, the plane where the ladder is located is set at a 45° angle to the plane where the upper frame is located.

[0022] The second aspect of this utility model provides an automatic blade trimming device, which includes a blade holder assembly and an AGV trolley, wherein the AGV trolley is equipped with a lifting frame as described above;

[0023] The lifting frame is connected to the tool post assembly via a traction rod, which provides a driving force for the tool post assembly to move forward.

[0024] The lifting frame of this utility model includes a base frame, an upper frame, and a top platform. The base frame and the upper frame constitute the first-stage lifting mechanism, and the upper frame and the top platform constitute the second-stage lifting mechanism. Therefore, the lifting state of the entire lifting frame can be flexibly adjusted. Its overall height can be reduced by half compared with the prior art, allowing the AGV trolley equipped with the lifting frame to move freely and flexibly on the construction site. At the same time, it can also be flexibly adjusted according to the different heights of the cutting objects, providing the best traction force for the tool holder assembly and ensuring the smooth completion of the cutting task. Attached Figure Description

[0025] Figure 1 This diagram shows an automatic blade trimming device of a preferred embodiment of the present invention in a tooling state.

[0026] Figure 2 It shows Figure 1 A magnified view of a section at point A in the middle;

[0027] Figure 3 This diagram shows a structural schematic of the automatic blade trimming device according to a preferred embodiment of the present invention from another angle (the blade holder assembly is omitted).

[0028] Figure 4 This diagram shows a structural schematic of the automatic blade trimming device according to a preferred embodiment of the present invention from another angle (the blade holder assembly is omitted).

[0029] Figure 5 A schematic diagram of the cutting mechanism of this utility model is shown;

[0030] Figure 6 It shows Figure 4 A schematic diagram of the front frame and its upper structural components;

[0031] Figure 7 It shows Figure 6 A magnified view of a section at point B in the middle;

[0032] Figure 8 This figure shows the tool holder assembly of the present invention clamped on the blade flash (in order to clearly show the structure of the tool holder assembly, some parts of the structure are cut out in this figure);

[0033] Figure 9 It shows Figure 8 A magnified view of a section of the guide groove at the center edge of the flyback;

[0034] Figure 10 A schematic diagram of the tool holder assembly of this utility model is shown;

[0035] Figure 11 A schematic diagram of the tool holder assembly of this utility model from another angle is shown;

[0036] Figure 12 A plan view of the tool holder assembly of this utility model is shown from the blade side.

[0037] Figure 13 A top view of the tool holder assembly of this utility model is shown;

[0038] Figure 14 A schematic diagram of the workbench frame of this utility model is shown;

[0039] Figure 15 A schematic diagram of the workbench frame of this utility model from another angle is shown (it has been cut out to clearly show the internal structure of the gas spring);

[0040] Figure 16 A schematic diagram of the upper clamping member of this utility model is shown;

[0041] Figure 17 A schematic diagram of the cutting device of this utility model is shown;

[0042] Figure 18 A side view of the cutting device of this utility model is shown.

[0043] Explanation of key component symbols:

[0044] Automatic blade trimming equipment - 100; Fan blade - 90; Trim structure - 91; Horizontal section - 911; Fork arm - 912; AGV trolley - 200; Traction rod - 201; Car body - 202; Traveling wheel - 203; Control cabinet - 204; Power supply station - 205; Dust collection mechanism - 206; Tool holder assembly - 300; Workbench frame - 310; Side beam - 311; Top beam - 312; Limit bolt - 3121; Buffer spring - 3122; Bottom beam - 313; Upper clamping plate - 321; Upper limit wheel - 3211; Clamping Conical surface - 3212; Rotating shaft - 3213; Roller - 3214; Horizontal plate - 3215; Guide rail - 3216; Drive motor - 3217; Clearance groove - 3218; Upper suction port - 3219; Lower clamping plate - 322; Lower limit wheel - 3221; Lower suction port - 3222; Connecting rod - 323; Vertical sliding plate - 324; Crossbeam - 325; Sleeve - 326; Lead screw - 327; Gas spring - 328; Piston rod - 3281; Cylinder - 3282; Cutting device - 330; Power unit - 331; Cutting blade - 332; Seat Plate-334; Rack-3341; Tightening seat-351; Upper frame-3511; Lower frame-3512; Vertical beam-3513; Sleeve-3514; Limit pin-3515; Adjusting nut-3516; Top rod-352; Tightening head-3521; Pin-shaft-3522; Turntable-3523; Top cone surface-3524; Strip hole-3525; Retaining ring-3526; Elastic element-353; Lifting frame-600; Base frame-601; Support column-6011; Lifting guide rail-6012; First lead screw-6013; Upper Frame-602; Guide slide-6021; Working platform-6022; Ladder-6023; Second lead screw-6024; Second guide rail-6026; Front frame-603; Horizontal plate-6031; Vertical plate-6032; Three-stage plate-6033; Telescopic rod-6034; Navigation plate-6035; Detector rod-6036; Guide wheel-6037; Rear frame-604; Intermediate frame-605; First sensor-701; Second sensor-702; Hydraulic shears-801; Limit plate-802; Stop plate-8021. Detailed Implementation

[0045] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0046] Example

[0047] Please see Figure 1-18This embodiment discloses an automatic blade flash cutting device 100, which is used to automatically remove the flash of wind turbine blades 90, so as to reduce manual operation, improve the processing efficiency of wind turbine blades 90, and improve safety.

[0048] Please see Figure 1 , 2 8, 9. The flash of the wind turbine blade 90 is located on both sides of the blade body. This flash structure 91 is produced by the molding process and has a Y-shaped fork-shaped cross section. Furthermore, this fork-shaped structure includes a horizontal section 911 and two fork-shaped arms 912. For ease of description, the flash structure 91 will be described below as blade flash, flash guide groove, or guide groove. These terms all refer to the same structure.

[0049] Please see Figure 1 , 2 The automatic blade trimming equipment 100 includes an AGV trolley 200 and a tool holder assembly 300 connected thereto. Specifically, the AGV trolley 200 is equipped with a traction rod 201, the front end of which is connected to the AGV trolley 200 and the rear end is hinged to the tool holder assembly 300. Therefore, the traction rod 201 can drive the tool holder assembly 300 to move forward as the AGV trolley 200 moves.

[0050] Please see Figure 1 , 3 4. The AGV trolley 200 used in this embodiment refers to a trolley that can move freely on a flat ground. This trolley can realize the programming and control of motion. The structure and control circuit of the AGV trolley 200 are all existing technologies, and will not be described in detail in this embodiment.

[0051] In this embodiment, the AGV trolley 200 includes a body 202, wheels 203, and a control cabinet 204, a power supply station 205, a dust collection mechanism 206, and a lifting frame 600 mounted on the body 202.

[0052] The control cabinet 204 contains the controller, circuitry, and other components. The power supply station 205 can use a battery, which allows the AGV trolley 200 to move flexibly within the site and reduces wiring work. Alternatively, the power supply station 205 can use an external power source; in this case, the wiring needs to be arranged carefully to prevent tangling.

[0053] The dust collection mechanism 206 includes an air pump and corresponding piping. One end of the piping is connected to the air pump, and the other end is connected to the blade assembly 300. The dust collection mechanism 206 is used to quickly absorb the debris scattered during cutting, prevent clogging of the cutting device, and keep the construction site clean.

[0054] Please see Figure 8-18In this embodiment, the tool holder assembly 300 includes a workbench 310, a clamping and positioning mechanism and a cutting device 330 disposed on the workbench 310.

[0055] The cutting device 330 includes a power unit 331 and a cutting blade 332. The power unit 331 is typically an electric motor. In this embodiment, the cutting blade 332 is circular, and its rotation axis is perpendicular to the output shaft of the power unit 331. Therefore, the two are connected by bevel gear meshing. As for other auxiliary structures of the cutting device 330, such as protective shells and reducers, they are all prior art and will not be described in detail here.

[0056] The workbench frame 310 is the structural frame of the tool holder assembly 300, specifically including two L-shaped side beams 311, an upper beam 312, and a bottom beam 313. The upper beam 312 and the bottom beam 313 are connected one above the other between the two side beams 311, and are located on opposite sides of the cutting device 330. The L-shaped side beams 311 include horizontal and vertical sections. The upper beam 312 is specifically connected to the top of the two vertical sections, and the bottom beam 313 is specifically connected to the bottom of the two vertical sections. It is understood that in other embodiments, the number and connection position of the upper beam 312 and the bottom beam 313 can be replaced with other forms, and are not limited to the situation in this embodiment.

[0057] The clamping and positioning mechanism is set on the workbench 310. Its function is to clamp and position the flash guide groove. Specifically, it includes an upper clamping component, a lower clamping component, and a top clamping component.

[0058] The upper clamping member includes an upper clamping plate 321, which is connected to the top of the side beam 311, specifically to the end of the horizontal section. Limiting wheels are installed at both ends of the bottom edge of the upper clamping plate 321. For easy distinction, the limiting wheels installed on the upper clamping plate 321 are defined as upper limit wheels 3211.

[0059] The lower clamping member includes a lower clamping plate 322, which is movably connected to the side beam 311, specifically to the vertical section of the side beam 311. Limiting wheels are installed at both ends of the top edge of the lower clamping plate 322. For easy distinction, the limiting wheels installed on the lower clamping plate 322 are defined as lower limiting wheels 3221.

[0060] The lower clamping plate 322 is movably connected to the workbench 310, so the upper clamping member and the lower clamping member can be opened and closed as a whole. Moreover, the upper clamping plate 321 and the lower clamping plate 322 are basically located in the same plane. This plane is located on the side of the workbench 310 facing the blade edge. This plane is also the working plane of the cutting blade 332 when cutting, and can be called the cutting plane.

[0061] When the upper clamping plate 321 and the lower clamping plate 322 are closed, the upper limit wheel 3211 and the lower limit wheel 3221 are precisely clamped on the outer side of the flash guide groove. That is, the upper limit wheel 3211 and the lower limit wheel 3221 are clamped on the horizontal section 911 of the flash guide groove from both upper and lower directions, and one end of the two limit wheels also simultaneously abuts against the outer side of the fork-shaped arm 912 of the flash guide groove. In order to make the limit wheels fit better against the outer side of the fork-shaped arm 912, the end of each limit wheel facing the fork-shaped arm 9112 can be set as a clamping cone surface 3212. The clamping cone surface 3212 has a cone surface with the same inclination angle as the fork-shaped arm 912, so that the two limit wheels can be better clamped on the outer side of the guide groove during operation.

[0062] The specific structure of the limiting wheel includes a rotating shaft 3213 and rollers 3214. The rotating shaft 3213 passes through the clamping plate and remains fixed. A roller 3214 is rotatably connected to each end of the rotating shaft 3213. Both the upper limiting wheel 3211 and the lower limiting wheel 3221 in this embodiment have this structure. Furthermore, the roller 3214 at the end of each limiting wheel closest to the inner side of the clamping plate is provided with the aforementioned clamping cone surface 3212. It should be noted that the rollers 3214 are rotatably connected to the rotating shaft 3213 via bearings.

[0063] In this embodiment, the lower clamping plate 322 is opened and closed vertically through the following lifting structure. A connecting rod 323 is fixedly connected to each side of the lower clamping plate 322, and a vertical sliding plate 324 is fixedly connected to the free end of each connecting rod 323. The vertical sliding plate 324 is slidably connected to the vertical section of the side beam 311. The two vertical sliding plates 324 are connected by a cross beam 325, and a sleeve 326 is fixedly connected to the middle of the cross beam 325. A partition is provided inside the sleeve 326, which divides the sleeve 326 into an upper chamber and a lower chamber. The sleeve 326 is connected to a lead screw 327 and a gas spring 328 at both ends. Specifically, the upper chamber of the sleeve 326 surrounds the bottom end of the lead screw 327. The upper section of the lead screw 327 passes through the upper beam 312 of the workbench 310 and is threadedly connected to the lead screw nut fixed on the upper beam 312. The bottom end of the lead screw 327 abuts against the upper end face of the partition. The lower chamber of the sleeve 326 surrounds the upper section of the gas spring 328, and the piston rod 3281 of the gas spring 328 abuts against the lower end face of the partition. The vertical slide plate 324 and the side beam 311 are connected by a slide rail slider structure, thereby achieving the purpose of relative sliding between the two.

[0064] The gas spring 328 mainly includes a cylinder 3282 and the aforementioned piston rod 3281. By pumping gas into the cylinder 3282, the piston rod 3281 maintains an upward thrust, thereby providing a pushing force. The structure and principle of the gas spring 328 are existing technologies and will not be described in detail in this embodiment. It should be noted that in some other embodiments, the gas spring 328 can be replaced by a compression spring, as long as it is an elastic element that can provide an upward movement tendency for the sleeve 326. Of course, the advantage of using a gas spring 328 over a compression spring is that, regardless of the stroke of the piston rod 3281, the upward thrust it provides is constant (determined by the air pressure entering the cylinder 3282), while the elastic force of a compression spring will change due to different compression lengths and cannot remain constant. Therefore, the use of the gas spring 328 in this embodiment can ensure that the lower clamping plate 322 is more stable during the up-and-down opening and closing movement.

[0065] In this embodiment, the gas spring 328 provides a constant upward thrust to the sleeve 326. However, this thrust is constrained by the movement of the lead screw 327. When the lead screw 327 rotates in one direction (e.g., clockwise), it moves upward, thus conforming to the thrust direction of the gas spring 328 and lifting the lower clamping plate 322 upward. When the lead screw 327 rotates in the opposite direction (e.g., counterclockwise), it moves downward, forcing the piston rod 3281 of the gas spring 328 to retract downward, thereby moving the lower clamping plate 322 downward. Therefore, by actively adjusting the lead screw 327, the lower clamping plate 322 can be moved up and down. Without external force to rotate the lead screw 327, the gas spring 328 cannot drive the lead screw 327 to move upward.

[0066] As a preferred embodiment, a thrust ball bearing is also provided between the bottom end of the lead screw 327 and the partition plate. The lead screw 327 is connected to the tight ring of the thrust ball bearing, and the partition plate is connected to the loose ring of the thrust ball bearing. In this way, the process of the lead screw 327 extending, retracting, and rotating simultaneously can be smoother, and will not damage the sleeve 326.

[0067] In this embodiment, a sliding mechanism is also provided between the upper clamping plate 321 and the workbench 310, thereby allowing the upper clamping plate 321 to move horizontally back and forth relative to the workbench 310. Specifically, a horizontal plate 3215 is fixedly connected to each side of the upper clamping plate 321. The horizontal plate 3215 corresponds to the horizontal section of the side beam 311, and a slide rail slider structure is provided between them, so that the horizontal plate 3215 can slide back and forth relative to the horizontal section of the side beam 311, thereby allowing the upper clamping plate 321 to slide horizontally back and forth relative to the workbench 310. This structure allows the entire tool holder assembly 300 to adapt to irregular changes in the shape of the flash guide groove. For example, if the fork arm 912 above the fork structure shifts outward or inward in the horizontal direction relative to the fork arm 912 below, the upper clamping plate 321, together with the upper clamping member, moves accordingly, so that the upper limit wheel 3211 always fits against the outer side of the fork structure, thereby ensuring that the cutting marks of the cutting device 330 meet the expected settings. In this situation, the cutting posture of the entire tool holder assembly 300 will actually be adjusted, specifically by a slight upward or downward tilt relative to the horizontal position, so that the cutting marks can meet the requirements.

[0068] In this embodiment, the clamping member is horizontally telescopically mounted on the workbench 310. The clamping member is used to apply clamping force to the guide groove from the inside of the guide groove. Specifically, the clamping member includes a clamping seat 351, a push rod 352, and an elastic member 353. The clamping seat 351 is mounted on the side of the workbench 310 away from the cutting device 330. The clamping seat 351 further includes an upper frame 3511, a lower frame 3512, and a vertical beam 3513 connecting the two frames. After assembly, the upper frame 3511 surrounds the outer perimeter of the upper beam 312, and the lower frame 3512 surrounds the outer perimeter of the bottom beam 313, thereby confining the clamping seat 351 on the workbench 310. Preferably, the upper beam 312 and the bottom beam 313 are respectively provided with vertical guide grooves (not shown in the figure) for the two frames. The upper frame 3511 and the lower frame 3512 can slide along the guide grooves, thereby adjusting the vertical position of the top clamping seat 351 relative to the workbench 310 and ensuring that the top clamping seat 351 always remains vertical. Further, a limiting bolt 3121 is fixedly connected to the upper beam 312. The bottom end of the limiting bolt 3121 passes through the upper frame 3511 and is fixed to the upper beam 312. A buffer spring 3122 is sleeved on the limiting bolt 3121. The two ends of the buffer spring 3122 abut against the top surface of the upper beam 312 and the inner sidewall of the upper frame 3511, respectively, thereby providing a buffering effect for the vertical floating of the top clamping seat 351.

[0069] In this embodiment, the push rod 352 is horizontally connected to the middle of the clamping seat 351, and the front end of the push rod 352 points vertically to the plane (cutting plane) where the upper clamping plate 321 and the lower clamping plate 322 are located. Specifically, the front end of the push rod 352 is provided with a clamping head 3521, which further includes a pin 3522 and two turntables 3523. The pin 3522 is vertically fixed to the front end of the push rod 352, and the two turntables 3523 are symmetrically installed at both ends of the pin 3522 and can rotate around the pin 3522 respectively. The outer surface of each turntable 3523 is provided with a top conical surface 3524, which has the same inclination angle as the inner surface of the flash guide groove, so that the clamping head 3521 can fit firmly against the inner wall of the guide groove during operation, allowing the push rod 352 to provide a more stable clamping force. It should be noted that the turntables 3523 are connected to the pin 3522 by bearings.

[0070] An elastic element 353 is provided between the push rod 352 and the clamping seat 351. This elastic element 353 can be a compression spring, an air spring, or a disc spring, etc., to provide a spring force to the push rod 352 towards the inner wall of the guide groove. In this embodiment, a compression spring is used. The spring design makes the clamping force of the push rod 352 against the inner wall of the guide groove flexible. Therefore, the push rod 352 can adaptively extend and retract with changes in the shape of the guide groove, reducing hard interference and thus avoiding component damage. Furthermore, when the overall cutting posture of the tool holder assembly 300 changes vertically, the push rod 352 can also adaptively extend and retract with the buffering effect of the elastic element 353.

[0071] Specifically, in this embodiment, a sleeve 3514 is provided in the middle of the tightening seat 351. The sleeve 3514 is perpendicular to the vertical beam 3513 of the tightening seat 351, and the tail end of the push rod 352 passes through the sleeve 3514. Furthermore, to prevent the push rod 352 from detaching from the sleeve 3514 during its extension and retraction, an anti-detachment structure is provided between the sleeve 3514 and the push rod 352. This structure includes a strip-shaped hole 3525 and a limiting pin 3515. The strip-shaped hole 3525 is formed on the push rod 352, and the extension direction of the hole is consistent with the length direction of the push rod 352. The limiting pin 3515 is fixed inside the sleeve 3514 and passes through the strip-shaped hole 3525. This prevents the push rod 352 from detaching.

[0072] A retaining ring 3526 is provided in the middle of the push rod 352. One end of the compression spring abuts against the retaining ring 3526, and the other end abuts against the step on the inner wall of the sleeve 3514. The spring is compressed between the two, thus providing elastic cushioning for the push rod 352. In some preferred embodiments, the push rod 352 is also provided with an adjusting nut 3516. The adjusting nut 3516 is located on the side of the retaining ring 3526 closer to the spring. By adjusting the distance between the adjusting nut 3516 and the retaining ring 3526, the compression of the spring can be changed, thereby changing the magnitude of the elastic cushioning force. More preferably, the number of adjusting nuts 3516 is set to two, wherein the adjusting nut 3516 closer to the retaining ring 3526 can prevent the other nut from retracting.

[0073] In this embodiment, the cutting device 330 is mounted vertically on one side of the upper clamping member. Specifically, one side of the upper clamping member is provided with a guide rail 3216 and a drive motor 3217; in fact, both the guide rail 3216 and the drive motor 3217 are located on one side of the upper clamping plate 321. Relative to the blade assembly 300, the side of the upper clamping member facing the blade can be defined as the outer side, and the other side as the inner side. The guide rail 3216 is vertically mounted on the inner side of the upper clamping plate 321, and a slider (not shown in the figure) is slidably connected to the guide rail 3216. The power unit 331 of the cutting device 330 is connected to a base plate 334, which is fixedly connected to the slider. Therefore, the cutting device 330 can move back and forth on the guide rail 3216. To make the movement of the cutting device 330 smoother, two guide rails 3216 are provided, located on opposite sides of the upper clamping plate 321. A rack 3341 is provided on one side of the base plate 334. The rack 3341 is connected to the drive motor 3217 through gear meshing. Therefore, when the drive motor 3217 is started, it can drive the base plate 334 and the cutting device 330 to move up and down together. It should be noted that the structure for driving the cutting device 330 to move up and down can also be replaced with any other feasible structure, such as a conveyor belt, chain, etc., which are easy for those skilled in the art to think of, and will not be described in detail in this embodiment.

[0074] Furthermore, both the upper and lower clamping members are provided with storage cavities (not shown). Specifically, these storage cavities are located inside the upper clamping plate 321 and the lower clamping plate 322. When the upper clamping plate 321 and the lower clamping plate 322 are in the closed state, the actual shape of the two storage cavities combined is approximately an elliptical cavity. This cavity serves as the movement space for the cutting blade 332 during lifting and rotating cutting processes. The upper clamping plate 321 also has a clearance groove 3218 on its inner side to allow for the rotation axis of the cutting blade 332 to pass.

[0075] In this embodiment, the upper clamping plate 321 is provided with an upper dust suction port 3219, and the lower clamping plate 322 is provided with a lower dust suction port 3222. Both dust suction ports are connected to the dust suction mechanism 206 on the AGV trolley 200 through pipes. During the cutting process, the upper clamping plate 321 and the lower clamping plate 322 are closed. At this time, the upper and lower surfaces of the storage cavity and the flash guide groove form a relatively closed space. Therefore, the debris generated during the cutting process will mainly be scattered in the storage cavity and will hardly splash to the outside. The dust suction mechanism 206 works simultaneously to promptly suck up the debris in the upper and lower storage cavities, which can not only prevent clogging of the cutting device 330, but also ensure that the cutting site is clean and tidy.

[0076] Please see Figure 1-7 In this embodiment, the lifting frame 600 is located at the front end of the AGV trolley 200, and the control cabinet 204, power supply station 205 and dust collection mechanism 206 are located at the rear end of the AGV trolley 200.

[0077] The lifting frame 600 in this embodiment adopts a three-stage lifting structure. Specifically, the lifting frame 600 includes a base frame 601 and an upper frame 602. The base frame 601 includes two support columns 6011, which are located on both sides of the AGV trolley 200 in the forward direction. The front and rear side walls of the support columns 6011 are provided with lifting guide rails 6012. The upper frame 602 has a rectangular frame body. The bottom sides of the upper frame 602 are provided with guide slides 6021, which partially surround the front, inner and rear sides of the support columns 6011. A slider (not shown in the figure) is connected to the guide slide 6021, and the slider is slidably connected to the lifting guide rail 6012.

[0078] The upper frame 602 slides up and down along the lifting guide rail 6012. Its power comes from the lead screw and nut pair. Specifically, a lead screw and nut (not shown in the figure) is fixedly connected inside the guide slide part 6021. A first lead screw 6013 is provided on the inner side of the support column 6011. The first lead screw 6013 is connected with the lead screw and nut. Therefore, as long as the first lead screw 6013 is driven to rotate, the purpose of lifting and moving the upper frame 602 can be achieved.

[0079] The base frame 601 and the upper frame 602 constitute the first-stage lifting structure of the lifting frame 600.

[0080] The upper frame 602 is also equipped with a work platform 6022 and a ladder 6023. The work platform 6022 is specifically a flat plate, fixedly connected to the bottom edge of the upper frame 602 and extending to one side of the upper frame 602. The shape and size of the work platform 6022 can be flexibly set for personnel to stand and work. The bottom end of the ladder 6023 is connected to the work platform 6022, and the top end is connected to the top edge of the upper frame 602 through an extension plate. The ladder 6023 is for personnel to climb and perform construction work at different heights. The plane of the ladder 6023 forms an angle with the plane of the upper frame 602. In this embodiment, the angle is approximately 45° to minimize interference with other structures of the lifting frame 600 and to facilitate personnel climbing.

[0081] In this embodiment, the top of the lifting frame 600 is also provided with a front frame 603 and a rear frame 604, which are located at the front and rear ends of the AGV trolley 200 in the forward direction, respectively. The front frame 603 and the rear frame 604 are connected as one unit by an intermediate frame 605, and the three are connected to the upper frame 602 in a vertically movable manner. Specifically, the intermediate frame 605 is inserted into the upper frame 602, and a second lead screw 6024 is vertically connected to the middle of the upper frame 602. A second lead screw nut (inside the intermediate frame, not shown in the figure) is fixedly connected to the intermediate frame 605. The second lead screw 6024 and the second lead screw nut are connected in cooperation to provide lifting power. The upper frame 602 has a second guide rail 6026 on both sides of the column. The middle frame 605 has a second slider (not shown in the figure) connected to both sides of the second guide rail 6026. Therefore, the front frame 603, the rear frame 604 and the middle frame 605 can move up and down along the second guide rail 6026 and the movement is smooth.

[0082] The front frame 603, the rear frame 604, and the middle frame 605 together with the upper frame 602 constitute the second-stage lifting structure of the lifting frame 600.

[0083] In this embodiment, the front frame 603 includes a horizontal plate 6031 and a vertical plate 6032, with the vertical plate 6032 vertically connected to the front edge of the horizontal plate 6031. A three-stage plate 6033, a telescopic rod 6034, and a navigation wheel assembly are also connected to the front side of the vertical plate 6032. Specifically, the three-stage plate 6033 is slidably connected vertically to the front side of the vertical plate 6032, and the telescopic rod 6034 is slidably connected horizontally to the front side of the three-stage plate 6033. The navigation wheel assembly includes a navigation plate 6035, a detection rod 6036, and a guide wheel 6037. The navigation plate 6035 is slidably connected horizontally to the front end of the telescopic rod 6034, the detection rod 6036 is vertically connected to the front end of the navigation plate 6035, and the guide wheel 6037 is rotatably connected to the bottom end of the detection rod 6036. It should be noted that the sliding connection structures between the vertical plate 6032 and the third-level plate 6033, between the third-level plate 6033 and the telescopic rod 6034, and between the telescopic rod 6034 and the navigation plate 6035 are all guide rail slider structures, and the power structures are all lead screw and nut pairs and motors. The front end of the traction rod 201 is connected to the bottom of the detection rod 6036, and the rear end is hinged to the front end of the tool holder assembly 300, specifically to the bottom of the front edge of the upper clamping plate 321. During normal traction, the traction rod 201 remains tilted, with the front end higher than the rear end.

[0084] The third-level lifting structure of the lifting frame 600 is formed by the third-level plate 6033 and the vertical plate 6032.

[0085] In this embodiment, the probe rod 6036 has a telescopic elasticity. Therefore, when the guide wheel 6037 rolls forward along the surface of the guide groove, the guide wheel 6037 will undulate with the unevenness of the guide groove surface. The probe rod 6036 can elastically extend and retract in response to this undulation, and the extension and retraction amount is converted into an electrical signal by the first sensor 701 installed on the probe rod 6036, which is then transmitted to the controller. In addition, a second sensor 702 is also installed between the navigation plate 6035 and the telescopic rod 6034. The second sensor 702 is used to detect the horizontal displacement of the navigation plate 6035 and transmit the displacement signal to the controller.

[0086] In this embodiment, both the first sensor 701 and the second sensor 702 are proximity switches. The first sensor 701 returns a first displacement signal in the vertical direction, and the second sensor 702 returns a second displacement signal in the horizontal direction. The two signals actually represent the shape change of the flash guide groove in space.

[0087] If the flash guide groove does not change shape, both of the above signals will be zero, and the AGV 200 can continue moving forward at its initial speed. If the flash guide groove changes shape, the AGV 200's cruising route needs to be adjusted to ensure that the AGV 200 and the flash guide groove are always within a suitable distance range. Too far or too close a distance will not be conducive to the AGV 200 driving the tool holder assembly 300 forward for cutting.

[0088] In this embodiment, the rear frame 604 is also provided with a cutting mechanism to intermittently cut off the burrs, preventing them from remaining on the remaining burrs and thus adversely affecting the cutting process in front.

[0089] Specifically, the cutting mechanism includes a hydraulic shear 801, which is horizontally slidably connected to the rear frame 604, specifically located on the rear edge of the rear frame 604. The sliding mechanism between the hydraulic shear 801 and the rear frame 604 adopts a guide rail slider structure, and the sliding force is provided by a lead screw and nut pair and a motor.

[0090] Preferably, to prevent the hydraulic shear 801 from extending excessively towards the blade and thus damaging the blade's main structure, this embodiment also includes a limiting mechanism. This limiting mechanism includes a limiting plate 802 connected to the main body of the hydraulic shear 801. The front end of the limiting plate 802 is bent vertically upwards to form a stop plate 8021. The stop plate 8021 extends beyond the maximum length that the hydraulic shear 801 can extend in the direction towards the blade. During operation, the stop plate 8021 rests against the surface of the blade's main body. During the cutting process, when the shape of the blade changes and pushes against the stop plate 8021, the limiting plate 802 will move together with the hydraulic shear 801 away from the blade's main body, thereby preventing the hydraulic shear 801 from cutting the blade's main body.

[0091] The processing procedure in this embodiment is described as follows:

[0092] 1. With the fan blade 90 to be processed basically in a flat position, adjust the opening and closing distance of the upper clamping plate 321 and the lower clamping plate 322 of the tool holder assembly 300 to accommodate the thickness of the flash guide groove. Then clamp the tool holder assembly 300 in the initial position of the flash guide groove. Make fine adjustments to ensure that the upper limit wheel 3211, the lower limit wheel 3221 and the clamping parts tighten and position the guide groove from the outside and inside sides.

[0093] At this time, the cutting device 330 is in the initial state of not being started, and the cutting blade 332 is in the storage cavity of the upper clamping plate 321.

[0094] 2. Move the AGV trolley 200 to the initial cutting position.

[0095] Adjust the horizontal and longitudinal distances between the AGV trolley 200 and the tool post assembly 300, and then connect the traction rod 201 to the front end of the tool post assembly 300.

[0096] Adjust the lifting frame 600 so that when the guide wheel 6037 of the probe rod 6036 is placed on the flash guide groove, both the first displacement signal and the second displacement signal are zero.

[0097] 3. Start the cutting device 330 and move the cutting device 330 downward to the cutting state, while starting the dust collection mechanism 206.

[0098] The process of moving the cutting device 330 downward into the cutting state actually cuts off the burrs, and the resulting debris is promptly sucked away by the dust extraction mechanism 206.

[0099] 4. Start the AGV trolley 200 and move it forward to continuously cut the burrs.

[0100] During this process, the tool holder assembly 300 consistently clamps the fork-shaped structure of the flash guide groove and uses it as a reference to ensure that the cutting marks meet expectations.

[0101] Where the fork-shaped structure changes, the tool holder assembly 300 can adaptively adjust its cutting posture by means of the horizontal telescopic structure of the upper clamping plate 321 and the elastic telescopic structure of the clamping member, ensuring that the cutting marks meet expectations.

[0102] Based on the signals fed back by the first sensor 701 and the second sensor 702, the controller in the control cabinet analyzes the signals and then controls the AGV trolley 200 and the lifting frame 600 to make adjustments, so that the AGV trolley 200 can move according to the change of the shape of the flash guide groove throughout the cutting process, thereby providing the best traction force to the tool holder assembly 300.

[0103] The specific navigation principle is as follows: Vertical displacement changes are compensated for by the third-stage lifting structure, specifically by adjusting the vertical position between the third-stage plate 6033 and the vertical plate 6032; horizontal displacement changes are compensated for by the overall left-right movement of the AGV trolley 200. For example, if the first displacement signal is an upward movement of 5cm, then the third-stage plate 6033 is adjusted to move upward relative to the vertical plate 6032 by 5cm; if the second displacement signal is a rightward movement of 7cm, then the AGV trolley 200 is adjusted to move 7cm to the right.

[0104] However, the above navigation method has a problem: the AGV 200 and the third-stage lifting structure move too frequently. Therefore, a better approach is to set initial action thresholds. For example, setting the initial action threshold for vertical and horizontal displacement changes to 5cm would trigger the corresponding adjustment action only when the displacement exceeds this threshold. The compensation magnitude can also be set according to the corresponding displacement change; for example, a 7cm change would result in a 7cm or 2cm compensation. This reduces the frequent movements of the AGV 200 and its structure, while allowing the AGV 200 to adapt its navigation path to some extent by following the shape changes of the guide groove, ensuring optimal traction for the tool holder assembly 300.

[0105] In summary, the tool holder assembly 300 of this utility model includes an upper clamping member and a lower clamping member, which can be opened and closed vertically. Therefore, during use, the opening degree can be flexibly adjusted according to the different thicknesses of the blade flash to adapt to the processing conditions of different thicknesses. The tool holder assembly 300 clamps and positions the flash guide groove from the inside and outside through the limiting wheel and the clamping member, so that the movement trajectory of the tool holder assembly 300 can stably follow the Y-shaped fork structure of the flash guide groove, and use the Y-shaped fork structure as a reference during the movement, thereby ensuring that the cutting device 330 can cut in the correct position and avoid rework or accidental damage to the fan blade 90.

[0106] The tool holder assembly 300 of this utility model is relatively independent from the AGV trolley 200. The two are connected by a traction rod 201. During the cutting process, the AGV trolley 200 provides forward power to the tool holder assembly 300. Since the tool holder assembly 300 can be stably clamped on the Y-shaped fork structure of the flash guide groove, it can adaptively adjust the cutting posture of the tool holder assembly 300 according to the change of the shape of the flash guide groove, ensuring that the cutting position meets the expectation, avoiding rework, and thus improving work efficiency.

[0107] By setting the lifting frame 600 as a three-stage lifting structure, and using the first sensor 701 and the second sensor 702 to detect the shape changes of the flash guide groove in real time, the height of the AGV trolley 200 and the lifting frame 600 are adjusted so that the tool holder assembly 300 can obtain the best forward power during the cutting process, thereby ensuring that the entire cutting process can be completed smoothly and efficiently.

[0108] Furthermore, configuring the lifting frame 600 as a three-stage lifting structure also improves the passability of the AGV trolley 200 to a certain extent. That is, in the non-working state, the height of the lifting frame 600 can be lowered to the minimum, so that the AGV trolley can pass through some height-restricted situations. When the AGV trolley 200 is in the working state, it can be flexibly adjusted according to the height of the blade flash, so that the front frame 603 is at a suitable height, thereby providing the best traction for the tool holder assembly 300.

[0109] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom still fall within the protection scope of this invention.

Claims

1. A lifting frame installed on an AGV (Automated Guided Vehicle) trolley, characterized in that, include: The base frame includes two pillars fixedly connected to the AGV trolley, and the side walls of the pillars are provided with lifting guide rails; The upper frame can be raised and lowered to connect to the base frame; The top platform is vertically and can be connected to the upper frame.

2. The lifting frame as described in claim 1, characterized in that, The bottom of the upper frame is provided with a guide slide, which surrounds the side wall of the support column, and a slider is fixedly connected to the inner side of the guide slide, which is slidably connected to the lifting guide rail.

3. The lifting frame as described in claim 2, characterized in that, A first lead screw is also provided on one side of the support column, and the first lead screw is arranged parallel to and spaced apart from the support column; a lead screw nut is fixedly connected to the inner side of the guide slide, and the lead screw nut is connected to the first lead screw.

4. The lifting frame as described in claim 3, characterized in that, Each of the aforementioned pillars is provided with a lifting guide rail on both the front and rear sides, and the first lead screw is located on the inner side of the pillar; the guide slide includes three interconnected panels for surrounding the front, inner and rear sides of each pillar.

5. The lifting frame as described in claim 1, characterized in that, The upper frame has a rectangular frame body, and the top platform includes a front frame, a rear frame, and a middle frame. A second lead screw is vertically connected to the middle of the upper frame. The intermediate frame is inserted inside the upper frame, and a second lead screw nut is fixedly connected to the intermediate frame. The second lead screw nut is connected to the second lead screw.

6. The lifting frame as described in claim 5, characterized in that, The upper frame is provided with second guide rails on both sides of the columns, and the middle frame is provided with second sliders on both sides that slide in cooperation with the second guide rails.

7. The lifting frame as described in claim 5, characterized in that, The upper frame is also provided with a working platform, which includes a flat plate that is fixedly connected to the bottom edge of the upper frame and extends toward one side of the upper frame.

8. The lifting frame as described in claim 7, characterized in that, The upper frame is also provided with a ladder, the bottom of which is connected to the working platform, and the top of which is connected to the top edge of the upper frame through an extension plate.

9. The lifting frame as described in claim 8, characterized in that, The plane where the ladder is located is set at a 45° angle to the plane where the upper frame is located.

10. An automatic blade trimming device, characterized in that, The AGV includes a tool holder assembly and an AGV trolley, wherein the AGV trolley is equipped with a lifting frame as described in any one of claims 1-9; The lifting frame is connected to the tool post assembly via a traction rod, which provides a driving force for the tool post assembly to move forward.

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