A device for shaping and grinding the leading and trailing edges of wind turbine blades

Abstract

This utility model belongs to the field of wind turbine blade manufacturing technology, and relates to a wind turbine blade leading and trailing edge shaping and grinding device, including: a chassis system, a lifting system, and a grinding system for automatically adjusting the grinding angle according to the curvature of the wind turbine blade and grinding the putty area; a control system for identifying the putty area boundary on the wind turbine blade through color difference, presetting layered grinding parameters to control the feed rate and speed of the grinding head at different stages. This utility model identifies the putty boundary through visual recognition, identifies the grinding boundary and sends it to the control system. The control system generates a grinding plan based on the spatial position of the putty area. The lifting system controls the grinding head to move to the upper boundary of the putty, so that the grinding head can perform putty grinding and shaping, improving the grinding effect, grinding efficiency and safety. It eliminates the need to clamp the wind turbine blade, greatly reducing the complexity of the device and reducing costs.

Description

Technical Field

[0001] This utility model relates to the field of wind turbine blade manufacturing technology, and in particular to a device for shaping and grinding the leading and trailing edges of wind turbine blades. Background Technology

[0002] The airfoil of wind turbine blades plays a crucial role in enhancing blade aerodynamic efficiency and improving generator operating efficiency. The leading edge features a rounded design to optimize airflow capture and guidance, creating a pressure surface to enhance lift while suppressing airflow separation and reducing aerodynamic drag. The trailing edge employs a sharp design to significantly reduce airflow drag, increase blade torque, and create a pressure-reducing zone to decrease airflow load, thereby improving operating efficiency and ensuring long-term stable operation.

[0003] As blade sizes increase, one-piece injection molding can no longer meet the demands. Large wind turbine blades now employ a semi-vacuum injection process followed by mold bonding. The leading and trailing edges are where the molds are joined. To ensure blade strength, reinforcement is achieved using hand-laid-in fiberglass cloth, leading to airfoil variations and defects such as steps and fabric textures. Rapidly producing blades that match the design is a crucial aspect of blade manufacturing. Currently, the production process involves first applying putty to fill defects, followed by manual sanding and reshaping of the putty.

[0004] The putty area on the leading and trailing edges of wind turbine blades is large, and it gradually changes from the blade root to the tip, making sanding and shaping difficult and labor-intensive, requiring multiple people to use sanders for shaping. The sanding and shaping process generates a large amount of dust and harmful gases, and long-term inhalation may lead to respiratory diseases and allergic reactions, increasing the risk of pneumoconiosis.

[0005] The existing operation method has the following drawbacks: manual grinding has poor consistency, making it difficult to ensure the accuracy of the blade's aerodynamic shape; grinding quality depends on experience and is difficult to control quantitatively; the grinding effect cannot be monitored in real time, resulting in low efficiency of manual grinding.

[0006] Publication No.: CN114228012A discloses an integrated robot and method for automatic cutting and grinding of flash edges on wind turbine blades. It discloses a device that uses vision technology to acquire flash edge images and generate cutting and grinding paths, enabling the robot to automatically cut and grind. However, flash edge image recognition is relatively simple, and the shapes are quite uniform, with low requirements for shaping, thus failing to meet the requirements for shaping and grinding the leading and trailing edges.

[0007] Therefore, it is urgent to design a new type of wind turbine blade leading and trailing edge shaping and grinding device and its control method to solve the problems of poor quality and low efficiency of wind turbine blade leading and trailing edge shaping and grinding in the existing technology. Summary of the Invention

[0008] In view of this, the present invention aims to propose a wind turbine blade leading and trailing edge shaping and grinding device to solve the problems of poor quality and low efficiency in the existing technology of wind turbine blade leading and trailing edge shaping and grinding.

[0009] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0010] One objective of this utility model is to disclose a device for shaping and grinding the leading and trailing edges of wind turbine blades, comprising:

[0011] The chassis system provides the mobile foundation for the entire unit.

[0012] The sanding system includes multiple adaptive sanding head assemblies, each containing a pressure sensor and an angle adjustment mechanism, for automatically adjusting the sanding angle according to the curvature of the wind turbine blades and for sanding the putty area;

[0013] The lifting system, mounted on the chassis system, is used to adjust the vertical position of the grinding system;

[0014] The control system, which is communicatively connected to the chassis system, the lifting system, and the grinding system, includes:

[0015] The visual recognition module is used to identify the boundaries of the putty area on the wind turbine blades by color differences;

[0016] The grinding control module presets layer grinding parameters to control the feed rate and rotation speed of the grinding head at different stages.

[0017] The sanding system uses layered sanding parameters to remove putty in layers and reshape the surface.

[0018] Furthermore, the chassis system includes a housing and a moving component, wherein the power source and transmission components of the moving component are disposed inside the housing, and the rollers of the moving component are disposed at the bottom of the housing.

[0019] Furthermore, the lifting system includes a bottom support, a first vertical rail, a second vertical rail, a crossbeam, a motor, a lead screw, a slide rod, and clamping claws. The two ends of the bottom support are respectively connected to the first vertical rail and the second vertical rail. The two ends of the crossbeam are respectively connected to the ends of the first vertical rail and the second vertical rail away from the bottom support. The two ends of the lead screw are respectively connected to the bottom support and the crossbeam. The motor is mounted on the bottom support, and the output end of the motor is connected to the lead screw via a transmission assembly. The slide rod is mounted on the lead screw, and its two ends are respectively connected to the first vertical rail and the second vertical rail. The slide rod can move up and down as the lead screw rotates. Several clamping claws are provided on the slide rod for controlling the up and down movement of the grinding system.

[0020] Furthermore, the clamping claw includes a base plate, limiting posts, and a pressure plate. Two limiting posts are disposed on both sides of the base plate, and the two ends of the pressure plate are respectively connected to the two limiting posts to limit the displacement of the grinding system.

[0021] Furthermore, the grinding system also includes limiting wheels, a grinding head, and a telescopic device. The limiting wheels are provided on both sides of the grinding head, and one end of the telescopic device is connected to the grinding head to control the telescopic movement of the grinding head.

[0022] Furthermore, the visual recognition module is equipped with multiple cameras, which are mounted on the lifting system.

[0023] Furthermore, the control system also includes:

[0024] The storage module records the complete grinding parameters and process data for each blade, and stores historical grinding data and optimal blade parameters;

[0025] The path optimization module uses a genetic algorithm to optimize the grinding path based on the optimal parameters of the blade.

[0026] The fault diagnosis module monitors the motor current and vibration parameters in real time and feeds back fault information to predict the wear status of the grinding head;

[0027] The detection module is used to identify the location information of the device and the position of the putty boundary;

[0028] The chassis system control module is used to control the chassis of the device to move to the end position of the chassis system according to the starting position of the chassis system.

[0029] The lifting system control module is used to control the sanding system to move in the height direction to the end position of the putty boundary according to the initial position of the putty boundary;

[0030] The grinding system control module is used to control the angle of the grinding head based on the distance parameter between the grinding head and the putty boundary of the leading and trailing edges of the blade, so that the grinding head is perpendicular to and in close contact with the leading and trailing edges of the blade.

[0031] The grinding head control module is used to control the operation or stationary state of the grinding head.

[0032] Furthermore, the camera captures RGB images with a resolution of no less than 5 megapixels.

[0033] Furthermore, the color feature models of the putty area and the fiberglass area at the boundary of the putty area are as follows:

[0034] Putty region characteristics: H∈[20, 40], S∈[0.2, 0.5], V∈[0.6, 0.9];

[0035] Fiberglass region characteristics: H∈[180, 240], S∈[0.1, 0.3], V∈[0.3, 0.7];

[0036] The visual recognition module is equipped with an HSV color analysis unit. After the image captured by the camera is processed by this unit, it can distinguish between putty and fiberglass areas.

[0037] Wherein: the edge detection threshold is:

[0038] ;

[0039] ΔE represents the color difference, while ΔH, ΔS, and ΔV represent the differences in hue, saturation, and brightness, respectively.

[0040] Furthermore, the grinding system is equipped with a pressure sensor to continuously detect the contact pressure between the grinding head and the surface of the wind turbine blade.

[0041] Compared with existing technologies, the wind turbine blade leading and trailing edge shaping and grinding device of this utility model has the following advantages:

[0042] 1. This utility model uses visual recognition to identify the putty boundary and the sanding boundary. The detection module determines the spatial position of the putty area at the front and rear edges of the wind turbine blade and sends it to the control system. The control system generates a sanding plan based on the spatial position of the putty area. The lifting system controls the sanding system to move to the upper boundary of the putty so that the sanding head can perform putty sanding and shaping, improving the sanding effect, sanding efficiency and safety. It eliminates the need to clamp the wind turbine blade, greatly reducing the complexity of the device and reducing costs.

[0043] 2. This utility model uses an adaptive grinding head to replace manual grinding, thereby improving production efficiency and reducing labor intensity. The grinding head adjusts its horizontal angle to adapt to the radial curvature changes of the wind turbine blade, and adjusts its pitch angle to adapt to the circumferential curvature changes of the wind turbine blade, so that the grinding head remains perpendicular to the blade grinding surface and ensures optimal grinding pressure.

[0044] 3. This utility model uses automated equipment for grinding, avoiding long-term exposure of operators to dust and other harmful substances, improving the working environment and reducing the risk of occupational health hazards.

[0045] 4. This utility model adopts a progressive layered grinding method. By controlling the feed amount (0.2-1.5mm / time) and rotation speed (4000-8000rpm) of the grinding head at different grinding stages, a balance between efficient removal and fine shaping is achieved, avoiding excessive grinding that could damage the fiberglass body.

[0046] 5. The visual recognition system of this utility model adopts HSV color space conversion and improved Canny edge detection algorithm, which can accurately identify the boundary between putty and fiberglass, with an accuracy of ±0.5mm, which is much higher than the ±3mm accuracy of manual visual judgment.

[0047] 6. This utility model uses a force / position hybrid control strategy to ensure that the grinding head and the blade surface maintain a constant contact pressure (5-15N), avoiding uneven grinding caused by pressure fluctuations. Attached Figure Description

[0048] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0049] Figure 1 This is a schematic diagram of the overall structure of the wind turbine blade front and rear edge shaping and grinding device of this utility model;

[0050] Figure 2 This is a rear view of the wind turbine blade front and rear edge shaping and grinding device of this utility model;

[0051] Figure 3 This is a top view of the wind turbine blade front and rear edge shaping and grinding device of this utility model;

[0052] Figure 4 This is a schematic diagram of the operation of the grinding device of this utility model;

[0053] Figure 5 This is a structural diagram of the control system of the grinding device of this utility model;

[0054] Figure 6 This is a schematic diagram of the area on the trailing edge of the wind turbine blade of this utility model that needs to be sanded and puttyed.

[0055] Figure 7 This is a schematic diagram of the area on the leading edge of the wind turbine blade of this utility model that needs to be sanded and puttyed.

[0056] Figure 8 This is a schematic diagram of the grinding path of the wind turbine blade front and rear edge shaping and grinding device of this utility model.

[0057] Explanation of reference numerals in the attached figures:

[0058] 100. Chassis system; 110. Housing; 200. Lifting system; 210. Bottom support; 220. First vertical rail; 230. Second vertical rail; 240. Crossbeam; 250. Motor; 260. Lead screw; 270. Slide rod; 280. Clamping claw; 281. Base plate; 282. Limiting post; 283. Pressure plate; 290. Limiting component; 300. Grinding system; 310. Limiting wheel; 320. Grinding head; 330. Telescopic device; 410. Camera. Detailed Implementation

[0059] To make the technical means and objectives and effects of this utility model easier to understand, the embodiments of this utility model will be described in detail below with reference to specific figures.

[0060] It should be noted that all directional and positional terms used in this utility model, such as "up," "down," "left," "right," "front," "back," "vertical," "horizontal," "inner," "outer," "top," "lower," "lateral," "longitudinal," and "center," are only used to explain the relative positional relationships and connection arrangements between components in a specific state. They are merely for the convenience of describing this utility model and do not require that this utility model be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, descriptions involving "first," "second," etc., in this utility model are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0061] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] This utility model discloses a device for shaping and grinding the leading and trailing edges of wind turbine blades, comprising:

[0064] Chassis system 100, used to provide a mobile foundation for the entire unit;

[0065] The lifting system 200 is installed on the chassis system 100 and is used to adjust the vertical position of the grinding system 300.

[0066] The sanding system 300 includes multiple adaptive sanding head assemblies, each containing a pressure sensor and an angle adjustment mechanism, for automatically adjusting the sanding angle according to the curvature of the wind turbine blades and for sanding the putty area.

[0067] The control system, which is communicatively connected to the chassis system 100, the lifting system 200, and the grinding system 300, includes:

[0068] The visual recognition module is used to identify the boundaries of the putty area on the wind turbine blades by color differences;

[0069] The grinding control module presets layer grinding parameters to control the feed rate and rotation speed of the grinding head at different stages.

[0070] Among them, the sanding system 300 achieves layered removal of putty and surface shaping through layered sanding parameters.

[0071] The chassis system 100 provides the mobile foundation for the entire device, ensuring that the equipment can perform grinding operations at different positions on the wind turbine blades. The lifting system 200 is installed on the chassis system 100 and is used to adjust the vertical position of the grinding system 300 to adapt to grinding requirements at different heights. The grinding system 300 includes multiple adaptive grinding head assemblies, each equipped with a pressure sensor and an angle adjustment mechanism. These assemblies can automatically adjust the grinding angle according to the specific curvature of the wind turbine blades to achieve effective grinding of the putty area. The control system is communicatively connected to the chassis system 100, the lifting system 200, and the grinding system 300, and is responsible for overall control and coordination.

[0072] The visual recognition module accurately identifies the boundaries of the putty area, and the sanding control module enables automated sanding, reducing manual intervention. The adaptive grinding head assembly can adjust the sanding angle in real time according to the curvature changes of the wind turbine blades to ensure the best sanding effect. A progressive layered sanding method is adopted, first performing coarse sanding and then fine sanding, ensuring efficient removal of excess putty while avoiding damage to the fiberglass body. Automated sanding reduces the harm of dust and harmful gases to the human body, improves the working environment, and reduces occupational health risks.

[0073] This setup significantly improves work efficiency, reduces manual operation time and labor intensity, ensures consistency and accuracy in polishing, and enhances product quality.

[0074] Specifically, the chassis system 100 includes a housing 110 and a moving component. The power source and transmission components of the moving component are located inside the housing 110, and the rollers of the moving component are located at the bottom of the housing 110.

[0075] The housing 110 serves as the main structure of the entire chassis system 100, housing and protecting the internal components. The moving components are responsible for the movement of the entire device. Their power source and transmission components, such as gears, belts, or lead screws 260, are located inside the housing 110, while the rollers are located at the bottom of the housing 110, directly contacting the ground to achieve movement.

[0076] By integrating the power source and transmission components of the moving components inside the housing 110, a compact structural layout is achieved, reducing the number of externally exposed mechanical parts and protecting the internal power source and transmission components from the effects of the external environment, such as dust, moisture, and impacts, thus extending the service life of the equipment. The housing 110 provides a stable foundation support for the entire grinding device, ensuring the stability of the equipment during the grinding process. Through the rollers at the bottom, the device can move flexibly between different positions of the wind turbine blades to adapt to the grinding needs of different workstations.

[0077] This design enhances the overall rigidity of the chassis, effectively reducing displacement or shaking caused by vibration during grinding. It makes the overall device more compact, facilitating transportation and on-site setup. The device has a clean appearance with no exposed cables or mechanical structures, improving the professionalism and aesthetics of the equipment. It also avoids the risk of operators accidentally coming into contact with moving parts, thus enhancing operational safety.

[0078] Preferably, the cross-section of the box 110 is rectangular.

[0079] Rectangular cross-sections offer superior bending and torsional resistance. Compared to circular or other shapes, rectangular structures are more stable under lateral forces and allow for a more regular internal space layout, facilitating the installation and arrangement of power sources, transmission components, and other parts. They enable more efficient use of limited space, reduce unnecessary gaps, are easy to manufacture, typically do not require complex molds or processing techniques, and lower production costs.

[0080] This design enhances the structural stability of the chassis system 100, improves space utilization and load-bearing capacity, simplifies the manufacturing process, and improves maintenance convenience and protective performance.

[0081] Specifically, the lifting system 200 includes a bottom support 210, a first vertical rail 220, a second vertical rail 230, a crossbeam 240, a motor 250, a lead screw 260, a slide bar 270, and clamping claws 280. The two ends of the bottom support 210 are respectively connected to the first vertical rail 220 and the second vertical rail 230. The two ends of the crossbeam 240 are respectively connected to the ends of the first vertical rail 220 and the second vertical rail 230 away from the bottom support 210. The motor 250 is mounted on the bottom support 210. The output end of the motor 250 is connected to the lead screw 260 through a transmission assembly. The two ends of the lead screw 260 are respectively connected to the bottom support 210 and the crossbeam 240. The slide bar 270 is mounted on the lead screw 260. The two ends of the slide bar 270 are respectively connected to the first vertical rail 220 and the second vertical rail 230. The slide bar 270 can move up and down with the rotation of the lead screw 260. Several clamping claws 280 are provided on the slide bar 270 to control the up and down movement of the grinding system 300.

[0082] The bottom support 210 serves as the base of the entire lifting system 200, connecting and supporting the first vertical rail 220 and the second vertical rail 230. The first vertical rail 220 and the second vertical rail 230 are respectively connected to the two ends of the bottom support 210 and extend upward to guide the vertical movement of the crossbeam 240 and the slide bar 270. The crossbeam 240 is connected to the upper end of the first vertical rail 220 and the second vertical rail 230, forming a stable "door" shaped frame structure to provide upper support for the lead screw 260. The motor 250 is installed on the bottom support 210 to provide power. One end of the lead screw 260 is connected to the output shaft of the motor 250, and the other end is connected to the crossbeam 240 through a bearing to form a rotary transmission mechanism. The slide bar 270 is sleeved on the lead screw 260 and serves as the nut or slider of the lead screw 260. It moves axially or up and down as the lead screw 260 rotates. The clamping claw 280 is set on the slide bar 270 to fix and drive the grinding system 300 to move up and down.

[0083] The motor 250 drives the lead screw 260 to rotate, which in turn moves the slide bar 270 vertically up and down, thereby controlling the lifting and lowering of the grinding system 300 to adapt to different grinding positions. The first vertical rail 220 and the second vertical rail 230 provide rigid support and motion guidance for the entire lifting structure, ensuring that the slide bar 270 and the grinding system 300 do not deflect or sway during the lifting and lowering process. The lead screw 260 converts the power of the motor 250 into linear motion and bears the weight of the grinding system 300 and the grinding reaction force. The clamping claw 280 is used to reliably connect the grinding system 300, ensuring that it lifts and lowers synchronously with the slide bar 270.

[0084] This design greatly enhances the overall rigidity and resistance to bending and torsion, effectively preventing vibration and sway during lifting and lowering, ensuring grinding precision, and achieving millimeter-level or even sub-millimeter-level lifting and positioning accuracy. It meets the high requirements for position control in wind turbine blade putty shaping and has good load-bearing capacity, maintainability, and expandability.

[0085] Preferably, the bottom support 210 can be fixedly installed on the top of the housing 110, or it can be detachably connected to the housing 110.

[0086] When fixedly installed, the bottom support 210 and the housing 110 form a robust integral structure, enhancing the rigidity and stability of the entire device. This is particularly effective in reducing vibration and swaying during the operation of the lifting system 200. The detachable connection design allows the chassis system 100 and the lifting system 200 to be transported separately. For large equipment, this helps reduce the weight of individual components and facilitates handling in confined conditions such as narrow passages or elevators. When maintenance or replacement of a part of the chassis system 100 or the lifting system 200 is required, the detachable connection allows for quick separation of the two parts without moving the entire device, reducing maintenance difficulty and cost. Different installation methods can be selected based on specific application requirements. For example, fixed installation can be chosen to increase stability when used on a long-term, fixed production line; while a detachable connection can be used for flexible deployment in situations requiring frequent position adjustments or temporary operations.

[0087] This feature enhances the overall performance of the device, significantly improving its flexibility and maintainability, and enabling it to adapt to a variety of application scenarios.

[0088] Preferably, the lead screw 260 is located at the middle of the bottom support 210 and the crossbeam 240.

[0089] Placing the lead screw 260 in the middle of the bottom support 210 helps to balance the weight distribution of the entire device, preventing the equipment from tilting or becoming unstable due to a shift in the center of gravity. It also reduces frame twisting or deformation caused by excessive load on one side, enhancing the rigidity and stability of the overall structure. When the motor 250 drives the lead screw 260 for lifting operations, the centrally located lead screw 260 can distribute the driving torque more evenly, reducing uneven loads on the lead screw 260 and the guide rail system, and extending the service life of these key components.

[0090] This setup results in a more balanced power output, reduces vibration and swaying caused by eccentric drive, improves the accuracy and stability of grinding operations, reduces the risk of equipment tipping over, simplifies the transmission path, reduces unnecessary steering mechanisms or additional support components, and lowers design complexity and manufacturing costs.

[0091] Preferably, the lead screw 260 is rotatably connected to the bottom support 210 and to the crossbeam 240 via bearings, and a gear structure can be provided at the end of the lead screw 260 near the motor 250 for connecting the transmission device.

[0092] The two ends of the lead screw 260 are mounted on the bottom support 210 and the crossbeam 240 respectively through bearings (such as deep groove ball bearings or angular contact bearings) to form a stable rotational support structure. The end of the lead screw 260 near the motor 250 is machined with a gear (such as a spur gear, helical gear or worm gear) to mesh with the transmission gear or reduction gear on the output shaft of the motor 250 to realize power transmission. The gear structure accurately transmits the torque of the motor 250 to the lead screw 260 through meshing transmission, driving it to rotate, and then driving the slide rod 270 to move up and down.

[0093] This setting ensures that the lead screw 260 has good coaxiality and stability when rotating at high speed, reduces radial runout and axial movement, ensures transmission accuracy, and avoids slippage.

[0094] Preferably, two sets of clamping claws 280 are symmetrically arranged with the lead screw 260 as the axis of symmetry.

[0095] By symmetrically arranging clamping claws 280 on both sides of the lead screw 260, it can be ensured that the weight of the grinding system 300 is evenly distributed on both sides, avoiding overload on one side. This helps to reduce the skewness and wear of the slide bar 270 or lead screw 260 caused by uneven force on one side, thereby improving the stability and reliability of the entire lifting system 200.

[0096] This setup improves the overall balance and stability of the equipment, significantly extends the service life of key components, and simplifies the design of the control system.

[0097] Preferably, the clamping claw 280 includes a base plate 281, limiting posts 282 and a pressure plate 283. The two limiting posts 282 are disposed on both sides of the base plate 281, and the two ends of the pressure plate 283 are respectively connected to the two limiting posts 282 to limit the displacement of the grinding system 300.

[0098] The base plate 281 serves as the basic component of the clamping claw 280, is connected to the slide bar 270, and provides a mounting base for other components. Two limiting posts 282 are located on both sides of the base plate 281, extending upward perpendicularly to the base plate 281, to provide guidance and support. The two ends of the pressure plate 283 are connected to the two limiting posts 282 respectively, usually fixed by bolts or similar fasteners, forming a frame structure to limit the displacement of the grinding system 300.

[0099] The clamping jaws 280, through the frame structure formed by the base plate 281, the limiting post 282, and the pressure plate 283, enhance the rigidity and stability of the entire clamping system, reduce the possibility of vibration and shaking, ensure that the grinding system 300 remains stable during lifting and lowering, and prevent it from shifting laterally or longitudinally. The limiting post 282 provides precise vertical guidance for the grinding system 300, ensuring that it always maintains the correct posture during lifting and lowering, and avoiding accuracy loss due to offset.

[0100] Preferably, reinforcing ribs are provided between the first vertical rail 220 and the box body 110, and between the second vertical rail 230 and the box body 110, to improve the structural rigidity.

[0101] Reinforcing ribs are installed between the first vertical rail 220 and the housing 110, and between the second vertical rail 230 and the housing 110. This can significantly enhance the structural rigidity of the entire lifting system 200, prevent bending or deformation during operation, effectively absorb and disperse the vibrations generated by the motor 250 drive and grinding operations, reduce system shaking during operation, and ensure stable equipment operation.

[0102] This setup enhances the rigidity of the entire system, reduces errors caused by structural instability, improves grinding accuracy and consistency, reduces the risk of accidental tipping over or component loosening, and enhances operational safety.

[0103] Preferably, the bottom of the first vertical rail 220 and the second vertical rail 230 is provided with a limiting member 290 to prevent the slide bar 270 from colliding with the motor 250.

[0104] Limiting members 290 are installed at the bottom of the first vertical rail 220 and the second vertical rail 230 to effectively prevent the slide bar 270 from directly colliding with the motor 250 during descent, thus avoiding equipment damage due to mechanical collision. The limiting member 290 provides a clear physical limit for the slide bar 270, ensuring it stops moving at its lowest position, preventing operation beyond the design range, protecting equipment safety, preventing excessive descent in unexpected situations, and avoiding potential safety threats to operators and equipment.

[0105] This design increases the system's redundancy. Even if the control system malfunctions or is misoperated, the limit switch 290 can act as a last line of defense to ensure that the equipment is not damaged due to excessive descent, significantly improving operational safety, especially during long-term operation or under complex conditions, reducing the risk of accidents caused by mechanical failure.

[0106] Preferably, the limiting member 290 is a combination of a U-shaped structure and a Z-shaped structure.

[0107] Specifically, the grinding system 300 also includes a limiting wheel 310, a grinding head 320, and a telescopic device 330. The grinding head 320 is provided with limiting wheels 310 on both sides, and one end of the telescopic device 330 is connected to the grinding head 320 to control the telescopic movement of the grinding head 320.

[0108] Limiting wheels 310 are positioned on both sides of the grinding head 320 to restrict its lateral movement and ensure it maintains the correct posture during grinding. The grinding head 320, as the core grinding component, is responsible for the actual grinding operation. The grinding head 320 can adjust its angle according to the curvature changes of the wind turbine blades to achieve the best grinding effect. One end of the telescopic device 330 is connected to the grinding head 320, and the other end is connected to the lifting system 200 or other support structure. It controls the telescopic movement of the grinding head 320 to adapt to grinding requirements of different positions and shapes.

[0109] This setting significantly improves the precision and consistency of grinding, and enhances the overall stability and reliability of the equipment.

[0110] Preferably, there are three connection points between the telescopic device 330 and the grinding head 320, wherein the two ends of the grinding head 320 are connected by a damper.

[0111] The central connection point is located in the middle of the grinding head 320 and is directly and rigidly connected to the telescopic device 330 (or connected through a force sensor) to transmit the main axial thrust and motion. The two end connection points are located at the left and right ends of the grinding head 320 and are connected to the telescopic device 330 through dampers (such as rubber pads, spring damping assemblies or hydraulic / pneumatic buffer elements).

[0112] When the surface of a wind turbine blade has curvature changes or local unevenness, the grinding head 320 can undergo a slight angle deflection (contour floating) under the buffering effect of the damper, achieving a close fit with the complex curved surface. The high-frequency vibration and instantaneous impact force generated during the grinding process are effectively absorbed and dissipated by the damper, reducing the vibration energy transmitted to the telescopic device 330 and the lifting system 200. The three-point support structure, combined with the damping connection at both ends, ensures that the grinding head 320 can maintain a uniform pressure distribution on uneven surfaces, avoiding unilateral overpressure or suspension. The damper provides buffering when encountering sudden collisions (such as putty protrusions or edge steps), preventing damage to the grinding head 320 or the fiberglass substrate of the blade. Combined with the pressure feedback system, this structure allows the grinding head 320 to automatically adjust its attitude in the radial and circumferential directions to adapt to the curvature changes of the leading and trailing edges of the blade.

[0113] The three-point plus damping structure constitutes the "floating grinding head" system, which can automatically adapt to the complex hyperbolic surface of wind turbine blades. Even in high curvature areas such as the blade tip or root, it can maintain good fit, ensure grinding continuity, uniform pressure distribution, avoid local over-grinding or under-grinding, have strong vibration suppression capabilities, reduce surface defects such as "vibration marks" and "ripples", and improve smoothness.

[0114] The telescopic device 330 and the grinding head 320 are connected by three connection points to achieve a combination of rigidity and flexibility in their assembly.

[0115] Preferably, the clamping claw 280 clamps and installs the telescopic device 330.

[0116] Through its structural design, the clamping claw 280 can firmly clamp and fix the telescopic device 330, ensuring that the telescopic device 330 will not shift or loosen during the grinding process. The telescopic device 330 can move flexibly with the support of the clamping claw 280 to adapt to the grinding needs of different heights and shapes, ensuring that the grinding head 320 always maintains the best contact with the surface of the wind turbine blade.

[0117] The clamping claw 280 provides a stable gripping and precise guiding function, making the telescopic device 330 more stable during operation, reducing vibration and shaking, and improving the overall reliability of the equipment.

[0118] Specifically, the visual recognition module is equipped with several cameras 410, which are mounted on the lifting system 200.

[0119] Multiple cameras 410 can be arranged at different heights and angles to ensure comprehensive and seamless coverage of the putty area at the leading and trailing edges of the wind turbine blades, providing accurate boundary identification. The cameras 410 can capture images of the wind turbine blade surface in real time and transmit the data to the control system for generating and adjusting the grinding plan, ensuring dynamic monitoring and feedback during the grinding process.

[0120] This setup can adapt to wind turbine blades of various shapes and sizes, and can accurately identify both flat and complex curved surfaces. It significantly improves the recognition accuracy of putty area boundaries, reduces the possibility of misjudgment and missed detection, and allows the control system to dynamically adjust the sanding path and parameters according to the actual situation, promptly detect and correct deviations, ensure the consistency of the final sanding quality, and ensure the best sanding effect.

[0121] Preferably, two cameras 410 are provided, one camera 410 is provided on the crossbeam 240, and the other camera 410 is provided on the downward extension of the slide bar 270.

[0122] The camera 410 on the crossbeam 240 is primarily used to capture the overall outline of the wind turbine blades and the boundaries of large putty areas, providing a global perspective. Due to its high position, it can cover a wide field of view, making it suitable for initial identification and large-scale positioning. The camera 410 on the downward extension of the slide bar 270 is used to capture local details, especially areas requiring fine polishing, providing close-up, high-resolution images. Due to its lower position and proximity to the polishing area, it can provide more detailed images, suitable for precise positioning and fine adjustments.

[0123] This setup can capture images of the wind turbine blade surface from different heights and angles. This layout provides multi-view visual information, ensuring comprehensive coverage of the lead and trailing edge putty areas of the wind turbine blade. It can adapt to wind turbine blades of various shapes and sizes, achieving accurate identification whether the surface is flat or complex curved.

[0124] Preferably, the camera 410 is a color camera 410 with a resolution of not less than 5 megapixels.

[0125] The color camera 410 captures color information from the surface of wind turbine blades, which is crucial for identifying color differences between putty and fiberglass. Determining the grinding boundary through color differences significantly improves the accuracy and reliability of the identification. The color camera 410 typically outputs RGB images with red, green, and blue channels. This rich color information can be used in more complex image processing algorithms, such as HSV color space conversion and an improved Canny edge detection algorithm, thereby enhancing the identification effect. Under different lighting conditions, the color camera 410 adapts better to variations, providing more consistent image quality and ensuring stable operation of the visual recognition module in various environments.

[0126] This setting can adapt to shooting needs under different lighting conditions, capture subtle color differences between putty and fiberglass, thereby achieving more accurate boundary recognition, reducing the possibility of misjudgment and missed detection, and enhancing the system's environmental adaptability.

[0127] Specifically, the control system includes:

[0128] The storage module records the complete grinding parameters and process data for each blade, and establishes a database of optimal blade parameters based on historical grinding data;

[0129] The path optimization module uses a genetic algorithm based on the parameter database to optimize and refine the path, reducing idle travel time.

[0130] The fault diagnosis module monitors parameters such as motor current and vibration in real time, provides fault information, and predicts the wear status of the grinding head.

[0131] The detection module is used to identify the location information of the device, including the starting position of the chassis system 100, the ending position of the chassis system 100, the distance parameter between the grinding system 300 and the blade surface, and the position of the putty boundary.

[0132] The chassis system control module is used to control the movement of the chassis of the wind turbine blade front and rear edge shaping and grinding device to the end position of the chassis system 100 according to the starting position of the chassis system 100.

[0133] The lifting system control module is used to control the sanding system 300 to move in the height direction to the end position of the putty according to the initial position of the putty boundary;

[0134] The grinding system control module is used to control the angle of the grinding head 320 based on the distance parameter between the grinding head 320 and the putty boundary at the leading and trailing edges of the blade, so that the grinding head 320 is perpendicular to the leading and trailing edges of the blade, and to control the extension and retraction movement of the grinding head 320 so that the grinding head 320 is always in close contact with the blade surface.

[0135] The grinding head control module is used to control the grinding head 320 to maintain the grinding state when the grinding system 300 moves from the grinding start position to the grinding end position, and to control the grinding head 320 to maintain the stationary state when the wind turbine blade leading and trailing edge shaping and grinding device is in motion on the chassis.

[0136] This system, encompassing positioning, lifting, grinding, path planning, and fault warning, comprehensively coordinates all subsystems to achieve closed-loop control of "identification → planning → execution → feedback." Through real-time detection and feedback, it dynamically adjusts the attitude and pressure of the grinding head 320 to ensure that every grinding operation meets process requirements. By optimizing the path, it reduces ineffective movement and increases the effective grinding area per unit time. In non-grinding states, such as when moving, it automatically shuts down the grinding head 320 to prevent accidents caused by misoperation. It can also accumulate grinding data and continuously optimize process parameters.

[0137] This setting can automatically adjust the sanding strategy according to the actual condition of each blade, such as curvature and putty thickness, without manual intervention. It adapts to blades of different models and conditions, avoids the common problems of "under-sanding" or "over-sanding" in manual sanding, improves surface smoothness and aerodynamic performance, and significantly increases production efficiency.

[0138] Preferably, the control system is located inside the housing 110.

[0139] The upper boundary of the putty is with fiberglass on top and putty on the bottom; the lower boundary of the putty is with putty on top and fiberglass on the bottom; the area between the putty boundaries is the sanding area.

[0140] A control method for a wind turbine blade leading and trailing edge shaping and grinding device specifically includes the following:

[0141] S1: Move the device to the vicinity of the wind turbine blade to be polished and start the device;

[0142] The grinding device is manually or automatically guided to the designated position on the wind turbine blade, powered on, and all systems, such as chassis, lifting, grinding, vision, and control, are initialized and put into standby mode.

[0143] S2: Collect images of the wind turbine blade surface through the visual recognition module to identify the boundary between the putty and the fiberglass;

[0144] A color camera 410 mounted on the lifting system 200 is used to acquire images of the blade surface. HSV color space conversion and an improved Canny edge detection algorithm are used to accurately identify the color difference boundary between the putty and the fiberglass and locate the spatial coordinates of the upper and lower boundaries.

[0145] S3: Based on the identified boundary information, the control system generates a grinding plan, including the grinding path and the feed rate and rotation speed at each stage;

[0146] The control system automatically generates grinding paths, grinding start and end points, feed rate, rotation speed and number of grinding layers based on boundary data, and optimizes the path by combining the historical best parameter database, such as using a genetic algorithm to reduce idle strokes.

[0147] S4: The lifting system 200 adjusts the height of the sanding system 300 according to the sanding plan, so that the sanding system 300 is aligned with the corresponding boundary of the putty;

[0148] The lifting system 200 drives the slide bar 270 to move up and down along the lead screw 260, accurately positioning the sanding system 300 at the starting height of the upper boundary of the putty, ensuring that the sanding head 320 is aligned with the starting position of sanding.

[0149] S5: The grinding system 300 starts working, and the grinding angle is adjusted according to the radial and circumferential curvature changes of the wind turbine blade through the adaptive grinding head 320 component, keeping the grinding head 320 perpendicular to the blade surface;

[0150] During the grinding process, the grinding head 320 adjusts its posture in real time according to the blade curvature through the angle adjustment mechanism and the telescopic device 330, keeping the grinding head 320 perpendicular to the blade surface and in close contact; at the same time, the pressure sensor feedback realizes constant force grinding, ensuring uniform grinding quality.

[0151] S6: After completing the grinding of one station, the chassis system 100 moves forward to the next station, repeating S2 to S5 until the grinding of the leading and trailing edges of the entire wind turbine blade is completed.

[0152] After the current area is polished, the chassis system 100 automatically moves forward to the next predetermined station and repeats the image recognition, path planning, lifting and positioning and polishing process until the entire front and rear edges are polished.

[0153] The sanding boundary is identified visually. During operation, the sanding device moves to the sanding position. Based on the obvious color difference between the putty and the fiberglass blade body, the putty area, i.e., the sanding area, is determined by identifying the color difference boundary. First, the device is moved to the sanding position, at which point the horizontal distance of the sanding area is within the extension stroke of the sanding system 300. The spatial position of the putty area at the leading and trailing edges of the wind turbine blade is determined by the detection module and sent to the control system. The control system generates a sanding plan based on the spatial position of the putty area, and the lifting system 200 controls the sanding system 300 to move to the upper boundary of the putty. The extension mechanism of the sanding system 300 controls the sanding head to move to the upper boundary of the putty, allowing the sanding head to sand and reshape the putty. The counterweight of the chassis system 100 maintains torque balance with the sanding system 300 during the sanding process, improving sanding effect and safety. The elimination of the need to clamp the wind turbine blade significantly reduces the complexity of the device and lowers costs.

[0154] From positioning, identification, planning to execution, the entire process requires no human intervention, significantly improving the continuity and intelligence of operations. Based on high-precision visual recognition and adaptive control, it ensures that each section of grinding meets the process requirements and avoids human error. Targeting the characteristics of wind turbine blades with large curvature and variable cross-section, it achieves fitting grinding through real-time attitude adjustment. It is suitable for complex geometric shapes at the leading and trailing edges. Through the cyclic mode of "identification → grinding → movement → re-identification", it is suitable for grinding tasks on blade edges that are tens of meters long.

[0155] This control method constructs a highly efficient, precise, and safe closed-loop system for shaping and grinding the leading and trailing edges of wind turbine blades through a technical route of "visual guidance - intelligent planning - adaptive execution - cyclical advancement," solving the problems of low efficiency, unstable quality, and high labor intensity of traditional manual grinding.

[0156] Specifically, in step S2, the visual recognition module employs a machine learning-based color recognition algorithm, which includes the following steps:

[0157] S21: Image Acquisition: Camera 410 acquires RGB images with a resolution of no less than 5 megapixels;

[0158] RGB images of the blade surface were acquired using a color camera 410 with a resolution of at least 5 megapixels. The high resolution ensured that subtle color transitions and texture variations could be captured, providing the foundational data for subsequent accurate identification.

[0159] S22: Color Space Conversion: Convert the RGB image to the HSV color space and extract the hue (H), saturation (S), and lightness (V) components;

[0160] The HSV color space is closer to human visual perception and can effectively separate color information from light intensity, enhancing the robustness of color recognition under different lighting conditions.

[0161] S23: Feature Extraction: Establish color feature models for the putty area and the fiberglass area respectively.

[0162] Putty region characteristics: H∈[20, 40], S∈[0.2, 0.5], V∈[0.6, 0.9]

[0163] Fiberglass region characteristics: H∈[180, 240], S∈[0.1, 0.3], V∈[0.3, 0.7];

[0164] Based on a large amount of sample data, color feature models of two types of regions are established, and a classifier is built using this prior knowledge to achieve pixel-level region division.

[0165] S24: Edge Detection: An improved Canny algorithm is used, and the edge detection threshold is set as follows:

[0166]

[0167] Where ΔE is the color difference, and ΔH, ΔS, and ΔV are the differences in hue, saturation, and lightness, respectively.

[0168] The visual recognition module is equipped with an HSV color analysis unit. After the image acquired by the camera 410 is processed by this unit, the putty and fiberglass areas are distinguished. When the comprehensive color difference between adjacent pixels exceeds this value, it is determined to be a boundary point. The improved Canny algorithm combines gradient magnitude and direction to suppress noise while preserving the real edge.

[0169] S25: Boundary Fitting: Perform cubic spline curve fitting on the detected edge points to obtain a smooth and continuous boundary curve;

[0170] The fitting results are used for coordinate interpolation and trajectory generation in subsequent path planning.

[0171] Automatic separation between putty and fiberglass is achieved by utilizing color differences, avoiding manual calibration errors. The HSV color space is not sensitive to changes in lighting and can maintain stable recognition performance under natural light, shadow, or local strong light in the workshop. It outputs continuous boundary curve equations or point cloud data for the control system to use for grinding start and end point positioning and path generation.

[0172] This setup is based on a clear mathematical model and threshold setting, resulting in good consistency in recognition results. High-resolution images, HSV feature modeling, and an improved Canny algorithm significantly enhance edge localization accuracy, enabling high-precision, robust, and automated extraction of the putty boundary of wind turbine blades.

[0173] Specifically, in step S21, the upper and lower cameras 410 of the visual recognition module each perform a boundary color information acquisition once.

[0174] The upper and lower cameras 410 simultaneously acquire images from different heights and angles, obtaining dual-view visual information of the same putty area, enhancing the spatial perception of complex curved surface boundaries. The upper camera 410 has a wider field of view, suitable for capturing large-scale contours and overall boundary trends; the lower camera 410 is close to the blade surface, which can acquire local high-resolution details, such as minute color differences and edge burrs, to achieve "macro + micro" collaborative recognition. After the spatial positions of the upper and lower cameras 410 are known and calibrated, combined with the principle of stereo vision, the depth information of boundary points, such as the height from the blade surface, can be estimated, providing a reference for the precise positioning of the lifting system 200.

[0175] This setup enables multi-dimensional, highly reliable, and full-scale visual perception of the putty area of ​​wind turbine blades, improving the accuracy, stability, and adaptability of boundary recognition.

[0176] Specifically, in step S3, the grinding path of the rough grinding operation is that the grinding system 300 grinds from the lower boundary of the putty to the upper boundary of the putty along the front and rear edges of the blades. The movement direction of the grinding head 320 forms a 45° angle with the principal stress direction of the grinding position. The feed amount t1 of the grinding head 320 is in the range of 0.5 to 1 mm, and the rotation speed is in the range of 6000 to 8000 rpm.

[0177] The rough grinding stage uses a large feed rate and high speed to quickly remove thick layers of putty, laying the foundation for subsequent fine grinding. Setting the 320° movement direction of the grinding head to a 45° angle with the principal stress direction can effectively disperse the cutting force and reduce the risk of damage to the substrate such as fiberglass. The oblique grinding path avoids the "groove effect" or fiber fuzzing that may be caused by grinding along or perpendicular to the fiber direction, which is conducive to obtaining a more uniform transition surface. The reasonable combination of feed rate and speed ensures removal efficiency while preventing resin carbonization or premature wear of the grinding disc due to overheating.

[0178] This setting significantly improves the material removal rate per unit time, shortens the overall grinding cycle, and avoids the "fiber peeling" or "delamination" phenomenon that is prone to occur when grinding along the fiber direction of fiberglass.

[0179] Specifically, in step S3, the grinding path of the fine grinding operation is that the grinding system 300 grinds from the upper boundary of the putty to the lower boundary of the putty along the front and rear edges of the blades. The movement direction of the grinding head 320 forms a 45° angle with the principal stress direction of the grinding position. The feed amount t2 of the grinding head 320 is in the range of 0.25 to 0.5 mm, and the rotation speed is in the range of 4000 to 6000 rpm.

[0180] After rough grinding removes most of the excess material, fine grinding further refines the surface, eliminates rough grinding marks, and achieves a smooth transition. Through fine grinding with small feed and moderate speed, a surface with high flatness and low roughness is obtained, which meets the aerodynamic performance requirements of wind turbine blades. The 45° oblique grinding path can effectively cover and correct the directional scratches left in the rough grinding stage, preventing "grinding grooves" or "step-like residues". The fine grinding direction is from top to bottom, which is opposite to the rough grinding direction from bottom to top, so that the cutting stress is distributed alternately in space, reducing the accumulation of local stress and improving surface uniformity.

[0181] This setting can significantly improve surface quality, eliminate rough grinding marks, and enhance consistency.

[0182] Specifically, in step S5, the pressure sensor monitors the grinding pressure in real time and dynamically adjusts the position of the grinding head 320.

[0183] During the polishing process, a pressure sensor integrated into the polishing system 300, typically located between the polishing head 320 and the telescopic device 330 or floating mechanism, continuously monitors the contact pressure between the polishing head 320 and the surface of the wind turbine blade. Based on real-time pressure feedback, the control system dynamically adjusts the position of the polishing head 320 by regulating the stroke of the telescopic device 330, such as a cylinder, electric push rod, or servo mechanism. This ensures that the polishing head 320 maintains a constant polishing pressure across different curvatures, inclinations, and surface hardness regions, preventing pressure fluctuations caused by blade deformation or attitude changes, and ensuring that the polishing pressure remains within the set range. The leading and trailing edges of the wind turbine blade exhibit significant radial and circumferential curvature variations. The pressure feedback system can drive the polishing head 320 to actively follow the surface contour, ensuring a tight fit and preventing any suspension or overpressure. When the pressure is too high, the system automatically raises the polishing head 320 to prevent damage to the fiberglass substrate, fiber breakage, or resin ablation; when the pressure is too low, the system lowers the polishing head 320 to avoid "missed polishing" or "insufficient polishing."

[0184] This constant pressure setting ensures uniform material removal per unit area and consistent surface roughness;

[0185] It avoids the problem of "inconsistent pressure" caused by physical fluctuations in manual polishing, effectively prevents composite material delamination, dents or microcracks caused by local overpressure, and is especially suitable for fine polishing of thin-walled areas or edge-sensitive parts. It has a strong ability to adapt to complex geometries.

[0186] Specifically, in step S6, the chassis system 100 moves forward one station to begin the second station rough grinding operation. The grinding areas of the first and second stations overlap by 10% to ensure no areas are missed. From the blade root to the blade tip, the grinding pressure gradually decreases from 15N to 5N to adapt to the thickness variations in different areas of the blade.

[0187] The grinding areas of the first and second stations overlap by 10%, eliminating "missed grinding" or "gaps" caused by positioning errors or path deviations, ensuring full coverage of the entire leading and trailing edges. From the root to the tip, the shell thickness and structural strength of the wind turbine blade gradually decrease. Pressure gradient control avoids applying excessive pressure to weak areas, preventing damage. From the blade root to the tip, the grinding pressure gradually decreases linearly from 15N to 5N, adapting to the changes in blade thickness and structural strength. Matched pressure parameters are used in different thickness areas to ensure uniform material removal, stable surface quality, and avoid insufficient grinding in thick areas and over-grinding in thin areas.

[0188] This setting eliminates blind spots in polishing, improves coverage, and uses optimal pressure parameters for different areas to avoid inconsistent surface roughness caused by a "one-size-fits-all" pressure setting, thereby improving overall smoothness and flatness.

[0189] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A wind turbine blade leading and trailing edge reshaping grinding device, characterized in that, include: Chassis system (100) is used to provide a mobile foundation for the entire unit; The sanding system (300) includes multiple adaptive sanding head assemblies, each of which contains a pressure sensor and an angle adjustment mechanism for automatically adjusting the sanding angle according to the curvature of the wind turbine blades and for sanding the putty area. A lifting system (200), mounted on the chassis system (100), is used to adjust the vertical position of the grinding system (300); The control system, communicatively connected to the chassis system (100), the lifting system (200), and the grinding system (300), includes: The visual recognition module is used to identify the boundaries of the putty area on the wind turbine blades by color differences; The grinding control module presets layer grinding parameters to control the feed rate and rotation speed of the grinding head at different stages. The sanding system uses layered sanding parameters to remove putty in layers and reshape the surface.

2. A wind turbine blade leading and trailing edge profiling sander according to claim 1, characterised in that, The chassis system (100) includes a housing (110) and a moving component. The power source and transmission components of the moving component are located inside the housing (110), and the rollers of the moving component are located at the bottom of the housing (110).

3. A wind turbine blade leading and trailing edge profiling device according to claim 2, characterised in that, The lifting system (200) includes a bottom support (210), a first vertical rail (220), a second vertical rail (230), a crossbeam (240), a motor (250), a lead screw (260), a slide rod (270), and a clamping claw (280). The two ends of the bottom support (210) are respectively connected to the first vertical rail (220) and the second vertical rail (230). The two ends of the crossbeam (240) are respectively connected to the ends of the first vertical rail (220) and the second vertical rail (230) away from the bottom support (210). The two ends of the lead screw (260) are respectively connected to the bottom support (210). The motor (250) is mounted on the bottom support (210), and the output end of the motor (250) is connected to the lead screw (260) through a transmission assembly. The slide rod (270) is mounted on the lead screw (260), and the two ends of the slide rod (270) are respectively connected to the first vertical rail (220) and the second vertical rail (230). The slide rod (270) can move up and down with the rotation of the lead screw (260). The slide rod (270) is provided with a plurality of clamping claws (280) for controlling the up and down movement of the grinding system (300).

4. A wind turbine blade leading and trailing edge profiling device according to claim 3, characterised in that, The clamping claw (280) includes a base plate (281), limiting posts (282) and a pressure plate (283). The two limiting posts (282) are disposed on both sides of the base plate (281), and the two ends of the pressure plate (283) are respectively connected to the two limiting posts (282) to limit the displacement of the grinding system (300).

5. The wind turbine blade leading and trailing edge profiling sander device according to claim 3, characterized in that, The grinding system (300) also includes a limiting wheel (310), a grinding head (320) and a telescopic device (330). The limiting wheel (310) is provided on both sides of the grinding head (320), and one end of the telescopic device (330) is connected to the grinding head (320) to control the telescopic movement of the grinding head (320).

6. The wind turbine blade leading and trailing edge profiling sander device according to claim 1, characterized in that, The visual recognition module is equipped with multiple cameras (410), which are mounted on the lifting system (200).

7. A wind turbine blade leading and trailing edge profiling device according to claim 5, characterised in that, The control system also includes: The storage module records the complete grinding parameters and process data for each blade, and stores historical grinding data and optimal blade parameters; The path optimization module uses a genetic algorithm to optimize the grinding path based on the optimal parameters of the blade. The fault diagnosis module monitors the current and vibration parameters of the motor (250) in real time and feeds back fault information to predict the wear state of the grinding head (320); The detection module is used to identify the location information of the device and the position of the putty boundary; The chassis system control module is used to control the chassis of the device to move to the end position of the chassis system (100) according to the starting position of the chassis system (100); The lifting system control module is used to control the sanding system (300) to move in the height direction to the end position of the putty boundary according to the initial position of the putty boundary; The grinding system control module is used to control the angle of grinding the grinding head (320) according to the distance parameter between the grinding head (320) and the putty boundary of the front and rear edges of the blade, so that the grinding head (320) is perpendicular to and close to the front and rear edge surfaces of the blade; The grinding head control module is used to control the operation or stationary state of the grinding head (320).

8. A wind turbine blade leading and trailing edge profiling sander according to claim 6, characterised in that, The camera (410) acquires RGB images with a resolution of no less than 5 million pixels.

9. A wind turbine blade leading and trailing edge profiling device according to claim 8, characterised in that, The color feature models of the putty area and the fiberglass area at the boundary of the putty area are as follows: Putty region characteristics: H∈[20, 40], S∈[0.2, 0.5], V∈[0.6, 0.9]; Fiberglass region characteristics: H∈[180, 240], S∈[0.1, 0.3], V∈[0.3, 0.7]; The visual recognition module is equipped with an HSV color analysis unit. After the image acquired by the camera (410) is processed by this unit, it can distinguish between the putty and fiberglass areas. Where: the edge detection threshold is ΔE represents the color difference, while ΔH, ΔS, and ΔV represent the differences in hue, saturation, and brightness, respectively.

10. The wind turbine blade leading and trailing edge profiling sander device according to claim 5, characterized in that, The grinding system (300) is equipped with a pressure sensor for continuously detecting the contact pressure between the grinding head (320) and the surface of the wind turbine blade.

Images