CN114619331B

CN114619331B - Dead pixel staggered layer polishing equipment for composite material blade

Info

Publication number: CN114619331B
Application number: CN202210513595.5A
Authority: CN
Inventors: 麦克威克曼; 王应应; 周洋洋; 牛龙凯; 顾智靖; 陈娜
Original assignee: Heineken Intelligent Technology Chengdu Co ltd
Current assignee: Heineken Intelligent Technology Chengdu Co ltd
Priority date: 2022-05-12
Filing date: 2022-05-12
Publication date: 2022-08-02
Anticipated expiration: 2042-05-12
Also published as: CN114619331A

Abstract

The invention discloses a dead pixel staggered-layer polishing device for a composite material blade, which belongs to the technical field of machining and solves the problem of poor precision and quality of a manual polishing method. The invention is used for milling and grinding the defective points of the glass fiber reinforced plastic products.

Description

Dead pixel staggered layer polishing equipment for composite material blade

Technical Field

The invention belongs to the technical field of machining equipment, and particularly relates to dead point staggered layer polishing equipment for a composite material blade.

Background

During the production process of the composite material blade, due to collision, air leakage and the like, defective areas such as whitening and layering can be generated on the surface, and the defective areas can have fatal influence on the composite material blade. Therefore, a large amount of manpower and material resources are required to be invested by a production enterprise to maintain the corresponding unqualified area. The maintenance process is generally divided into: staggered layer grinding, re-layering and vacuum infusion. In addition, the staggered floor polishing step is carried out in a manual polishing mode all around the world at present, and huge dust harm is generated in the polishing process. The most important points are: the quality of the split-level grinding is completely determined by the skill level of split-level grinding personnel, and the quality of the split-level grinding cannot be effectively and accurately judged.

Disclosure of Invention

The invention aims to:

in order to solve the problem that the staggered floor polishing of the composite material blade in the prior art adopts a manual polishing method to cause poor maintenance precision and quality stability, the dead pixel staggered floor polishing equipment of the composite material blade is provided, manual work is replaced by the equipment, the staggered floor polishing precision and quality are greatly improved, and meanwhile, the quality is controllable.

The technical scheme adopted by the invention is as follows:

a bad point staggered floor polishing device of a composite material blade comprises a frame, wherein at least 3 sucker mechanisms are arranged on the frame, two Y-axis ball screws which are arranged in parallel are arranged on the frame, the two Y-axis ball screws are respectively connected with a Y-axis servo motor, the Y-axis servo motor is fixedly connected with the frame, the two Y-axis ball screws are respectively connected with a Y-axis sliding block through Y-axis lead screw nuts, the frame is provided with two Y-axis guide rails matched with the Y-axis sliding blocks, a moving base is connected between the two Y-axis sliding blocks, an X-axis ball screw is connected onto the moving base, an X-axis lead screw nut is sleeved on the X-axis ball screw, the end part of the X-axis ball screw is connected with an X-axis servo motor, the X-axis lead screw nut is connected with an X-axis sliding block, the X-axis sliding block is connected with a connecting bottom plate, and an X-axis guide rail matched with the X-axis sliding block is arranged on the moving base, and an A-axis mechanism is installed on the connecting bottom plate.

Further, a shaft mechanism includes a shaft bottom plate, a shaft bottom plate and connecting bottom plate fixed connection and be parallel to each other, install servo motor on the shaft bottom plate of A, servo motor is connected with the driving medium through the motor shaft, the driving medium is connected with the drive wheel, the drive wheel is installed on a shaft bottom plate of A, and the pivot department of drive wheel is connected with ball, the last ball nut of installing of ball, ball nut is connected with a shaft ball nut support, a shaft ball nut support connection has the connecting rod spare, the connecting rod spare articulates there is the carousel, rotate through the bearing between carousel and the shaft bottom plate of A and be connected, the tip of connecting rod spare is connected with the bearing bush through the fixed pin.

Further, the transmission part is a transmission belt or a transmission chain, and the transmission wheel is a belt pulley or a transmission chain wheel.

Furthermore, a milling spindle is connected to the turntable, and the setting direction of a central shaft of the milling spindle is parallel to the plane of the A-shaft bottom plate.

Further, the sucking disc mechanism includes the chassis, install sucking disc elevating rail along vertical direction on the chassis, be connected with sucking disc lifting slide on the sucking disc elevating rail, sucking disc lifting slide fixedly connected with support, install elevating system on the support, install the lifter along vertical direction in the elevating system, lifter bottom and chassis fixed connection, the bottom of chassis is connected with universal joint spare, universal joint spare is connected with vacuum chuck.

Further, the lifting mechanism is a spiral lifter, the lifting rod is a trapezoidal shaft, the spiral lifter is connected with a sucker lifting motor, and the spiral lifter is movably connected with the trapezoidal shaft.

Furthermore, the shape of chassis is the U-shaped, installs two sucking disc lifting guide on the chassis, all is connected with sucking disc lift slider between support and two sucking disc lifting guide.

Further, the universal joint is a universal cross joint or a universal ball joint.

Furthermore, a plurality of disc-shaped elastic sheets for applying preload are arranged in the universal joint piece.

Further, the lifting mechanism is a ball screw jack or a gear mechanism, and the lifting rod is a ball screw or a rack rod.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

1. the device replaces manual work to carry out staggered-layer polishing, and replaces manual work with the device, so that the precision and the quality of staggered-layer polishing are greatly improved, and the quality is controllable. For manufacturing enterprises, a large amount of labor cost (grinding personnel and inspection personnel) is saved, the generation of dust amount in the grinding process is reduced, the workshop environment is improved, and the environmental sanitation and safety of workers are improved. The height of the cambered surface processed by the equipment is matched with the original cambered surface of the blade, and the thickness difference between layers is high in precision. The quality of polishing is higher than the manual work far away, and machining efficiency is high, can realize one-man operation, has saved the input of cost of labor greatly.

2. According to the invention, the efficient main bearing is arranged behind the rotary table, the main bearing is indirectly connected with the linear sliding block, the linear sliding block is driven by the A-axis ball screw, the main shaft of the A-axis ball screw is rotated by the motor, when the linear sliding block moves along the A-axis linear guide rail, the rotary table is driven by the connecting rod piece to convert the linear motion into the angular motion, and the structure enables the motor and the gear in the rotating device to be separated. With this structure, space can be used more efficiently, and forces can be distributed more easily throughout the structure.

3. The rotary shaft of the rotary table is low in height, force distribution through the structure is facilitated, force acting on the rotary shaft can be far larger than that of other structures in the prior art, the rotary shaft is matched with a high-precision bearing, a connecting rod piece, a linear sliding block and an A-axis linear guide rail to enable movement to be more accurate and stable, the single assembly of the rotary shaft is placed on the machine more flexibly due to the structure of the rotary shaft, and the rotary shaft is easier to maintain and overhaul compared with an integrated structure because all parts are distributed on the machine.

4. According to the equipment sucker mechanism, the machine support legs can freely rotate and automatically adjust through the universal joint pieces, so that the adjustability is very accurate, the stress is uniformly distributed on the rack, the structure realizes zero clearance to the maximum extent, the adjusting range is obviously improved, the angle adjustment within 30 degrees can be realized, the adaptability of machining on the wind power generation blades is greatly improved, and the equipment can be placed on any position, whether the equipment is horizontal or vertical, of the support legs of the sucker mechanism. The suction cup structural foot of the present invention is designed to handle large loads and is structurally rigid enough to achieve no gaps, sloshing.

5. The lifting mechanism can be a spiral lifter, the trapezoidal shaft can move on the spiral lifter without rotating, the sucker lifting motor drives the worm gear reducer in the spiral lifter to convert the rotating motion into the lifting motion of the trapezoidal shaft, so that the underframe connected with the trapezoidal shaft drives the vacuum sucker to move, the fit clearance is extremely small, the self-locking function is realized, and the accuracy of the lifting mechanism and the stability of the lifting process are improved.

6. According to the invention, the disk-shaped elastic sheet arranged in the universal joint part applies preload to the rotation of the universal joint part, so that the phenomenon that the vacuum chuck cannot be fixedly supported due to frictionless motion is avoided, the structural self-locking of the vacuum chuck is realized, and the stability of the chuck mechanism support leg under different stress conditions is optimized.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a left side view of the present invention;

FIG. 5 is a front view of the A-axis mechanism of the present invention;

FIG. 6 is a right side view of the A-axis mechanism of the present invention;

FIG. 7 is a left side view of the A-axis mechanism of the present invention;

FIG. 8 is a top view of the A-axis mechanism of the present invention;

FIG. 9 is a perspective view of the A-axis mechanism of the present invention;

FIG. 10 is an enlarged view of a portion A of FIG. 9 in accordance with the present invention;

FIG. 11 is a perspective view of one side of the suction cup mechanism bracket of the present invention;

FIG. 12 is a perspective view of one side of the screw elevator of the sucker mechanism of the present invention;

fig. 13 is a partial view of portion B of fig. 11.

The labels in the figure are:

1-a sucker mechanism, 11-an underframe, 12-a sucker lifting guide rail, 13-a sucker lifting slide block, 14-a bracket, 15-a universal cross joint, 16-a vacuum sucker, 17-a disc-shaped elastic sheet, 18-a spiral lifter, 19-a trapezoidal shaft and 110-a sucker lifting motor;

2-Y-axis ball screw, 3-Y-axis guide rail, 4-X-axis ball screw and 5-connecting bottom plate;

6-A shaft mechanism, 61-A shaft bottom plate, 62-bearing, 63-turntable, 64-connecting rod piece, 65-A shaft ball screw nut bracket, 66-A shaft linear slide block, 67-A shaft linear guide rail, 68-A shaft ball screw nut, 69-A shaft ball screw, 610-belt pulley, 611-A shaft servo motor, 612-transmission belt and 613-bearing bush;

7-Y axis servo motor, 8-X axis servo motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in figures 1-4, the invention is a dead spot staggered floor polishing device of a composite material blade, which comprises a frame, at least 3 sucker mechanisms 1 are arranged on the frame, two Y-axis ball screws 2 arranged in parallel are arranged on the frame, two Y-axis ball screws 2 are respectively connected with a Y-axis servo motor 7, the Y-axis servo motor 7 is fixedly connected with the frame, the two Y-axis ball screws 2 are respectively connected with a Y-axis sliding block through Y-axis screw nuts, two Y-axis guide rails 3 matched with the Y-axis sliding blocks are arranged on the frame, a moving base is connected between the two Y-axis sliding blocks, an X-axis ball screw 4 is connected with the moving base, an X-axis screw nut is sleeved on the X-axis ball screw 4, the end part of the X-axis ball screw 4 is connected with an X-axis servo motor 8, the X-axis screw nut is connected with an X-axis sliding block, the X-axis sliding block is connected with a connecting bottom plate 5, an X-axis guide rail matched with the X-axis sliding block is arranged on the movable base, and an A-axis mechanism 6 is arranged on the connecting bottom plate 5.

The device replaces manual work to carry out staggered-layer polishing, and replaces manual work with the device, so that the precision and the quality of staggered-layer polishing are greatly improved, and the quality is controllable. For manufacturing enterprises, a large amount of labor cost (grinding personnel and inspection personnel) is saved, the generation of dust amount in the grinding process is reduced, the workshop environment is improved, and the environmental sanitation and safety of workers are improved. The height of the cambered surface processed by the equipment is matched with the original cambered surface of the blade, and the thickness difference between layers is high in precision. The quality of polishing is higher than the manual work far away, and machining efficiency is high, can realize one-man operation, has saved the input of cost of labor greatly.

As shown in fig. 5, the a-axis mechanism 6 includes an a-axis base plate 61, an a-axis servo motor 611 is installed on the a-axis base plate 61, the a-axis servo motor 611 is connected with a transmission member through a motor shaft, the transmission member is connected with a transmission wheel, the transmission wheel is installed on the a-axis base plate 61, a rotation shaft of the transmission wheel is connected with an a-axis ball screw 69, an a-axis ball screw nut 68 is installed on the a-axis ball screw nut 69, the a-axis ball screw nut 68 is connected with an a-axis ball screw nut bracket 65, as shown in fig. 6, the a-axis ball screw nut bracket 65 is connected with a link member 64, the link member 64 is hinged with a rotary table 63, and the rotary table 63 is rotatably connected with the a-axis base plate 61 through a bearing 62, as shown in fig. 7.

When the a-axis ball screw 69 rotates, the linear slider moves up and down on the a-axis linear guide 67 according to the rotation direction of the a-axis ball screw nut 68. The link member 64 is fixed in position by a fixing pin and bearing bush 613. The linear movement of the a-axis linear slider 66 is converted into the angular movement of the turntable 63 by the link member 64. Since the linear motion of the linear slider is converted into the angular motion of the turntable 63, taking into account the installation distance and other parameters of the structure of the rotation axis, the angular motion of the turntable 63 can be calculated using a polynomial equation. The a-axis ball screw 69 is rotated by an a-axis servomotor 611, and the a-axis servomotor 611 is connected to the main shaft via a transmission belt 612. The a-axis ball screw 69 both the spindle and the motor are mounted with a pulley 610.

The height design of this structure can be very low due to the decentralized installation of the motor and the linear member. Only the parts directly involved in the rotational movement, i.e. the bearing 62 and the turntable 63, need to be mounted in a central position below the milling spindle. The height of the structure is important because it directly affects the center of gravity of the entire machine and the distribution of forces from the milling cutter to the entire machine. The motor in the a-axis servomotor 611 of the mechanism may be any one of an electric, hydraulic, or pneumatic motor.

The axis of rotation of the turntable 63 can be formed by different types of bearings 62. The linear slide and linear track may be replaced by similar linear motion components. The forces acting on the rotating shaft in the axial and radial directions will be taken up by the bearing 62 behind the turntable 63. The bearing 62 has a several times higher load bearing strength than the prior art rotary mechanism provided with the same size turntable 63. The force along the axis of rotation is transmitted through the linkage between the turntable 63 and the linear slide. The strength of the bearable force is determined by the strength of the a-axis linear guide 67 and the slider, and the a-axis ball screw 69 main shaft and the a-axis ball screw nut 68.

All the components of the mechanism, such as the bearings 62, the links with bushings, the linear slides and guides, and the spindle of the a-axis ball screw 69 with nut, are very precise and efficient parts, their transmission efficiency being > 95%. The precision of the parts ensures that the movement of the rotating shaft is very accurate and is very stable when stressed and vibrated.

This configuration is very flexible and can accommodate different scales and move the assembly to different locations on the machine.

The a-axis ball screw nut bracket 65 is connected with an a-axis linear slider 66, the a-axis linear slider 66 is connected with an a-axis linear guide 67, the a-axis linear guide 67 is mounted on the a-axis base plate 61, and the installation direction of the a-axis linear guide 67 is parallel to the installation direction of the a-axis ball screw 69.

As shown in fig. 9 and 10, a bearing bush 613 is attached to an end of the link member 64 by a fixing pin. The linear slider is connected to the turntable 63 by a link member 64. The link member 64 has a bushing at each connecting side so that the link can rotate without play.

In a preferred embodiment, as shown in fig. 8 and 9, the transmission member is a transmission belt 612 and the transmission wheel is a pulley 610.

In a preferred embodiment, the transmission member is a transmission chain and the transmission wheel is a transmission sprocket.

The turntable 63 is connected with a milling spindle, and the central axis of the milling spindle is arranged in a direction parallel to the plane of the A-axis bottom plate 61.

The suction cup mechanism 1 is specifically implemented as follows:

as one of the implementation schemes, the suction cup mechanism 1 comprises a U-shaped bottom frame 11, a suction cup lifting guide rail 12 is installed on the U-shaped bottom frame 11 along the vertical direction, a suction cup lifting slide block 13 is connected onto the suction cup lifting guide rail 12, a support 14 is fixedly connected with the suction cup lifting slide block 13, a spiral elevator 18 is installed on the support 14, a trapezoidal shaft 19 along the vertical direction is installed in the spiral elevator 18, the bottom end of the trapezoidal shaft 19 is fixedly connected with the U-shaped bottom frame 11, the bottom end of the bottom frame 11 is connected with a universal joint part, and a universal cross joint 15 is connected with a vacuum suction cup 16.

The spiral lifter 18 is connected with a sucker lifting motor 110, a worm gear reducer is installed in the spiral lifter 18, and the spiral lifter 18 is movably connected with the trapezoidal shaft 19. Two sucker lifting guide rails 12 are arranged on the U-shaped underframe 11, and a sucker lifting slide block 13 is connected between the support 14 and the two sucker lifting guide rails 12. A plurality of disc-shaped spring plates 17 for applying a preload are installed in the universal joint cross 15.

The embodiment is the main technical scheme, and two vertically-installed linear guide rails (the sucker lifting guide rail 12) are used as a bottom plate by adopting a U-shaped section bar. The U-shaped profile is then attached to a linear guide which is fixed to the machine by means of a bracket 14. The U-shaped material can move up and down on the linear slide block (the sucker lifting slide block 13) under the guidance of the linear guide rail.

Centrally, below the U-profile, a universal cross joint 15 is mounted. Below the universal cross 15 is a vacuum cup 16. The universal cross joint 15 is specially designed to be preloaded by the disk spring 17 to prevent it from rotating under no load. This means that the suction cup maintains its position even if the machine is rotated 90. When the suction cup is placed on the blade surface, the weight of the machine itself moves the suction cup cross joint and aligns the device with the surface. This allows easy placement of the machine in all directions when operating the device.

In the centre of the U-profile a screw lift 18 (screw jack) with a trapezoidal main shaft is mounted. The suction cup center is directly aligned with the trapezoidal shaft 19 axis. The body of the screw lift 18 is mounted on the machine between the linear guides on the same support 14 as the guides. The trapezoidal main shaft end is connected to the top center of the U-shaped section bar.

The screw elevator 18 drives the trapezoidal shaft 19 through a worm gear reducer, and the screw elevator 18 is driven by a motor. When the screw elevator 18 input rotates, the worm gear converts the angular input into linear motion of the main shaft, and the trapezoidal shaft 19 itself does not rotate. Such a spiral elevator 18 has minimal fit clearance and is self-locking.

The principle of driving the lifting is that a motor rotates the input end of the spiral lifter 18 to make the trapezoidal shaft 19 of the spiral lifter 18 move linearly. The trapezoidal shaft 19 pushes/pulls the U-profile along a linear guide with the vacuum suction cup 16 below. Once the motor movement stops, the structure is locked in the current position. A machine requires at least 3 such legs for stability because each leg has a universal cross joint 15, which in this embodiment is provided with 4 vacuum chuck 16 legs.

In this structure, the load in the Z direction is borne by the main bearing 62 of the screw lifter 18. The forces in the X and Y directions are borne by the U-shaped section bar, the linear guide rail and the sliding block. The forces that this configuration can withstand depend on the dimensions of the linear guide assembly, the spiral elevator 18 and the U-shaped panel. Nevertheless, these components are much more load bearing than the suction force of the suction cup. Therefore, only structural variations of these parts need to be considered.

The accuracy of the leg adjustment is very accurate due to the gear reduction and spindle pitch inside the screw lift 18. For example, assuming that the screw elevator 18 reduces the ratio to 1:16 and 4 mm spindle pitch, i.e. every 1 revolution of the input end of the screw elevator 18, it can be converted to a linear movement of 0.25 mm. Or if the input motor is a stepper motor with a step size of 1.8 deg., the accuracy would be 0.25mm/200steps = 0.00125mm per step.

The components of this construction should be chosen to be as light in weight as possible, since the suction capacity of the vacuum chuck 16 is limited for a fixed amount of negative pressure, for example, aluminum is chosen as the material.

As one embodiment, as shown in fig. 11 and 12, the suction cup mechanism 1 includes a U-shaped bottom frame 11, a suction cup lifting guide rail 12 is installed on the U-shaped bottom frame 11 along a vertical direction, a suction cup lifting slider 13 is connected to the suction cup lifting guide rail 12, a support 14 is fixedly connected to the suction cup lifting slider 13, a lifting mechanism is installed on the support 14, a lifting rod is installed in the lifting mechanism along the vertical direction, the bottom end of the lifting rod is fixedly connected to the bottom frame 11, a universal ball joint is connected to the bottom end of the U-shaped bottom frame 11, and the universal ball joint is connected to a vacuum suction cup 16.

Preferably, the lifting mechanism is a ball screw jack, the lifting rod is a ball screw, a ball screw nut is installed in the ball screw jack, the driving mechanism drives the ball screw to rotate and convert into linear lifting motion, and the bottom end of the ball screw is rotatably connected with the U-shaped underframe 11. Two sucker lifting guide rails 12 are arranged on the U-shaped underframe 11, and a sucker lifting slide block 13 is connected between the support 14 and the two sucker lifting guide rails 12. As shown in fig. 13, a plurality of disc-shaped resilient pieces 17 for applying a preload are installed in the ball-and-socket joint.

In addition to the above embodiments, the present invention can be implemented as follows:

the chassis 11 may be provided in other shapes than the U-shape, even if only a flat bar is provided, as long as the structure satisfies the accuracy of realizing the function.

The suction cup lifting slider 13 and the suction cup lifting guide 12 may be replaced with other linearly moving members.

The motor of the mechanism may be any electric, hydraulic or pneumatic motor.

The brackets 14 for securing the guide mechanism and the spiral elevator 18 may have various shapes and be located at different positions on the frame.

After the equipment is placed on the blade, the current area of the blade is roughly scanned through high-precision laser, data is fed back to the PLC, the optimal distance adjusted by the supporting legs is calculated through an algorithm, and the distance of the supporting legs is automatically adjusted to enable the equipment to be in the optimal machining posture. After the supporting legs are adjusted, the high-precision laser is operated again to carry out integral scanning on the selected machining area, scanning data are fed back to the PLC to be calculated, arc surface data are obtained, machining path data are generated simultaneously, and accurate milling and grinding machining is carried out through the PLC feeding back the machining path data.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A dead spot staggered floor polishing device of a composite material blade is characterized by comprising a frame, wherein at least 3 sucker mechanisms (1) are arranged on the frame, two Y-axis ball screws (2) which are arranged in parallel are arranged on the frame, the two Y-axis ball screws (2) are respectively connected with a Y-axis servo motor (7), the Y-axis servo motor (7) is fixedly connected with the frame, the two Y-axis ball screws (2) are respectively connected with a Y-axis sliding block through Y-axis screw nuts, the frame is provided with two Y-axis guide rails (3) matched with the Y-axis sliding blocks, a moving base is connected between the two Y-axis sliding blocks, the moving base is connected with an X-axis ball screw (4), an X-axis screw nut is sleeved on the X-axis ball screw (4), the end part of the X-axis ball screw (4) is connected with an X-axis servo motor (8), and the X-axis screw nut is connected with an X-axis sliding block, the X-axis sliding block is connected with a connecting bottom plate (5), an X-axis guide rail matched with the X-axis sliding block is installed on a moving base, an A-axis mechanism (6) is installed on the connecting bottom plate (5), the sucker mechanism (1) comprises a bottom frame (11), a sucker lifting guide rail (12) is installed on the bottom frame (11) along the vertical direction, a sucker lifting sliding block (13) is connected onto the sucker lifting guide rail (12), a sucker lifting sliding block (13) fixedly connected with support (14) is arranged on the support (14), a lifting rod along the vertical direction is installed in the lifting mechanism, the bottom end of the lifting rod is fixedly connected with the bottom frame (11), the bottom end of the bottom frame (11) is connected with a universal joint part, and the universal joint part is connected with a vacuum sucker (16).

2. The bad point staggered floor polishing device of the composite material blade as claimed in claim 1, wherein the A-axis mechanism (6) comprises an A-axis base plate (61), the A-axis base plate (61) and the connecting base plate (5) are fixedly connected and parallel to each other, a servo motor is installed on the A-axis base plate (61), the servo motor is connected with a transmission piece through a motor shaft, the transmission piece is connected with a transmission wheel, the transmission wheel is installed on the A-axis base plate (61), a ball screw is connected at a rotating shaft of the transmission wheel, a ball screw nut is installed on the ball screw, the ball screw nut is connected with an A-axis ball screw nut bracket (65), the A-axis ball screw nut bracket (65) is connected with a connecting rod piece (64), the connecting rod piece (64) is hinged with a rotating disc (63), and the rotating disc (63) and the A-axis base plate (61) are rotatably connected through a bearing (62), the end of the link (64) is connected to a bearing bush (613) by a fixing pin.

3. A device for grinding a composite material blade in a cross-hatched manner according to claim 2, wherein the transmission member is a transmission belt (612) or a transmission chain, and the transmission wheel is a pulley (610) or a transmission sprocket.

4. The equipment for polishing the defective pixel staggered layer of the composite material blade as claimed in claim 2, wherein a milling spindle is connected to the rotary table (63), and the central axis of the milling spindle is arranged in a direction parallel to the plane of the A-axis base plate (61).

5. The equipment for polishing the bad point staggered layer of the composite material blade as claimed in claim 1, wherein the lifting mechanism is a spiral lifter (18), the lifting rod is a trapezoidal shaft (19), the spiral lifter (18) is connected with a sucker lifting motor (110), and the spiral lifter (18) is movably connected with the trapezoidal shaft (19).

6. The composite blade dead pixel staggered layer grinding equipment as claimed in claim 1, wherein the shape of the base frame (11) is U-shaped, two sucker lifting guide rails (12) are installed on the base frame (11), and a sucker lifting slide block (13) is connected between the support (14) and the two sucker lifting guide rails (12).

7. A device for grinding fault layers of composite material blades according to claim 1, characterised in that said universal joint is a universal cross joint (15) or a universal ball joint.

8. A device for grinding the bad spots and the wrong layers of a composite material blade according to claim 1, characterized in that a plurality of disc-shaped shrapnel (17) for applying preload are installed in the universal joint.

9. The apparatus of claim 1, wherein the lifting mechanism is a ball screw jack or a gear mechanism, and the lifting rod is a ball screw or a rack rod.