CN222741072U - Blade surface milling device - Google Patents

Abstract

The utility model discloses a blade surface milling device, comprising: a forklift; an adjustment module, the adjustment module comprising a height adjustment mechanism and a swing mechanism, the height adjustment mechanism is arranged at the rear end of the forklift, and the swing mechanism is arranged at the rear end of the height adjustment mechanism; a milling module, the milling module comprising a milling frame, a milling fixing mechanism and a milling mechanism, the milling frame is arranged at the right end of the swing mechanism, the milling fixing mechanism is arranged at the four corners of the milling frame, and the milling mechanism is arranged at the lower end of the milling frame. The blade surface milling device provided by the utility model can be directly installed on a forklift without the need for hoisting, which is more convenient. It is more flexible in use, simpler and more efficient in maintenance, and the application can be applied to the grinding of inner and outer staggered layers of wind turbine blades, which is more widely used and more convenient and efficient for the production of wind turbine blades.

Description

Blade surface milling device

Technical Field

The utility model belongs to the technical field of wind power blade treatment, and particularly relates to a blade surface milling device.

Background

The surface quality of the wind power blade determines the service life, and after the secondary grouting is completed, the defective part is required to be polished, and meanwhile, the secondary repair is convenient due to polishing according to the grouting layer. Traditional polishing is manual polishing, and has high polishing level requirement on workers, long time consumption, quality assurance incapability, large pollution and the like.

In the patent application with the publication number of CN116175347A, a staggered polishing robot for the inner surface of a blade and a polishing method are disclosed, wherein the polishing robot comprises a frame, a sucker positioning device, a four-axis motion platform, a polishing mechanism and a laser scanning positioning mechanism, the sucker positioning device comprises a plurality of middle suckers and a plurality of auxiliary suckers, the four-axis motion platform comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism, the polishing mechanism comprises a polishing motor and a polishing milling cutter, and the laser scanning positioning mechanism comprises a laser sensor. The utility model can be well adapted to the surface of the blade through the sucker positioning device, can stably keep the whole frame and the blade fixed, ensures the polishing quality of an inner staggered layer, can rapidly and effectively position the inner staggered layer through the matching of the four-axis motion platform and the laser scanning positioning mechanism, improves the polishing accuracy, and can rapidly suck and collect dust generated in the polishing process by utilizing a dust collector so as to avoid the influence of the dust generated in the polishing on the workshop environment. The utility model is suitable for polishing the inner staggered layer of the wind power blade, and has vibration during polishing, insufficient stability and inaccurate milling easily caused.

The utility model discloses a device and a method for polishing staggered layers on the outer surface of a blade, wherein the device comprises a trolley, a lifting platform, a robot, a laser scanning and positioning mechanism and a polishing mechanism, the lifting platform comprises a support, a lifting platform, a lifting motor and a lifting screw rod, the polishing mechanism comprises a polishing motor, a polishing milling cutter and a fixed mounting plate, dust-proof baffles are arranged around the polishing milling cutter, the robot is a six-axis robot, and the laser scanning and positioning mechanism comprises a laser sensor and a circuit module. The utility model utilizes the trolley and the lifting platform to adapt to the polishing requirement of the staggered layer defect on the outer surface of the wind power blade with huge size, utilizes the laser scanning positioning mechanism to effectively position the defect position, improves the polishing precision, utilizes the six-axis robot and the special polishing mechanism to realize the automatic polishing of the defect, ensures the polishing quality, and utilizes the designs of the dustproof baffle, the dust collector and the like to effectively reduce the influence of dust generated in the polishing process on site operators, thereby the polishing process is more environment-friendly. The utility model is suitable for polishing the inner staggered layer of the wind power blade, and in practical application, the stability is still insufficient, and the processing precision cannot be ensured.

According to the traditional manual operation and mechanical polishing at present, the polishing efficiency is still low, and the polishing device cannot be simultaneously suitable for polishing the inner and outer staggered layers of the wind power blade, and has insufficient applicability, so that a blade surface milling method and a milling device are required to be designed so as to realize rapid polishing of the inner and outer staggered layers of the wind power blade.

Disclosure of utility model

In order to solve the defects in the prior art, the utility model provides a blade surface milling device.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

A blade surface milling apparatus comprising:

A fork truck;

The adjusting module comprises a height adjusting mechanism and a swinging mechanism, wherein the height adjusting mechanism is arranged at the rear end of the forklift, and the swinging mechanism is arranged at the rear end of the height adjusting mechanism;

the milling module comprises a milling frame, a milling fixing mechanism and a milling mechanism, wherein the milling frame is arranged at the right end of the swinging mechanism, the milling fixing mechanism is arranged at four corners of the milling frame, and the milling mechanism is arranged at the lower end of the milling frame.

Further, high adjustment mechanism includes first mounting bracket, second mounting bracket, third mounting bracket, fourth mounting bracket and first pneumatic cylinder, the lower extreme of first mounting bracket with fork truck looks is articulated, the rear end of fork truck articulates and is equipped with first cylinder, the other end of first cylinder with first mounting bracket looks is articulated, the second mounting bracket sets up in the first mounting bracket, just the second mounting bracket with first mounting bracket sliding connection, the third mounting bracket sets up in the second mounting bracket, just the third mounting bracket with second installation sliding connection, the fourth mounting bracket sets up in the third mounting bracket, just the fourth mounting bracket with third mounting bracket sliding connection, the first pneumatic cylinder sets up the upper end of first mounting bracket, the upper end of first pneumatic cylinder is equipped with first chain, first chain with first idler chain assorted, the one end of first idler with the lower extreme of first idler is connected with first mounting bracket sliding connection, the third idler is equipped with third idler chain assorted with the third mounting bracket, the second idler is equipped with the third idler chain assorted with the third mounting bracket, the second idler chain assorted with the third mounting bracket is equipped with the third mounting bracket, the third mounting bracket is equipped with the upper end of first mounting bracket.

Further, the swing mechanism comprises a fifth installation frame, a sixth installation frame, a first electric cylinder, a second electric cylinder and a pressing mechanism, wherein the fifth installation frame is arranged at the rear end of the fourth installation frame, a first sliding block is arranged at the upper end of the fifth installation frame, a first guide rail is arranged at the lower end of the sixth installation frame, the first sliding block corresponds to the first guide rail one by one, the first electric cylinder is arranged at the upper end of the fifth installation frame, the other end of the first electric cylinder is connected with the sixth installation frame, the pressing mechanism is hinged with the right end of the sixth installation frame, a third supporting column is arranged at the rear end of the fifth installation frame, one end of the second electric cylinder is hinged with the third supporting column, the other end of the second electric cylinder is hinged with the pressing mechanism, the pressing mechanism comprises a first swing frame, first support shafts are arranged at the front end and the rear end of the first swing frame, first installation frame is provided with first mounting holes, the first support shafts are arranged at the right end of the first installation frame, the first support shafts are arranged in the first guide frames, the first swing shafts are arranged in the first swing frames, the first swing shafts are arranged at the first end of the first support shafts, the first swing shafts are in the first guide shafts, the first swing shafts are arranged at the first swing shafts, the first swing shafts are correspondingly, and the first guide shafts are arranged at the first guide shafts, and the first swing mechanism, and each first electric frame is respectively. The other end of the first spring is connected with the first mounting plate; the lower end of the second swinging frame is provided with a second mounting plate, the second mounting plate is provided with a plurality of first abdication holes, the first abdication holes are in one-to-one correspondence with the first sleeves, the middle part of each first sleeve is provided with a first stop block, and the first stop blocks are arranged between the second mounting plate and the second swinging frame; the pressing mechanism comprises a first mounting piece, a second mounting piece and a second connecting rod, wherein the first mounting piece is arranged at two ends of the first swinging frame, the second mounting piece is hinged to two ends of the second swinging frame, first guide holes are formed in the second mounting piece, the second connecting rod corresponds to the first guide holes one by one, a second stop block is arranged at one end of the second connecting rod, the second stop block is hinged to the first mounting piece, a third stop block is arranged at the other end of the second connecting rod, a second spring and a third spring are sleeved on the second connecting rod, the second spring is arranged between the second stop block and the second mounting piece, the third spring is arranged between the third stop block and the second mounting piece, and the pressing mechanism comprises a first distance sensor arranged outside the second swinging frame.

Further, the milling fixing mechanism comprises a limiting mechanism and a sucker fixing mechanism, the limiting mechanism is arranged at two ends of the milling frame, the sucker fixing mechanism comprises a first supporting column, a second air cylinder, a first supporting block and a first sucker, the first supporting column is arranged at four corners of the milling frame, the second air cylinder is arranged at the upper end of the first supporting column, the first sucker is arranged at the lower end of the first supporting block, a second sleeve is arranged at the lower end of the first supporting column, a second guide rod is arranged in the second sleeve, the second guide rod is matched with the second sleeve, the upper end of the second guide rod is connected with the second air cylinder, the lower end of the second guide rod is connected with the first supporting block, the two ends of the milling frame are provided with first air adjusting valves, the first air adjusting valves are in one-to-one correspondence with the second air cylinder, a first guide hole is formed in one end of the second sleeve, one end of the first supporting block is provided with a first auxiliary rod, the first auxiliary rod is arranged at one end of the first supporting block, the first auxiliary rod is matched with the first supporting column, the first travelling block is arranged at the two ends of the first travelling block, and the first travelling block passes through the first travelling block and the first travelling block is arranged at the two ends of the first travelling block.

The milling mechanism comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism, wherein the X-axis moving mechanism is arranged at the lower end of the milling frame and is in sliding connection with the milling frame, the Y-axis moving mechanism is arranged at the rear end of the X-axis moving mechanism and is in sliding connection with the X-axis moving mechanism, the Z-axis moving mechanism is arranged at the lower end of the Y-axis moving mechanism and is in sliding connection with the Y-axis moving mechanism, a laser sensor is arranged on the Z-axis moving mechanism, the R-axis swinging mechanism is arranged at the lower end of the Z-axis moving mechanism and is in rotating connection with the Z-axis moving mechanism, a polishing motor and a polishing cutter are arranged on the R-axis swinging mechanism, the X-axis moving mechanism comprises a first driving motor, a first screw rod and a first supporting frame, the first driving motor is arranged at the upper end of the milling frame, second guide rails are arranged at the two ends of the milling frame, second slide blocks are arranged at the two ends of the first supporting frame, a second slide block is arranged at the two ends of the second slide blocks corresponding to the second slide blocks and are arranged at the two ends of the second slide blocks, a first screw rod and a first supporting frame is in a first screw hole is arranged at the first end of the first supporting frame, a screw rod is in a screw hole is corresponding to the first supporting frame, a first screw rod is arranged at the first screw rod is in a screw hole is in front of the first supporting frame, and a screw rod is in a screw hole is in front of a screw hole mode, the two ends of the second screw rod are arranged at the rear end of the second support frame through bearings, the front end of the third support frame is provided with a second threaded block, the second screw rod is matched with the second threaded block, the second driving motor is arranged at the right end of the second support frame, and the second driving motor is in driving connection with the second screw rod; the Z-axis moving mechanism comprises a fourth supporting frame and a third electric cylinder, wherein a fourth guide rail is arranged at the rear end of the third supporting frame, a fourth sliding block is arranged at the front end of the fourth supporting frame, the fourth guide rail corresponds to the fourth sliding block one by one, one end of the third electric cylinder is connected with the third supporting frame, the other end of the third electric cylinder is connected with the fourth supporting frame, the R-axis swinging mechanism comprises a first swinging motor and a first swinging frame, the first swinging frame is connected with the fourth supporting frame through a bearing, the first swinging motor is arranged at the lower end of the fourth supporting frame, the first swinging motor is in driving connection with the first swinging frame, the polishing motor is arranged on the first swinging frame, a dustproof baffle is arranged at the lower end of the first swinging frame, and a first dust collection opening is arranged on the first swinging frame.

Compared with the prior art, the blade surface milling device has the advantages that the blade surface milling device is free of hoisting, convenient to install on a forklift directly, flexible in use, simple and efficient in maintenance, applicable to polishing of inner and outer staggered layers of a wind power blade, wide in application, convenient and efficient in production of the wind power blade, capable of ensuring that the milling frame can be fixed at any position of the wind power blade by adjusting the milling frame to a proper height through the lifting adjusting mechanism and adjusting the depth and angle of the milling frame through the swinging mechanism, capable of ensuring that the milling frame can be fixed at any position of the wind power blade through taking the limiting mechanism as a reference, capable of ensuring the stability of the milling frame on the surface of the wind power blade through taking four first suckers on two sides as an auxiliary fixing mode and compressing through taking the four first suckers as a compressing mechanism, capable of improving the safety of the milling frame, capable of accurately positioning a defective place through detection of a laser sensor, capable of controlling the milling cutter angle through the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and capable of finishing milling without dead angle.

Drawings

Fig. 1 is a schematic view of a milling device according to the present utility model.

Fig. 2 is a schematic view of a milling device according to another embodiment of the present utility model.

Fig. 3 is a schematic structural view of a forklift of the milling device according to the present utility model.

Fig. 4 is a schematic structural view of a forklift of the milling device according to another aspect of the present utility model.

Fig. 5 is a schematic structural view of a view angle of a swing mechanism of a milling device according to the present utility model.

Fig. 6 is a schematic structural view of another view of the swing mechanism of the milling device provided by the present utility model.

Fig. 7 is a schematic view of a milling frame of a milling device according to the present utility model.

Fig. 8 is a schematic view of a milling holder of a milling device according to another embodiment of the present utility model.

Fig. 9 is a schematic structural view of a pressing mechanism of a milling device according to an embodiment of the present utility model.

Fig. 10 is a schematic view of another view of the hold-down mechanism of the milling device provided by the present utility model.

Fig. 11 is a schematic structural view of a milling mechanism of a milling device according to the present utility model.

Fig. 12 is a schematic view of another view of a milling mechanism of a milling device provided by the present utility model.

The reference numerals include 1000, fork truck; 2100, a height adjustment mechanism; 2110, a first mounting frame; 2120, a second mounting bracket, 2130, a third mounting bracket, 2140, a fourth mounting bracket, 2150, a first hydraulic cylinder, 2160, a first sprocket, 2161, a first chain, 2170, a second sprocket, 2171, a second chain, 2200, a swinging mechanism, 2210, a fifth mounting bracket, 2211, a first sliding block, 2220, a sixth mounting bracket, 2221, a first guide rail, 2230, a first electric cylinder, 2240, a second electric cylinder, 2300, a pressing mechanism, 2310, a first swinging frame, 2320, a second swinging frame, 2321, a second mounting plate, 2330, a first mounting plate, 2340, a first sleeve, 2341, a first stopper, 2350, a first connecting rod, 2360, a first mounting member, 2370, a second mounting member, 2380, a second connecting rod, 2381, a second spring, 2382, a third spring, a first distance sensor, 2391, a first spring, 3000, a milling mechanism, a milling frame, a guide rail 3110, a second guide frame, a motor, a second guide frame, a motor, a first guide frame, a first guide frame, a second guide frame, a first guide frame, a guide frame, guide frame, guide use, guide,.

Detailed Description

The utility model discloses a blade surface milling method and a milling device, and the specific implementation mode of the utility model is further described below with reference to the preferred embodiment.

Referring to fig. 1-12 of the drawings, fig. 1 is a schematic view of a milling device according to the present utility model, fig. 2 is a schematic view of another view of a milling device according to the present utility model, fig. 3 is a schematic view of a forklift 1000 according to the present utility model, fig. 4 is a schematic view of another view of a forklift 1000 according to the present utility model, fig. 5 is a schematic view of a swing mechanism 2200 according to the present utility model, fig. 6 is a schematic view of another view of a swing mechanism 2200 according to the present utility model, fig. 7 is a schematic view of a milling frame 3100 according to the present utility model, fig. 8 is a schematic view of another view of a milling frame 3100 according to the present utility model, fig. 9 is a schematic view of a pressing mechanism 2300 according to the present utility model, fig. 10 is a schematic view of another view of a pressing mechanism 2300 according to the present utility model, fig. 11 is a schematic view of a milling mechanism 3000 according to the present utility model, and fig. 12 is a schematic view of another view of a milling mechanism 3000 according to the present utility model.

Preferred embodiments.

The embodiment provides a blade surface milling method, which comprises the following steps:

Step S1, driving a forklift 1000 to move to the side edge of a wind power blade, and adjusting the height, depth and angle of a milling module by utilizing a height adjusting mechanism 2100 and a swinging mechanism 2200 in the adjusting module so that two ends of a limiting mechanism in the milling module are propped against the surface of the wind power blade;

Step S2, a milling frame 3100 is pressed on a wind power blade by using a telescopic pressing mechanism 2300 in a milling module, the milling module is adsorbed and fixed on the surface of the wind power blade by using a milling fixing mechanism in the milling module, and a defect position on the wind power blade is polished by using a milling mechanism 3000 in the milling module.

The embodiment also provides a blade surface milling device, which comprises:

The forklift comprises a forklift 1000, an adjusting module, a lifting mechanism and a lifting mechanism, wherein the adjusting module comprises a height adjusting mechanism 2100 and a swinging mechanism 2200, the height adjusting mechanism 2100 is arranged at the rear end of the forklift 1000, and the swinging mechanism 2200 is arranged at the rear end of the height adjusting mechanism 2100;

The milling module comprises a milling frame 3100, a milling fixing mechanism and a milling mechanism 3000, wherein the milling frame 3100 is arranged at the right end of the swinging mechanism 2200, the milling fixing mechanism is arranged at four corners of the milling frame 3100, and the milling mechanism 3000 is arranged at the lower end of the milling frame 3100.

Further, the height adjusting mechanism 2100 includes a first mounting frame 2110, a second mounting frame 2120, a third mounting frame 2130, a fourth mounting frame 2140, and a first hydraulic cylinder 2150, wherein a lower end of the first mounting frame 2110 is hinged to the forklift 1000, a first cylinder is hinged to a rear end of the forklift 1000, the other end of the first cylinder is hinged to the first mounting frame 2110, the second mounting frame 2120 is disposed in the first mounting frame 2110, the second mounting frame 2120 is slidably connected to the first mounting frame 2110, the third mounting frame 2130 is disposed in the second mounting frame 2120, the third mounting frame 2130 is slidably connected to the second mounting frame, the fourth mounting frame is disposed in the third mounting frame, the fourth mounting frame is slidably connected to the third mounting frame, the first hydraulic cylinder 2150 is disposed at an upper end of the first mounting frame 2110, the upper end of the first hydraulic pressure 2150 is provided with a first idler wheel 2160, the first idler wheel is provided with a first chain 2161, the first chain 2161 is matched with the first idler wheel 2160, one end of the first chain 2161 is connected with the lower end of the first mounting frame 2110, the other end of the first chain 2161 is connected with the lower end of the second mounting frame 2120, the upper end of the second mounting frame 2120 is provided with a second idler wheel 2170, the second idler wheel is provided with a second chain 2171, the second chain is matched with the second idler wheel, one end of the second chain is fixedly connected with the upper end of the first mounting frame 2110, the other end of the second chain is fixedly connected with the lower end of the third mounting frame 2130, the middle part of the third mounting frame 2130 is provided with a third idler wheel, the third idler wheel is matched with the third idler wheel, one end of the third chain is fixedly connected with the lower end of the fourth mounting rack 2140.

Further, the swing mechanism 2200 includes a fifth mount 2210, a sixth mount 2220, a first cylinder 2230, The pressing mechanism comprises a second electric cylinder 2240 and a pressing mechanism 2300, wherein the fifth mounting frame 2210 is arranged at the rear end of the fourth mounting frame 2140, a first sliding block 2211 is arranged at the upper end of the fifth mounting frame 2210, a first guide rail 2221 is arranged at the lower end of the sixth mounting frame 2220, the first sliding block 2211 corresponds to the first guide rail 2221 one by one, the first electric cylinder 2230 is arranged at the upper end of the fifth mounting frame 2210, the other end of the first electric cylinder 2230 is connected with the sixth mounting frame 2220, the pressing mechanism 2300 is hinged with the right end of the sixth mounting frame 2220, a third supporting column is arranged at the rear end of the fifth mounting frame 2210, one end of the second electric cylinder 2240 is hinged with the third supporting column, the other end of the second electric cylinder 2240 is hinged with the pressing mechanism, the pressing mechanism 2300 comprises a first swing frame 2310, a first supporting shaft is arranged at the front end and rear end of the first swing frame 2310, the second electric cylinder 2240 is provided with a first connecting rod mounting hole 2350, the second electric cylinder 2240 is hinged with the first connecting rod mounting hole 2350, and the second electric cylinder 2240 is hinged with the second connecting rod mounting hole 2350 The first spring 2391 and the first mounting plate 2330, the left and right ends of the first swinging frame 2310 are provided with second supporting shafts, the two ends of the second swinging frame 2320 are provided with second mounting holes, the second supporting shafts are mounted in the second mounting holes through bearings, the upper end of the first mounting plate 2330 is provided with a first sleeve 2340, the second swinging frame 2320 is internally provided with a first guide rod, the first sleeve 2340 corresponds to the first guide rod one by one, one end of the first spring 2391 is connected with the second swinging frame 2320, the other end of the first spring 2391 is connected with the first mounting plate 2330, the lower end of the second swinging frame 2320 is provided with a second mounting plate 2321, the second mounting plate 2321 is provided with a plurality of first yielding holes, the first yielding holes correspond to the first sleeve 2340 one by one, the middle part of the first sleeve 2341 is provided with a first stop 2341, the first stop 2341 is arranged between the second swinging frame 2320 and the second mounting plate 23260, and the second swinging frame 2321 comprises a pressing mechanism 23260, The second mounting member 2370 and the second connecting rod 2380, the first mounting member 2360 is disposed at two ends of the first swing frame 2310, the second mounting member 2370 is hinged to two ends of the second swing frame 2320, the second mounting member 2370 is provided with a first guide hole, the second connecting rod 2380 corresponds to the first guide holes one by one, one end of the second connecting rod 2380 is provided with a second stop block, the second stop block is hinged to the first mounting member 2360, the other end of the second connecting rod 2380 is provided with a third stop block, a second spring 2381 and a third spring 2382 are sleeved on the second connecting rod 2380, the second spring 2381 is disposed between the second stop block and the second mounting member 2370, the third spring 2382 is disposed between the third stop block and the second mounting member 2370, the pressing mechanism 2300 comprises a first distance sensor 2390, and the first distance sensor 2390 is disposed outside the second swing frame 2320.

Further, the milling fixing mechanism comprises a limiting mechanism and a sucker fixing mechanism, wherein the limiting mechanism is arranged at two ends of the milling frame 3100, the sucker fixing mechanism comprises a first supporting column 3210, a second air cylinder 3220, a first supporting block 3240 and a first sucker 3250, the first supporting column 3210 is arranged at four corners of the milling frame 3100, the second air cylinder 3220 is arranged at the upper end of the first supporting column 3210, the first sucker 3250 is arranged at the lower end of the first supporting block 3240, the lower end of the first supporting column 3210 is provided with a second sleeve 3230, a second guiding rod 3231 is arranged in the second sleeve 3230, the upper end of the second guiding rod 3231 is connected with the second air cylinder 3220, the lower end of the second guiding rod 3231 is connected with the first supporting block 3240, two ends of the milling frame 3100 are provided with first adjusting valves, the lower ends of the first adjusting rods 3250 are arranged at the lower ends of the first supporting column block 3240, the first adjusting rods are provided with first auxiliary air valves 3260, the first ends of the first guiding rods 3260 are arranged at the upper ends of the first supporting column 3240, the first guiding rods 3270 are arranged at the lower ends of the first supporting column frame, the first connecting rods 3260 are matched with the first connecting rods 3260, and the first connecting rods 3270 are arranged at the lower ends of the first connecting rods 3270, and the first connecting rods 3270 are provided with the first connecting rods.

Further, the milling mechanism 3000 includes an X-axis moving mechanism disposed at a lower end of the milling frame 3100 and slidably connected to the milling frame 3100, a Y-axis moving mechanism disposed at a rear end of the X-axis moving mechanism and slidably connected to the X-axis moving mechanism, a Z-axis moving mechanism disposed at a lower end of the Y-axis moving mechanism and slidably connected to the Y-axis moving mechanism, a laser sensor 3900 disposed on the Z-axis moving mechanism, and an R-axis swinging mechanism 2200 disposed at a lower end of the Z-axis moving mechanism, And is rotatably connected with the Z-axis moving mechanism, the R-axis swinging mechanism 2200 is provided with a polishing motor 3800 and a polishing milling cutter, and the X-axis moving mechanism comprises a first driving motor 3310, The Y-axis moving mechanism comprises a second driving motor 3420, a first support frame 3300, a first screw rod 3320 and a first support frame 3300, wherein the first driving motor 3310 is arranged at the upper end of the milling frame 3100, second guide rails 3110 are arranged at the two ends of the milling frame 3100, second sliding blocks are arranged at the two ends of the first support frame 3300 and correspond to the second sliding blocks one by one, a first thread block is arranged at the upper end of the first support frame 3300, the first thread hole is matched with the first screw rod 3320, the two ends of the first screw rod 3320 are arranged at the upper end of the milling frame 3100 through bearings, the first driving motor 3310 is in driving connection with the first screw rod 3320, and the Y-axis moving mechanism comprises the second driving motor 3420, a second screw 3430, The dust-removing and dust-removing device comprises a second support frame 3400 and a third support frame 3500, wherein the second support frame 3400 is arranged at the lower end of the first support frame 3300, a third guide rail 3410 is arranged at the rear end of the second support frame 3400, third sliding blocks are arranged at the front end of the third support frame 3500 and correspond to the third guide rail 3410 one by one, two ends of the second guide rail 3430 are arranged at the rear end of the second support frame 3400 through bearings, a second thread block is arranged at the front end of the third support frame 3500, the second guide rail 3430 is matched with the second thread block, a second driving motor 3420 is arranged at the right end of the second support frame 3400, the second driving motor 3420 is in driving connection with the second guide rail 3430, a Z-axis moving mechanism comprises a fourth support frame 3600 and a third electric cylinder 3610, a fourth guide rail 3510 is arranged at the rear end of the fourth support frame 3600, a fourth sliding block is arranged at the front end of the fourth support frame 3600 and corresponds to the fourth guide rail 3510, a swing frame 3700 is arranged at the lower end of the swing frame 3700 through a first swing frame 3700, a swing frame 3700 is connected with the first swing frame 3700, a swing frame 3700 is arranged at the swing frame, and a swing frame 3710 is connected with the swing frame 3700.

The working principle is that firstly, the produced wind power blade is fixed well, and the defect of staggered layers inside and outside the wind power blade is inspected. When the forklift 1000 is driven to a place where the wind power blade is defective, the first hydraulic cylinder 2150 pushes the third mounting frame 2130 and the fourth mounting frame 2140 to lift, and when the first hydraulic cylinder 2150 continuously ascends, the first chain 2161 pulls the second mounting frame 2120 to move, so that the fourth mounting frame 2140 can ascend higher.

The first electric cylinder 2230 is used for pushing the sixth mounting frame 2220 to move left and right, so that the milling frame 3100 can be adjusted to be close to the surface of the wind power blade, and the second electric cylinder 2240 is used for pushing the first connecting rod 2350, so that the angle of the milling frame 3100 can be adjusted. The first electric cylinder 2230 and the second electric cylinder 2240 push the milling frame 3100, so that the first travelling wheels on two sides are attached to the wind power blade, the function of protecting the grinding and milling cutter can be achieved, and the first distance measuring sensor is used for controlling the swinging angle, so that the milling frame 3100 can be perpendicular to the surface of the wind power blade as much as possible.

The sucker is pushed to move downwards through the second cylinder 3220, is close to the wind power blade and is adsorbed on the wind power blade, the compression force is controlled through the compression sensor, the milling frame 3100 is ensured not to move in work, and the milling frame 3100 can be ensured not to move through the adsorption of the sucker and the compression of the compression mechanism 2300, so that the polishing precision is ensured.

Finally, the position of the polishing and milling cutter can be adjusted through the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and the angle of the polishing and milling cutter can be controlled through the R-axis swinging mechanism 2200, so that the polishing and milling of the wind power blade can be ensured to have no dead angle in all directions, namely, the position where the defect is accurately detected through the laser sensor 3900, and the polishing motor 3800 and the polishing and milling cutter can precisely polish and mill the position. The first dust collection opening 3820 is matched with the dust-proof baffle 3810, so that scraps generated by milling can be sucked away, cleanliness is guaranteed, and pollution hazards are reduced.

The wind power blade surface milling device can be directly mounted on a forklift 1000 without lifting, is more convenient to use, is more flexible to maintain, is simpler and more efficient, can be suitable for polishing of the inner and outer staggered layers of the wind power blade, is more widely applied, is more convenient and more efficient for production of the wind power blade, is capable of adjusting a milling frame 3100 to a proper height through a lifting adjusting mechanism, adjusting the depth and the angle of the milling frame 3100 through matching with a swinging mechanism 2200 to ensure that the milling frame 3100 can be fixed at any position of the wind power blade, is capable of guaranteeing the stability of the milling frame 3100 on the surface of the wind power blade through taking the limiting mechanism as a standard, is capable of being tightly pressed through matching with a pressing mechanism 2300, is capable of guaranteeing the safety of the wind power blade, is capable of accurately positioning a defect place through detection of a laser sensor 3900, is capable of controlling the milling angle of a milling cutter through an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, and is capable of completing milling without dead angle through controlling the R-axis swinging mechanism.

It should be noted that technical features such as the grinding motor 3800 and the grinding milling cutter related to the present application should be regarded as the prior art, and specific structures, working principles, and control manners and spatial arrangement related to the technical features may be conventional in the art, and should not be regarded as the utility model point of the present application, which is not further specifically expanded and detailed.

Modifications of the embodiments described above, or equivalents of some of the features may be made by those skilled in the art, and any modifications, equivalents, improvements or etc. within the spirit and principles of the present utility model are intended to be included within the scope of the present utility model.

Claims (5)

1. A blade surface milling apparatus, comprising:

A forklift (1000);

The adjusting module comprises a height adjusting mechanism (2100) and a swinging mechanism (2200), wherein the height adjusting mechanism (2100) is arranged at the rear end of the forklift (1000), and the swinging mechanism (2200) is arranged at the rear end of the height adjusting mechanism (2100);

The milling module comprises a milling frame (3100), a milling fixing mechanism and a milling mechanism (3000), wherein the milling frame (3100) is arranged at the right end of the swinging mechanism (2200), the milling fixing mechanism is arranged at four corners of the milling frame (3100), and the milling mechanism (3000) is arranged at the lower end of the milling frame (3100).

2. Blade surface milling device according to claim 1, characterized in that the height adjustment mechanism (2100) comprises a first mounting frame (2110), a second mounting frame (2120), a third mounting frame (2130), a fourth mounting frame (2140) and a first hydraulic cylinder (2150), the lower end of the first mounting frame (2110) being hinged to the fork truck (1000), the rear end of the fork truck (1000) being hinged with a first cylinder, the other end of the first cylinder being hinged with the first mounting frame (2110), the second mounting frame (2120) being arranged in the first mounting frame (2110) and the second mounting frame (2120) being in sliding connection with the first mounting frame (2110), the third mounting frame (2130) being arranged in the second mounting frame (2120) and the fourth mounting frame being arranged in the third mounting frame and the fourth being in sliding connection with the third mounting frame, the first idler wheel (2160) being arranged in the first chain (2160) being connected with the first chain (2160) at the first end (2160) and the first chain (2161) being arranged at the first mounting frame (2160), the other end of first chain (2161) with the lower extreme of second mounting bracket (2120) is connected, the upper end of second mounting bracket (2120) is equipped with second idler (2170), be equipped with second chain (2171) on the second idler, the second chain with second idler phase-match, the one end of second chain with the upper end fixed connection of first mounting bracket (2110), the other end of second chain with the lower extreme fixed connection of third mounting bracket (2130), the middle part of third mounting bracket (2130) is equipped with the third idler, be equipped with the third chain on the third idler, the third chain with third idler phase-match, the one end of third chain with the lower extreme fixed connection of fourth mounting bracket (2140).

3. The blade surface milling device according to claim 2, wherein the oscillating mechanism (2200) comprises a fifth mount (2210), a sixth mount (2220), a first electric cylinder (2230), The second electric cylinder (2240) and the pressing mechanism (2300), the fifth installation frame (2210) is arranged at the rear end of the fourth installation frame (2140), a first sliding block (2211) is arranged at the upper end of the fifth installation frame (2210), a first guide rail (2221) is arranged at the lower end of the sixth installation frame (2220), the first sliding block (2211) corresponds to the first guide rail (2221) one by one, the first electric cylinder (2230) is arranged at the upper end of the fifth installation frame (2210), the other end of the first electric cylinder (2230) is connected with the sixth installation frame (2220), the pressing mechanism (2300) is hinged with the right end of the sixth installation frame (2220), a third support column is arranged at the rear end of the fifth installation frame (2210), one end of the second electric cylinder (2240) is hinged with the third support column, the other end of the second electric cylinder (2240) is hinged with the pressing mechanism (2300), the first installation frame (2310) is provided with a first swing shaft (2310) and provided with a second swing shaft (2310) and a first swing shaft (23150) is arranged at the front end of the first installation frame (2220), the second electric cylinder (2240) is hinged with the first connecting rod (2350), and the pressing mechanism (2300) comprises a second swinging frame (2320), The novel mechanical pressing device comprises a first spring (2391) and a first mounting plate (2330), wherein a second supporting shaft is arranged at the left end and the right end of a first swinging frame (2310), a second mounting hole is formed in the two ends of the second swinging frame (2320), the second supporting shaft is arranged in the second mounting hole through a bearing, a first sleeve (2340) is arranged at the upper end of the first mounting plate (2330), a first guide rod is arranged in the second swinging frame (2320), the first sleeve (2340) corresponds to the first guide rod one by one, one end of the first spring (2391) is connected with the second swinging frame (2320), the other end of the first spring (2391) is connected with the first mounting plate (2320), a plurality of first yielding holes are formed in the lower end of the second swinging frame (2320), a plurality of stop blocks (2321) are arranged on the second mounting plate, the first yielding holes correspond to the first sleeve (2340), the first sleeve (2340) is arranged between the first sleeve (2341) and the second mounting plate (2320), and the first pressing mechanism (2341) is arranged between the first sleeve (23260) The sensor comprises a second mounting piece (2370) and a second connecting rod (2380), wherein the first mounting piece (2360) is arranged at two ends of a first swinging frame (2310), the second mounting piece (2370) is hinged to two ends of the second swinging frame (2320), first guide holes are formed in the second mounting piece (2370), the second connecting rod (2380) corresponds to the first guide holes one by one, a second stop block is arranged at one end of the second connecting rod (2380), the second stop block is hinged to the first mounting piece (2360), a third stop block is arranged at the other end of the second connecting rod (2380), a second spring (2381) and a third spring (2382) are sleeved on the second connecting rod (2380), the second spring (2381) is arranged between the second stop block and the second mounting piece (2370), the third spring (2382) is arranged between the third stop block and the second mounting piece (2370), and the sensor (2390) is arranged at the outer side of the sensor (2390).

4. The blade surface milling device according to claim 1, wherein the milling fixing mechanism comprises a limiting mechanism and a suction cup fixing mechanism, the limiting mechanism is arranged at two ends of the milling frame (3100), the suction cup fixing mechanism comprises a first supporting column (3210), a second air cylinder (3220), a first supporting block (3240) and a first suction cup (3250), the first supporting column (3210) is arranged at four corners of the milling frame (3100), the second air cylinder (3220) is arranged at the upper end of the first supporting column (3210), the first suction cup (3250) is arranged at the lower end of the first supporting block (3240), the lower end of the first supporting column (3210) is provided with a second sleeve (3230), a second guide rod (3231) is arranged in the second sleeve (3230), the upper end of the second guide rod (3231) is matched with the second sleeve (3230), the first air cylinder (3240) is connected with the first air valve (3240), the first air valve (3240) is connected with the first end of the first supporting block (3240), the first air valve (3260) is arranged at the lower end of the first supporting block (3240), the first auxiliary rod (3260) is matched with the first guide hole, a first pagoda joint (3251) is arranged at the upper end of the first sucker (3250), the upper end of the first pagoda joint (3251) penetrates through the first supporting block (3240) and is fixed on the first supporting block (3240), the limiting mechanism comprises a second supporting column (3270) and first travelling wheels, the second supporting column (3270) is arranged at two ends of the milling frame (3100), and the first travelling wheels are arranged at the lower end of the second supporting column (3270).

5. The blade surface milling device according to claim 1, wherein the milling mechanism (3000) comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and an R-axis swinging mechanism (2200), the X-axis moving mechanism is disposed at a lower end of the milling frame (3100) and is slidably connected to the milling frame (3100), the Y-axis moving mechanism is disposed at a rear end of the X-axis moving mechanism and is slidably connected to the X-axis moving mechanism, the Z-axis moving mechanism is disposed at a lower end of the Y-axis moving mechanism and is slidably connected to the Y-axis moving mechanism, a laser sensor (3900) is provided on the Z-axis moving mechanism, and the R-axis swinging mechanism (2200) is disposed at a lower end of the Z-axis moving mechanism, The X-axis moving mechanism is rotationally connected with the Z-axis moving mechanism, the R-axis swinging mechanism (2200) is provided with a polishing motor (3800) and a polishing milling cutter, and the X-axis moving mechanism comprises a first driving motor (3310), The milling device comprises a first screw rod (3320) and a first supporting frame (3300), wherein a first driving motor (3310) is arranged at the upper end of a milling frame (3100), second guide rails (3110) are arranged at two ends of the milling frame (3100), second sliding blocks are arranged at two ends of the first supporting frame (3300), the second guide rails (3110) are in one-to-one correspondence with the second sliding blocks, a first threaded block is arranged at the upper end of the first supporting frame (3300), the first threaded hole is matched with the first screw rod (3320), two ends of the first screw rod (3320) are installed at the upper end of the milling frame (3100) through bearings, the first driving motor (3310) is in driving connection with the first screw rod (3320), and the Y-axis moving mechanism comprises a second driving motor (3420), a second screw rod (3430), The Z-axis moving mechanism comprises a fourth support frame (3600) and a third electric cylinder (3610), two ends of the second lead screw (3430) are arranged at the rear end of the second support frame (3400) through bearings, a second threaded block is arranged at the front end of the third support frame (3500), the second lead screw (3430) is matched with the second threaded block, a second driving motor (3420) is arranged at the right end of the second support frame (3400), the second driving motor (3420) is in driving connection with the second lead screw (3430), the Z-axis moving mechanism comprises the fourth support frame (3600) and the third electric cylinder (3610), the rear end of the third support frame (3500) is provided with a second threaded block, the second lead screw (3430) is matched with the second threaded block, the second driving motor (3420) is arranged at the right end of the second support frame (3400), the second driving motor (3420) is in driving connection with the second lead screw (3430), the Z-axis moving mechanism comprises the fourth support frame (3600) and the third electric cylinder (3610), the fourth support frame (3500) is provided with the fourth end (3510) in driving connection with the fourth guide rail (3510), the R-axis swinging mechanism (2200) comprises a first swinging motor (3710) and a first swinging frame (3700), the first swinging frame (3700) is connected with the fourth supporting frame (3600) through a bearing, the first swinging motor (3710) is arranged at the lower end of the fourth supporting frame (3600), the first swinging motor (3710) is in driving connection with the first swinging frame (3700), the polishing motor (3800) is arranged on the first swinging frame (3700), a dustproof baffle (3810) is arranged at the lower end of the first swinging frame (3700), and a first dust collection opening (3820) is formed in the first swinging frame (3700).