CN218745083U

CN218745083U - Wind-powered electricity generation blade terminal surface mills machine

Info

Publication number: CN218745083U
Application number: CN202222983622.3U
Authority: CN
Inventors: 李生庆
Original assignee: Suzhou Fujiu Machinery Technology Co ltd
Current assignee: Suzhou Fujiu Machinery Technology Co ltd
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-03-28
Anticipated expiration: 2032-11-09

Abstract

The utility model provides a wind-powered electricity generation blade face milling machine, including the braced frame that has vertical square frame, install in each bight of vertical square frame and be used for the fixed closing device of fixed wind-powered electricity generation blade along radial direction from the outside, triaxial aggregate unit, milling head and motion control, triaxial aggregate unit includes Z axle moving mechanism, at its rear side via Z axle moving mechanism Z axle movably install on the X axle beam assembly on the left and right sides of vertical square frame, X axle movably install on the X axle moving mechanism on the front side of X axle beam assembly and via X axle moving mechanism install on the Y axle feed mechanism on the top of X axle beam assembly; the Y-axis of the milling head is movably mounted on the Y-axis feed mechanism and includes a milling head. The utility model can clamp the wind power blade relatively in the radial direction from the outside of the wind power blade, so that the fixing becomes easy to operate and the production becomes safe; the three-axis linkage device enables the milling head to move and feed along the Y axis, the X axis and the Z axis under the driving of the milling head to complete milling.

Description

Wind-powered electricity generation blade terminal surface mills machine

Technical Field

The utility model relates to a wind-powered electricity generation blade processing technology field, concretely relates to wind-powered electricity generation blade end face milling machine.

Background

The wind power generator is generally composed of a tower, wind power generator blades on the tower, a hub, a nacelle, a transmission system in the nacelle, a control system, a generator and the like. The wind turbine blades and the hub are generally connected into a whole through threads, so that embedded parts, namely bolts, are arranged at the root end of each blade in the manufacturing process of the blades. Before the blade is connected with the hub, the blade root end, i.e. the blade root end surface (also called blade root end surface), needs to ensure a certain precision, i.e. the whole blade root end surface and the embedded part need to reach a uniform precision, and the planeness of the blade root end surface and the embedded part can reach the specified requirement generally through a milling processing mode.

The existing wind power blade end face milling machine is usually required to be installed in a wind power blade, the blade is tightly supported in the wind power blade and then milled, but the diameter of the blade root end is large, the fixing mode of the inner supporting is not only unsafe and reliable, and the end face positioning difficulty and the processing difficulty of the blade root end are increased.

Therefore, a new wind power blade end face milling machine needs to be designed urgently.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model provides a can follow the outside fixed clamp of wind-powered electricity generation blade and press from both sides and carry out three axial upward linkage and come the automatic wind-powered electricity generation blade face milling machine who accomplishes milling will be favorable.

Therefore, the utility model provides a wind-powered electricity generation blade face milling machine, it includes:

a support frame comprising a vertical frame for receiving a wind blade therein;

the fixed pressing devices are arranged on each corner of the vertical frame, and two fixed pressing devices on each two opposite corners are arranged oppositely in the radial direction and are used for fixedly pressing the wind power blade from the outside in the radial direction;

the three-axis linkage device comprises an X-axis beam assembly, a Z-axis moving mechanism, an X-axis moving mechanism and a Y-axis feeding mechanism, wherein the rear side of the X-axis beam assembly is movably arranged on the left side and the right side of the vertical square frame through the Z-axis moving mechanism, the X-axis moving mechanism is arranged in a manner that the X-axis is movably arranged on the front side of the X-axis beam assembly, and the Y-axis feeding mechanism is arranged on the top of the X-axis beam assembly through the X-axis moving mechanism;

the Y axis of the milling head is movably arranged on the Y axis feeding mechanism and comprises a milling cutter head used for rotatably milling the stud on the end face of the blade root of the wind power blade;

and the motion controller is electrically connected with the fixed pressing device, the three-axis linkage device and the milling head respectively, so that the fixed pressing of the wind power blade and the automatic milling of the stud can be realized.

In the utility model, because the four corners of the vertical square frame are provided with the fixed pressing devices, the wind power blade can be radially and relatively clamped from the outside of the wind power blade, so that the fixed clamping becomes easy to operate and the production becomes safe; due to the arrangement of the three-axis linkage device, the milling head can move and feed along the Y axis, the X axis and the Z axis under the driving of the milling head to complete milling.

Furthermore, position sensors are arranged on the Z-axis moving mechanism, the X-axis moving mechanism and the Y-axis feeding mechanism, a distance measuring laser head is arranged on the milling head and used for sensing the actual fall of the stud relative to the end face of the blade root of the wind power blade, and the motion controller is arranged to control the three-axis linkage device according to the actual fall sensed by the distance measuring laser head, so that the Z-axis moving mechanism and the X-axis moving mechanism can move along the Z-axis direction and the X-axis direction respectively to drive the Y-axis feeding mechanism and the milling head to move along a circular track matched with the distribution shape of the stud on the end face of the blade root of the wind power blade, and the Y-axis feeding mechanism moves along the Y-axis direction to drive the milling head to feed along the Y-axis and enable the milling head to rotationally mill the stud.

Through the arrangement of the position sensor, the motion controller can accurately control the motion positions of the Z-axis moving mechanism, the X-axis moving mechanism and the Y-axis feeding mechanism in real time; through the arrangement of the distance measuring laser head, the motion controller can process information according to the actual fall of the stud measured by the distance measuring laser head relative to the end face of the blade root of the wind power blade and control the three-axis linkage device and the milling head to move, the three-axis linkage device drives the milling head to move along the Z axis and the X axis simultaneously to form a circular track motion, so that the milling head covers all studs, the three-axis linkage device drives the milling head to move along the Y axis to enable the milling head to feed towards the stud, the milling head rotates to complete milling of the stud, and automation of the whole milling process is achieved under the control of the motion controller.

Furthermore, the motion controller comprises an information acquisition module electrically connected with the distance measuring laser head, a data processing module electrically connected with the information acquisition module, and an operation module electrically connected with the data processing module, wherein the information acquisition module is set to acquire an actual fall, and the data processing module is set to calculate an actual distance between the milling head and the stud and the number of turns of the milling head required to move along a circular track according to the actual fall, so that the operation module controls the three-axis linkage device and the milling head to move.

Through the structure, the laser sensor can transmit the actual fall on the stud to the information acquisition module, the data processing module calculates the highest point of the stud and the actual distance between the highest point and the milling head, and the control module guides the three-axis linkage device to act and guides the milling head to mill from the highest point.

And the X-axis beam assembly comprises an X-axis beam, a left beam connecting seat and a right beam connecting seat which are arranged on the left side and the right side of the X-axis beam, and an X-direction slide rail arranged on the top of the X-axis beam, wherein the left beam connecting seat and the right beam connecting seat are fixedly connected with the Z-axis moving mechanism on the rear sides of the left beam connecting seat and the right beam connecting seat.

Through the structural arrangement, the X-axis beam assembly plays a role in supporting the X-axis moving mechanism, the Y-axis feeding mechanism and the milling head and simultaneously plays a role in connecting the X-axis moving mechanism, the Y-axis feeding mechanism and the milling head to the Z-axis moving mechanism.

Still further, the Z axle moving mechanism includes left side connecting seat and right side connecting seat respectively fixed connection in left side crossbeam connecting seat and right side crossbeam connecting seat, both ends are rotationally installed the Z on left side connecting seat and right side connecting seat to remove the major axis respectively to the removal, install on the right side connecting seat and drive the Z of connecting Z to remove the major axis servo motor, install respectively in the left side connecting seat and the inboard of right side connecting seat and remove the major axis on the Z to left Z to the gear and right Z to the gear, install respectively on the left and right sides of vertical square frame and be suitable for meshing respectively left Z to the gear and the left Z of right Z to the gear to rack and right Z to the rack, wherein, Z axle servo motor facial make-up is equipped with the Z axle encoder as position sensor, left side connecting seat and right side connecting seat all are provided with and are suitable for the X of the left and right sides of sliding connection vertical square frame to open slide and Y to open slide.

Through the structure, the front side of the Z-axis moving mechanism is fixed on the rear side of the X-axis beam assembly, the rear side of the Z-axis moving mechanism is connected to one of the left side and the right side of the square frame in a sliding manner through the X-direction opening sliding seat and the Y-direction opening sliding seat on each connecting seat of the left connecting seat and the right connecting seat, on the other hand, the Z-direction moving mechanism can move in the Z direction through the Z-direction moving long shaft, wherein the left Z-direction gear and the right Z-direction gear are respectively meshed with the left Z-direction rack and the right Z-direction rack arranged on the left side and the right side of the square frame, and the Z-axis moving mechanism can vertically move along the square frame.

Still further, the Z-axis servo motor is connected with the Z-direction moving long shaft through a Z-axis reducer in a driving mode, and the Z-axis reducer is installed on the outer side of the right connecting seat through a reducer connecting seat.

Through the structure, the Z-axis servo motor can drive the Z-direction moving long shaft through the Z-axis speed reducer, then the Z-direction moving long shaft drives the left Z-direction gear and the right Z-direction gear on the Z-direction moving long shaft to rotate together, so that the Z-axis moving mechanism moves up and down along the left Z-direction rack and the right Z-direction rack which are fixed on the left side and the right side of the square frame, and the X-axis moving mechanism and the Y-axis feeding mechanism on the X-axis beam assembly are driven to move up and down.

Furthermore, the X-axis moving mechanism comprises an X-axis servo motor, an X-axis moving seat connected with the X-axis sliding rail in a sliding mode, an X-axis gear rotatably installed on the X-axis moving seat, and an X-axis rack fixedly installed on the front side of the X-axis cross beam and meshed with the X-axis gear, wherein a front-side motor seat is arranged at the bottom of the X-axis moving seat, the X-axis servo motor is installed on the front-side motor seat and is in driving connection with the X-axis gear located on the rear side of the front-side motor seat, and an X-axis encoder serving as a position sensor is installed on the X-axis servo motor.

Through the structure, the X-axis servo motor can drive the X-axis gear to move along the X-axis rack, and the whole X-axis moving seat drives the Y-axis feeding mechanism to move along the X-axis direction.

Still further, the Y-axis feeding mechanism comprises a Y-axis servo motor fixedly mounted on the front side of the X-axis moving seat, and a Y-axis moving seat slidably mounted on the X-axis moving seat, wherein the Y-axis servo motor is in driving connection with the Y-axis moving seat, and the milling head is mounted on the Y-axis moving seat.

Through the structure, the Y-axis feeding mechanism can drive the milling head to feed along the Y-axis direction through the Y-axis moving seat.

Still further, the support frame further comprises a horizontal frame for mounting thereon a vertical frame, the horizontal frame comprising a lower fixed frame for resting on the work platform and an upper movable frame slidably mounted on the lower fixed frame along the Y-axis, wherein the vertical frame is mounted on the upper movable frame.

Through the structural arrangement, the position of the vertical frame in the axial direction of the wind power blade can be adjusted by adjusting the position of the upper movable frame in the Y axis when needed.

Still further, vertical square frame includes left side stand, right side stand, entablature and bottom end rail, and wherein, Z axle moving mechanism is movably installed on left side stand and right side stand along the Z axle.

Through the structure, the left connecting seat and the right connecting seat on the Z-axis moving mechanism can be movably arranged on the left upright post and the right upright post along the Z axis respectively.

Furthermore, the wind power blade end face milling machine further comprises a motion balance system for the three-axis linkage device, the motion balance system comprises a nitrogen tank, a pair of balance cylinders, a pair of balance chains, a pair of cylinder head movable chain wheels and two pairs of fixed corner chain wheels, wherein each balance cylinder is connected with an air passage of the nitrogen tank, each cylinder head movable chain wheel is installed on a cylinder head of the balance cylinder of the corresponding balance cylinder, each pair of fixed corner chain wheels is installed on the top of one side of the vertical frame, one end of each balance chain is connected to the back of one side of the vertical frame, the other end of each balance chain is connected to one side of the top of the Z-axis moving mechanism of the three-axis linkage device, and the balance chains between one end and the other end are sequentially meshed with the cylinder head movable chain wheels and the pair of fixed corner chain wheels, so that the three-axis linkage device can move vertically and vertically in a balanced manner on the vertical frame by virtue of the Z-axis moving mechanism of the three-axis linkage device.

Through the structural arrangement of the motion balance system, when the Z-axis moving mechanism of the three-axis linkage device needs to move upwards along a vertical square frame under the driving of an external force (driven by a Z-axis servo motor of the Z-axis moving mechanism), the motion balance system can apply an upward pulling force to the Z-axis moving mechanism through the balance chain (the pulling force can balance the downward gravity and the upward inertial force of the Z-axis moving mechanism), so that the whole three-axis linkage device moves upwards at a constant speed under the driving of the Z-axis moving mechanism; and when the Z-axis moving mechanism of the three-axis linkage device needs to move downwards along the square frame under the driving of external force, the motion balance system can apply another upward pulling force to the Z-axis moving mechanism through the balance chain (the pulling force can balance the downward gravity and the downward inertial force of the Z-axis moving mechanism), so that the whole three-axis linkage device can move downwards at a constant speed under the driving of the Z-axis moving mechanism.

Furthermore, one end of each balance chain is connected to a fixed support leg arranged on the back of one side of the vertical frame; the other end of the balance chain is connected to a lifting lug on one side of the top of the Z-axis moving mechanism of the three-axis linkage device; each pair of fixed corner sprockets is slidably mounted on the top of one side of the vertical frame via a balance cylinder upper corner.

Through the structure, three sections of balance chains on the Z-axis direction can be parallel to each other and are perpendicular to one section of balance chain on the top of the vertical square frame.

Further, fixed closing device includes the mounting base, install the radial hold-down mechanism that includes radial along with the shape clamp plate on the mounting base and include the axial positioning mechanism that the mountain board was leaned on to the axial, wherein, radial along with the shape clamp plate sets to can radially move ground conversion between the inoperative position that radially outwards withdraws and the operative position that radially inwards stretches out in order to compress tightly the outer periphery of wind-powered electricity generation blade, the axial is leaned on the mountain board to set up to can break away from and rotationally convert between the axial release position of the axial positioning to wind-powered electricity generation blade root terminal surface and the axial positioning position that the top supported wind-powered electricity generation blade root terminal surface in the axial.

The wind power blade can be axially positioned and radially compressed through the radial compressing mechanism and the axial positioning mechanism; through the radial movement conversion of the radial conformal pressure plate between the two positions, the wind power blade can be clamped outside the wind power blade, and time and labor are saved, and the observation is easy.

Still further, the radial pressing mechanism is arranged to clamp the wind power blade radially from the outside of the wind power blade when the radial conformal pressing plate is at the working position, and the axial positioning mechanism is arranged to rotate the axial cam plate from the axial positioning position to the axial releasing position when the radial conformal pressing plate extends radially inwards from the non-working position to the working position.

Through the structure, the wind power blade can be axially positioned through the axial positioning mechanism, and then the fixed pressing device starts to work to enable the radial shape following pressing plate to enter the working position of the fixed pressing device.

Still further, the mounting base comprises a base body on which the radial hold-down mechanism and the axial positioning device are mounted, and mounting beams on both sides of the base body, which are arranged to be mounted position-adjustably on the corners of the vertical frame.

Through the structural arrangement, the mounting position of the mounting beam on the corner of the vertical square frame can be adjusted according to the diameter of the wind power blade.

Furthermore, waist-shaped assembly holes are formed in the mounting beams.

The waist-shaped assembling holes are arranged, so that the mounting position of the mounting beam is easily adjusted, and the structure is simple.

Still further, radial hold-down mechanism still includes compresses tightly the electric jar, and this compresses tightly the electric jar and driveably connects radial conformal clamp plate, wherein, radial conformal clamp plate facial make-up is equipped with pressure sensor.

Through the structure, the radial shape following pressing plate can realize position conversion under the driving of the pressing electric cylinder, and the pressing electric cylinder can be stopped and stopped according to the force of the radial shape following pressing plate pressing the outer circumferential surface of the wind power blade through the arrangement of the pressure sensor.

Still further, the radial compliance pressure plate comprises a compression arc plate and a cushion rubber pad attached to the compression arc plate.

Through the arrangement of the buffer rubber pad, the radial conformal pressing plate is in flexible contact with the outer circumferential surface of the wind power blade, the outer circumferential surface of the wind power blade is prevented from being damaged, and the effect of increasing friction force is achieved.

Still further, the size design of the pressing circular arc plate is matched with the size of the outer circumferential surface of the workpiece.

Still further, axial positioning mechanism still includes location servo motor, location speed reducer and location pivot, and wherein, location servo motor connects the location pivot via location speed reducer drive, and the location pivot is connected the axial and is leaned on the mountain plate to, be provided with touch limit switch on the axial and lean on the mountain plate.

Through the structure, when the touch limit switch senses the end face of the wind power blade (especially the stud on the blade root end face of the wind power blade), the axial cam plate can realize rotation conversion on two positions through the driving of the positioning rotating shaft under the driving of the positioning servo motor.

These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.

Drawings

The structure of the present invention, together with further objects and advantages thereof, will be best understood from the following description taken in conjunction with the accompanying drawings, in which like reference characters identify like elements:

FIG. 1 is a schematic perspective view of a wind blade face mill according to one embodiment of the present invention;

FIG. 2 is an exploded perspective view of the wind blade face mill shown in FIG. 1;

FIG. 3 is an enlarged perspective view of a three-axis linkage (with a milling head mounted thereon) of the wind blade face mill of FIG. 1;

FIG. 4 is an exploded perspective view of the three-axis linkage of FIG. 3 with a milling head mounted thereon;

FIG. 5 is another exploded perspective view of the three-axis linkage of FIG. 3 with a milling head mounted thereon;

FIG. 6 is an enlarged schematic view of a portion D of the wind blade face mill shown in FIG. 1;

FIG. 7 is a right side plan view of the wind blade face mill of FIG. 1;

FIG. 8 is an enlarged schematic view of a portion E of the wind blade face mill of FIG. 7;

FIG. 9 is an enlarged schematic perspective view of the three-axis linkage assembly of FIG. 3 (with the milling head mounted thereon) after removal of the Z-axis translation mechanism and X-axis beam assembly;

FIG. 10 is an exploded view of the three-dimensional structure shown in FIG. 9;

FIG. 11 is an enlarged perspective view of the right connecting seat of the Z-axis moving mechanism of the three-axis linkage of FIG. 3;

FIG. 12 is an enlarged perspective view of the left connecting seat of the Z-axis moving mechanism of the three-axis linkage of FIG. 3;

FIG. 13 is a schematic structural layout of the motion balancing system of the wind blade face mill of FIG. 1 in one state;

FIG. 14 is a schematic structural layout of the motion balance system of FIG. 13 in another state;

FIG. 15 is an enlarged view of the square face mill of FIG. 7 taken along line F-F;

FIG. 16 is an enlarged perspective view of the stationary hold-down device shown in FIG. 2 with the axial cam plate in an axially positioned position;

figure 17 is an exploded perspective view of the stationary compaction device shown in figure 16;

FIG. 18 is another angular perspective view of the stationary hold down device of FIG. 16, with the axial cam plate in an axial release position;

FIG. 19 is a further angled perspective view of the stationary hold down device shown in FIG. 16;

FIG. 20 isbase:Sub>A cross-sectional view taken along line A-A of the stationary compaction apparatus shown in FIG. 19;

FIG. 21 is a cross-sectional view taken along line B-B of the stationary compaction apparatus shown in FIG. 19;

FIG. 22 is a rear view of the wind blade face mill shown in FIG. 1, clearly showing the layout of the stationary compaction apparatus;

FIG. 23 is an enlarged cross-sectional view of the wind blade face mill of FIG. 22 taken along line C-C;

FIG. 24 is a schematic structural view of the wind blade face milling machine of FIG. 22 in an operational state.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.

First, it should be explained that the terms "X direction", "Y direction", and "Z direction" as used herein refer to the direction along the X axis, the direction along the Y axis, and the direction along the Z axis, respectively, the X axis refers to the extending direction of the X beam, i.e., the left and right direction, the Y axis refers to the front and rear direction, and the Z axis refers to the vertical up and down direction. In addition, the term "radially outward" herein means that the radial conformal pressure plate is away from the wind power blade in the radial direction of the wind power blade as a workpiece, and "radially inward" means that the radial conformal pressure plate is close to the wind power blade in the radial direction of the wind power blade.

As shown in fig. 1, and with reference to fig. 2-24, a wind blade face mill 100 according to an embodiment of the present invention includes a support frame 6, a stationary hold-down device 8, a three-axis linkage 200, a milling head 9, a motion controller, and a motion balancing system 4 for the three-axis linkage 200, wherein the support frame 6 includes a vertical frame 101 for receiving a wind blade 399 therein; the supporting frame 6 further comprises a horizontal frame 60 for mounting thereon a vertical frame 101, the horizontal frame 60 comprising a lower fixed frame 61 for resting on a work platform (e.g. the ground) and an upper movable frame 62 slidably mounted on the lower fixed frame 61 along the Y-axis, wherein the vertical frame 101 is mounted on the upper movable frame 62; the vertical frame 101 includes a left side column 102, a right side column 104, a lower cross member 107, and an upper cross member 108.

As shown in fig. 1, and with particular reference to fig. 16 to 24, a fixed compression device 8 is mounted on each corner 103 of the vertical frame 101, and two fixed compression devices 8 on each two opposite corners 103 are arranged diametrically opposite to each other for fixedly compressing the wind turbine blade 300 from the outside in the radial direction (see fig. 24).

As shown in fig. 1 to 9, and referring to fig. 22 and 24, the three-axis linkage 200 includes an X-axis beam assembly 1, a Z-axis moving mechanism 3, an X-axis moving mechanism 5, and a Y-axis feeding mechanism 7, wherein the X-axis beam assembly 1 is movably mounted on left and right sides (i.e., a left-side upright 102 and a right-side upright 104) of the vertical frame 101 along the Z-axis via the Z-axis moving mechanism 3 at a rear side thereof, the X-axis moving mechanism 5 is provided to be movably mounted on a front side of the X-axis beam assembly 1 along the X-axis, and the Y-axis feeding mechanism 7 is mounted on a top of the X-axis beam assembly 1 via the X-axis moving mechanism 5; the milling head 9 is movably mounted on the Y-axis feeding mechanism 7 along the Y-axis and comprises a milling cutter head 94 (see fig. 10) for rotary milling of a stud 301 (see fig. 24) on the end face of the blade root of the wind blade 300; the motion controller is electrically connected with the motion balance system 4, the fixed pressing device 8, the three-axis linkage device 200 and the milling head 9 respectively, so that the fixed pressing of the wind power blade 300 and the automatic and accurate milling of the screw 301 are realized.

Referring to fig. 1 and 24, it should be noted that, in the present embodiment, position sensors (not shown) are disposed on the Z-axis moving mechanism 3, the X-axis moving mechanism 5, and the Y-axis feeding mechanism 7, a distance measuring laser head 91 is disposed on the milling head 9 for sensing an actual difference between the stud 301 and the blade root end surface of the wind power blade 300, and the motion controller is configured to control the three-axis linkage 200 according to the actual difference sensed by the distance measuring laser head 91, so that the Z-axis moving mechanism 3 and the X-axis moving mechanism 5 can move along the Z-axis direction and the X-axis direction respectively, so as to drive the Y-axis feeding mechanism 7 and the milling head 9 to move along a circular trajectory adapted to the distribution shape (circular shape, see fig. 24) of the stud 301 on the blade root end surface of the wind power blade 300, and move the Y-axis feeding mechanism 7 along the Y-axis direction to drive the milling head 9 to feed along the Y-axis, and make the milling head 94 rotate the milling stud 301. In the present embodiment, the motion controller, the three-axis linkage 200, the milling head 9, and the distance measuring laser head 91 constitute an automatic tool setting system of the wind turbine blade end face milling machine 100.

It should be noted that, in this embodiment, the motion controller includes an information acquisition module (not shown) electrically connected to the distance measuring laser head 91, a data processing module (not shown) electrically connected to the information acquisition module, and a control module (not shown) electrically connected to the data processing module, wherein the information acquisition module is configured to acquire the actual drop height, and the data processing module is configured to calculate an actual distance between the milling head 9 and the stud 301 and a number of turns of movement of the milling head 9 along a circular track according to the actual drop height, so that the control module controls the three-axis linkage device 200 and the milling head 9 to move.

As shown in fig. 2 to 4, in the present embodiment, the X-axis beam assembly 1 includes an X-axis beam 10, left and right beam connection bases 11 and 12 installed on left and right sides of the X-axis beam 10, and an X-direction slide rail 15 installed on a top of the X-axis beam 10.

As shown in fig. 2 to 4, and referring to fig. 1, 5 to 7, the Z-axis moving mechanism 3 is fixed to the rear side of the X-axis beam 10 of the X-axis beam assembly 1, and is disposed so as to be Z-axis movably (i.e., movably in the Z-axis direction) connected to the left and right sides of the vertical frame 101, i.e., the left and

right uprights

102 and 104 of the vertical frame 101.

As shown in fig. 1 to 7 and fig. 10 and 11, in the present embodiment, the Z-axis moving mechanism 3 includes a Z-axis servo motor 30, left and

right link holders

31 and 32, a Z-direction moving long axis 33, left and right Z-direction gears 34 and 35, and left and right Z-

direction racks

36 and 37. The Z-axis servo motor 30 is mounted on the right side connecting base 32 and is connected with the Z-direction moving long shaft 33 in a driving mode. The left and right side link blocks 31 and 32 are fixedly connected to the left and right beam link blocks 11 and 12, respectively. The two ends of the long Z-direction moving shaft 33 are rotatably mounted on the left connecting seat 31 and the right connecting seat 32, respectively. The left Z-gear 34 and the right Z-gear 35 are mounted on the Z-moving long shaft 33 inside the left and

right coupling holders

31 and 32, respectively. The left Z-directional rack 36 and the right Z-directional rack 37 are respectively and correspondingly arranged on the left upright post 102 and the right upright post 104 of the vertical frame 101 and are suitable for respectively engaging the left Z-directional gear 34 and the right Z-directional gear 35.

As shown in fig. 5, 10 and 11, the left and right link bases 31 and 32 are each provided with an X-direction opening slider 38 and a Y-direction opening slider 39. As shown in fig. 5, taking the right connecting seat 32 as an example, the X-direction open slide 38 and the Y-direction open slide 39 thereon are slidably connected to the first slide rail 184 and the second slide rail 194 on the right upright post 104 of the vertical frame 101, respectively. In addition, as shown in fig. 5 and referring to fig. 2 and 4, the Z-axis servomotor 30 is drivingly connected to the Z-direction moving long shaft 33 via the Z-axis reducer 330, and the Z-axis reducer 330 is attached to the outer side of the right side connecting base 32 via the reducer connecting base 332.

As shown in fig. 2 to 4, and referring to fig. 8 and 9, the X-axis moving mechanism 5 is provided such that the X-axis is movably (i.e., movably in the X-axis direction) mounted on the front side of the X-axis beam assembly 1, and includes an X-axis servomotor 50, an X-axis moving base 55, an X-direction gear 57, and an X-direction rack 59. Wherein, the X-axis moving seat 55 is connected with the X-direction slide rail 15 in a sliding way; the X-direction gear 57 is rotatably mounted on the X-axis moving base 55; an X-directional rack 59 is fixedly mounted on the front side of the X-axis beam 10 (shown most clearly in fig. 5) and meshes with the X-directional gear 57. Specifically, as shown in fig. 8 and 9, in the present embodiment, a front motor base 56 is provided at the bottom of the X-axis moving base 55, the X-axis servo motor 50 is mounted on the front side of the front motor base 56, and the X-direction gear 57 is located at the rear side of the front motor base 56 and is drivingly connected to the X-axis servo motor 50.

As further shown in fig. 8 and 9, the Y-axis feed mechanism 7 is mounted on the top of the X-axis beam assembly 1 via the X-axis moving mechanism 5 and is provided so as to movably support the milling head 9 in the Y-axis direction (i.e., movably in the Y-axis direction). Specifically, in the present embodiment, the Y-axis feeding mechanism 7 includes a Y-axis servo motor 70 and a Y-axis moving base 75, wherein the Y-axis servo motor 70 is fixedly mounted on the front side of the X-axis moving base 55 and is drivingly connected to the Y-axis moving base 75, while the Y-axis moving base 75 is slidably mounted on the X-axis moving base 55 so as to be movable back and forth in the Y-axis direction relative to the X-axis moving base 55 under the driving of the Y-axis servo motor 70.

In the present embodiment, encoders (not shown) are disposed on the Z-axis servo motor 30, the X-axis servo motor 50, and the Y-axis servo motor 70, and these encoders are electrically connected to the motion controller as position sensors, so that the motion controller can accurately control the motion of the three-axis linkage 200 in the three directions of the X-axis, the Y-axis, and the Z-axis by controlling the start and stop of the Z-axis servo motor 30, the X-axis servo motor 50, and the Y-axis servo motor 70.

As shown in fig. 8 and 9, the milling head 9 is attached to the Y-axis movable base 75, and the milling head 9 includes a milling mount 92, a milling power box 90 attached to the milling mount 92, and the milling cutter head 94 rotationally driven by the milling power box 90. In the present embodiment, the distance measuring laser head 91 is attached to the milling head 90 and moves together with the milling head 9, thereby enabling measurement before and after machining of the milled end surface of the workpiece.

The utility model discloses a setting of range finding laser head on milling head for motion controller can accurately calculate the required volume of milling of double-screw bolt and the number of turns of milling (the number of turns of above-mentioned circular orbit promptly), and through the motion control of triaxial linkage, can no longer need rotatory electrode power supply circular telegram like traditional winding mode, but power line and signal line all can walk the tow chain and connect in fact, and such benefit is that the signal is stable noiseless, therefore makes whole milling machine safe and reliable.

The working processes of automatic distance measurement, tool setting and milling according to the embodiment are briefly described below with reference to fig. 1 to 12:

firstly, the motion controller controls the motion of the three-axis linkage device 200 to drive the distance measuring laser head 91 to move a circle of circular arc (namely a circular track) program by taking the circle center of the root end surface of the wind power blade as the circle center, the distance measuring laser head 91 transmits the actual fall of the stud on the root end surface of the wind power blade relative to the root end surface to the information acquisition module of the motion controller, the data processing module processes the fall and calculates the highest points of all studs on the root end surface of the wind power blade, so as to obtain the actual distance between the absolute position of the highest point and the milling cutter head 94 of the milling head 9, the control module of the motion controller guides the three-axis linkage device 200 to drive the milling head 9 to move in three axial directions according to the actual fall, and the milling cutter head 94 of the milling head 9 rotates to mill the stud from the highest point;

because the information acquisition module and the data processing module of the motion controller are related to the data of the actual fall, the data processing module automatically calculates how many turns (namely preset turns) to be milled and then the milling head can be milled flat, and under the condition, once the milling head 9 finishes the milling of the preset turns, the milling head 9 automatically stops milling (the milling power box 90 is controlled to stop by the motion controller) and automatically returns to a safe distance (the three-axis linkage device 200 is controlled by the motion controller);

after the milling head 9 returns to the safe distance after being milled flat, the motion controller can drive the distance measuring laser head 91 to move a circle of arc program by taking the circle center of the root end face of the wind power blade as the circle center again, and obtain the actual fall of the stud relative to the root end face again, so that the peak-valley value of the stud, namely the plane machining precision is obtained again, and whether the plane machining precision is qualified is verified.

The utility model discloses a range finding laser head 91 can be to the wind-powered electricity generation blade root terminal surface before not milling and the double-screw bolt 301 on the root terminal surface after milling carry out measurement and aassessment, has guaranteed to mill the precision; simultaneously, through triaxial coordinated control, will not need rotatory electrode power supply circular telegram like traditional winding mode, the tow chain real connection can all be walked to power line and signal line, and such benefit is that the signal is stable noiseless, just also embodies the utility model discloses a safe and reliable.

In addition, in order to keep the three-axis linkage 200 balanced, or to say, to keep the speed stable (uniform), during the movement of vertically moving up and down by the Z-axis moving mechanism 3, a movement balance system 4 is adopted in the present embodiment, which will be described in detail below. It should be understood that the three-axis linkage 200 may be balanced in vertical up-and-down movement in more than one way, and the Z-axis servo motor 30 of the Z-axis moving mechanism 3 may be provided as a torque motor, although other balancing ways may be adopted.

As shown in fig. 13 to 15 in combination with fig. 1 and 6 to 8, in the present embodiment, the movement balancing system 4 includes a nitrogen gas tank 41, a pair of balancing cylinders 43, a pair of balancing chains 45 (only the balancing chain 45 corresponding to one balancing cylinder 43 is shown in fig. 13 and 14), a pair of cylinder head moving sprockets 47, and two pairs of fixed corner sprockets 49, wherein each balancing cylinder 43 is connected to the nitrogen gas tank 41 through a gas passage 413 (i.e., connected in a pressure-through manner), each cylinder head moving sprocket 47 is mounted on the balancing cylinder head 430 of the corresponding balancing cylinder 43, each pair of fixed corner sprockets 49 is mounted on the top of the vertical frame 101 side, one end 451 of each balancing chain 45 is connected to the back of the vertical frame 101 side, the other end 452 is connected to the top of the Z-axis moving mechanism 3 of the three-axis linkage 200, and the balancing chain 45 between the one end 451 and the other end 452 sequentially engages the cylinder head moving sprocket 47 and the pair of fixed corner sprockets 49, thereby enabling the three-axis linkage 200 to move vertically and vertically in a balanced manner on the vertical frame 101 by means of the Z-axis moving mechanism 3.

As shown in fig. 13 and 14, in the present embodiment, one end 451 of each balance chain 45 is connected to the fixing leg 105 provided on the back of the vertical frame 101 side. This is more clearly shown in fig. 15, except that in fig. 15 one of the balancing chains 45 is mounted on the right side of the vertical frame 101 (i.e. the right upright 104) (the other balancing chain 45 is mounted on the left side of the vertical frame 101, i.e. the left upright 102, but not shown), and accordingly the fixing leg 105 is also mounted on the right upright 104.

As shown in fig. 1, 6, 7, and 8, in the present embodiment, the other end 452 of the balance chain 45 is connected to the lifting lug 44 on the top side of the Z-axis moving mechanism 3 of the three-axis linkage 200. Specifically, in the present embodiment, the lifting lug 44 is provided on the side connecting seat (identified by

numerals

31 and 32 in fig. 6) of the Z-axis moving mechanism 3 of the three-axis linkage 200. Fig. 6 and 8 show only the right side link base 32 of the Z-axis moving mechanism 3. As shown in fig. 15, and with reference to fig. 1 and 7, in the present embodiment, each pair of fixed corner sprockets 49 is mounted on the top of one side of the vertical frame 101 via the balance cylinder upper corners 46.

As shown in fig. 1 and 7, in the present embodiment, the motion balance system 4 is configured to balance the Z-axis moving mechanism 3 of the three-axis linkage 200 during the vertical up-and-down movement, that is, to keep the Z-axis moving mechanism 3 moving at a constant speed during the vertical up-and-down movement, so as to ensure the motion balance of the whole three-axis linkage 200, and to effectively ensure the normal operation of the milling operation of the whole milling machine. As shown in fig. 1, and referring to fig. 6 to 8 and 13 to 15, in the present embodiment, the lifting lugs 44 are disposed on the top of the left and right connecting

bases

31 and 32 of the Z-axis moving mechanism 3 of the three-axis linkage 200, and the balance cylinder upper turning angles 46 are disposed on the top of the left and right upright posts 102 and 104.

Note that, in the present embodiment, as shown in fig. 1 and referring to fig. 6 to 8 and 13 to 15, the nitrogen tank 1 is disposed on the horizontal frame 60 on the side of the right-side column 104, the pair of balancing cylinders 43 in gas communication with the nitrogen tank 41 are disposed on the back sides of the left-side column 102 and the right-side column 104, respectively, and the triaxial linkage 200 is located on the front side of the vertical frame 101. It should be understood that, since the three-axis linkage 200 has a large mass and needs vertical up-and-down motion during operation, and is easy to move down due to gravity and laborious to move up, the motion balance system 4 in this embodiment solves the problem of the three-axis linkage 200, so that the vertical up-and-down motion of the three-axis linkage 200 is balanced, and the vertical up-and-down motion is kept at a constant speed. It should be noted that fig. 13 (only one balance chain and related structure shown) shows the three-axis linkage 200 in the lower limit position (i.e., low position), fig. 2 (only one balance chain and related structure shown) shows the three-axis linkage 200 in the upper limit position (i.e., high position), and the cylinder head moving sprocket 47 is in its high and low positions, respectively.

It should be noted that the pair of balance cylinders 43 are fixedly mounted on the upper movable frame 62 of the horizontal frame 60, like the left-side vertical column 102 and the right-side vertical column 104 of the vertical frame 101, and thus can move along the Y-axis with the upper movable frame 62 relative to the lower fixed frame 61.

It should be understood that due to the arrangement of the cylinder head moving sprocket 47 and the fixed corner sprocket 49 in the present embodiment, the vertical up-and-down movement amplitude of the three-axis linkage 200 is twice the movement amplitude of the balance cylinder head 430, for example, when the stroke of the balance cylinder head 430 is 1.8 meters, the vertical up-and-down movement range (i.e., the distance between the upper limit position and the lower limit position) of the three-axis linkage 200 is 3.6 meters.

Additionally, it should be understood that the three-axis linkage 200 is not an inventive innovation, and thus, other specific configurations thereof will not be described herein. Meanwhile, the balancing cylinder 43 is a standard component, and the structure and operation thereof are not innovative in the present invention, and therefore will not be described herein.

The operation of the exercise balance system 4 of the present invention will be described with reference to fig. 1, 6 to 8 and 13 to 15:

when the three-axis linkage 200 moves vertically upward (i.e., moves upward) by virtue of the Z-axis moving mechanism 3 thereof under the control of a motion controller (not shown) of the wind turbine blade face milling machine 100, the balancing cylinder 43 rapidly adjusts the internal pressure by being connected with the gas path of the nitrogen gas tank 41, so that the tension applied to the lifting lugs 44 of the left connecting seat 31 and the right connecting seat 32 of the Z-axis moving mechanism 3 by virtue of the balancing chain 45 by virtue of the balancing cylinder 43 can balance the gravity and the upward inertial force of the three-axis linkage 200, and the whole three-axis linkage 200 moves upward into the upper limit position thereof (see fig. 1) under the driving of the Z-axis servo motor 30 of the Z-axis moving mechanism 3 thereof;

when the three-axis linkage 200 is vertically moved downward (i.e., moved downward) by means of the Z-axis moving mechanism 3 thereof under the control of the motion controller, the balancing cylinder 43 rapidly adjusts the internal pressure by being connected to the gas path of the nitrogen gas tank 41, so that the balancing cylinder 43 can balance the gravity and downward inertial force of the three-axis linkage 200 by means of the tensile force applied to the lifting lugs 44 of the left and right connecting

bases

31 and 32 of the Z-axis moving mechanism 3 by means of the balancing chain 45, and at the same time, the balancing chain 45 moves downward along with the Z-axis moving mechanism 3, and the entire three-axis linkage 200 enters its lower limit position (see fig. 2) by being driven by the Z-axis servo motor 30 of the Z-axis moving mechanism 3 thereof.

As shown in fig. 16 to 21, in the present embodiment, the fixing and pressing device 8 includes a mounting base 81, a radial pressing mechanism 83, and an axial positioning mechanism 85.

As shown in fig. 17, 19 to 21, and with reference to fig. 22 to 24, the mounting base 81 includes a base body 810 and mounting beams 812 located on both sides of the base body 810, wherein the radial pressing mechanism 83 and the axial positioning mechanism 85 are mounted on the base body 810, and the mounting beams 812 are provided to be position-adjustably mounted on the corners 103 (see fig. 23) of the vertical frame 101. Specifically, as shown in fig. 19 and with reference to fig. 23, in the present embodiment, kidney-shaped mounting holes 813 are provided in the mounting beam 812 to facilitate the position-adjustable mounting of the mounting beam 812 to the corner 103 of the vertical frame 101 using the fastening bolts 105.

As further shown in fig. 17, 19-21, and referring to fig. 16 and 18, the radial pressing mechanism 83 includes a pressing electric cylinder 830 and a radial follower 832, wherein the pressing electric cylinder 830 is fixedly mounted on the base body 810 of the mounting base 81 and is drivingly connected to the radial follower 832 (i.e., the radial follower 832 is connected to an electric cylinder head 831 of the pressing electric cylinder 830, see fig. 21), so that the radial follower 832 is radially movably switchable between a radially outwardly retracted inoperative position (see fig. 19) and a radially inwardly extended operative position (see fig. 18 and 24) for pressing the outer circumferential surface of the wind turbine blade 300 (see fig. 24).

As shown in fig. 16 to fig. 21, the axial positioning mechanism 85 includes a positioning servo motor 850, a positioning speed reducer 852, a positioning rotating shaft 854, and an axial cam plate 856, wherein the axial cam plate 856 is provided with a touch limit switch (not shown), the positioning servo motor 850 is mounted on the base body 810 of the mounting base 81 via the pressing speed reducer 852 and is connected to the positioning rotating shaft 854 in a driving manner, and the axial cam plate 856 is fixed to a distal end of the positioning rotating shaft 854, so that the axial positioning mechanism can be rotationally switched between an axial release position (see fig. 18) where the axial positioning of the wind power blade 300 is released and an axial positioning position (see fig. 16, fig. 19, and fig. 24) where the wind power blade 300 is axially pushed up under the driving of the positioning servo motor 850 via the positioning rotating shaft 854. As shown in fig. 17, the base body 810 is provided with a shaft hole 814 through which the positioning shaft 854 penetrates, one end of the positioning shaft 854 is connected to the pressing reducer 853, and the other end is connected to the axial cam plate 856.

In the present embodiment, referring to fig. 22 and 24, the fixed pressing devices are used in pairs, and the radial pressing mechanisms 83 of the pair of fixed pressing devices are arranged diametrically opposite to each other, so that the radial conformal pressing plates 832 clamp the wind power blade 300 radially from the outside of the wind power blade 300 when in their working position; furthermore, the axial cam 856 of the axial positioning mechanism 85 is arranged such that, when the radial follower 832 extends radially inward from its inoperative position into its operative position, i.e. presses against the wind turbine blade 300, the axial cam 856 can be rotated from its axially positioned position into its axially released position, thereby leaving the milling path for the milling head 9 to mill the wind turbine blade 300.

Further, as shown in fig. 17 and fig. 19, in the present embodiment, the radial compliance pressure plate 832 includes a pressing circular arc plate 831 and a cushion rubber pad 833 attached to the pressing circular arc plate 831, wherein the cushion rubber pad 833 is provided with a pressure sensor (not shown) to sense whether the radial pressing mechanism 83 has pressed the wind turbine blade 300. It should be understood that the dimensions of the pressing arc plate 831 and the cushion rubber pad 833 are designed to be matched to the dimensions of the outer circumferential surface of the wind turbine blade 300. In addition, as for the mode of using the pressure sensor in the present embodiment, another embodiment may be replaced with a mode of using a torque current sensor, which may sense the magnitude of the torque current of the servo motor, and accordingly control the start and stop of the pressing electric cylinder 830.

The operation of the fixing and pressing device 8 of the present invention will be briefly described with reference to fig. 16 and 24:

firstly, the wind power blade 300 is hoisted to a station (through a hoisting point 109, see fig. 1), the vertical frame 101 is enabled to integrally move towards the direction of the blade tip of the wind power blade 300 until an axial cam plate 856 of the fixed pressing device 8 contacts a blade root stud 301 of the wind power blade 300, a touch limit switch on the axial cam plate 856 senses the contact of the blade root stud 301, information is transmitted to a motion controller, and the motion controller controls a positioning servo motor 850 of the axial positioning mechanism 85 to stop;

then, the four fixed pressing devices 8 on the four corners 103 of the vertical frame 101 are simultaneously actuated, the radial pressing follower 832 of each fixed pressing device 8 extends radially inwards from the non-working position to the wind turbine blade 300 to enter the working position, and when the motion controller considers that the pressure sensed by the pressure sensor on the radial pressing follower 832 reaches a predetermined threshold value, the motion controller controls the electric pressing cylinder 830 to stop actuating;

then, the motion controller controls the positioning servo motor 850 on each fixed pressing device 8 to act, and drives the positioning rotating shaft 854 to drive the axial cam 856 to rotate 90 degrees, so as to convert the axial cam 856 from the axial positioning position to the axial release position, that is, the axial cam 856 retracts to a safe distance, and a milling head working area is made.

Compared with the prior art, the utility model discloses compress tightly its blade root outer periphery from wind-powered electricity generation blade 300's outside, easy operation, easily observation, labour saving and time saving, safe and reliable.

While the invention has been described with reference to the above embodiments, it will be understood by those skilled in the art that various changes and modifications may be made to the above-described arrangements, including combinations of features disclosed herein either individually or in any combination as is evident from the below disclosure. These variants and/or combinations fall within the technical field of the present invention and are intended to be protected by the following claims.

Claims

1. The utility model provides a wind-powered electricity generation blade face milling machine which characterized in that includes:

a support frame comprising a vertical frame for receiving a wind blade therein;

the Y-axis of the milling head is movably arranged on the Y-axis feeding mechanism and comprises a milling cutter head for rotationally milling a stud on the end face of the blade root of the wind power blade;

2. The wind blade face mill of claim 1 wherein position sensors are provided on the Z-axis moving mechanism, the X-axis moving mechanism and the Y-axis feeding mechanism, a distance measuring laser head is provided on the milling head for sensing the actual difference of the stud relative to the face of the wind blade root, and the motion controller is configured to control the three-axis linkage according to the actual difference sensed by the distance measuring laser head, so that the Z-axis moving mechanism and the X-axis moving mechanism can move in the Z-axis direction and the X-axis direction respectively to drive the Y-axis feeding mechanism and the milling head to move in a circular trajectory adapted to the distribution shape of the stud on the face of the wind blade root, and so that the Y-axis feeding mechanism moves in the Y-axis direction to drive the milling head to feed the stud along the Y-axis, and so that the milling head rotationally mills the stud.

3. The wind blade face milling machine according to claim 2, wherein the X-axis beam assembly includes an X-axis beam, left and right beam connection bases mounted on left and right sides of the X-axis beam, and an X-direction slide rail mounted on a top of the X-axis beam, wherein the left and right beam connection bases are fixedly connected to the Z-axis moving mechanism at rear sides thereof.

4. The wind turbine blade face milling machine according to claim 3, wherein the Z-axis moving mechanism includes left and right connecting seats fixedly connected to the left and right beam connecting seats, respectively, a Z-direction moving long shaft rotatably mounted at both ends thereof on the left and right connecting seats, respectively, a Z-axis servo motor mounted on the right connecting seat and driving-connected to the Z-direction moving long shaft, left and right Z-direction gears mounted on the Z-direction moving long shaft inside the left and right connecting seats, respectively, and left and right Z-direction racks mounted on the left and right sides of the vertical frame and adapted to engage the left and right Z-direction gears, respectively, wherein the Z-axis servo motor is provided with a Z-axis encoder as the position sensor, and the left and right connecting seats are each provided with an X-direction opening slide and a Y-direction opening slide adapted to slidably connect the left and right sides of the vertical frame.

5. The wind turbine blade face milling machine according to claim 4, wherein the X-axis moving mechanism comprises an X-axis servo motor, an X-axis moving base slidably connected to the X-axis slide rail, an X-axis gear rotatably mounted on the X-axis moving base, and an X-axis rack fixedly mounted on the front side of the X-axis cross beam and engaged with the X-axis gear, wherein a front motor base is disposed on the bottom of the X-axis moving base, the X-axis servo motor is mounted on the front motor base and drivingly connected to the X-axis gear located on the rear side of the front motor base, and an X-axis encoder is disposed on the X-axis servo motor as the position sensor.

6. The wind blade face milling machine according to claim 5, wherein the Y-axis feeding mechanism includes a Y-axis servomotor fixedly mounted on a front side of the X-axis moving base, and a Y-axis moving base slidably mounted on the X-axis moving base, wherein the Y-axis servomotor is drivingly connected to the Y-axis moving base, and wherein the milling head is mounted on the Y-axis moving base.

7. The wind blade face mill of claim 1 wherein the support frame further comprises a horizontal frame for mounting the vertical frame thereon, the horizontal frame comprising a lower fixed frame for resting on the work platform and an upper movable frame slidably mounted on the lower fixed frame along the Y-axis, wherein the vertical frame is mounted on the upper movable frame.

8. The wind blade face milling machine of claim 7 wherein the vertical frame comprises a left side post, a right side post, an upper cross beam and a lower cross beam, wherein the Z axis movement mechanism is movably mounted to the left side post and the right side post along the Z axis.

9. The wind blade face mill of any one of claims 1 to 8, further comprising a motion balancing system for said three-axis linkage, the motion balancing system comprising a nitrogen tank, a pair of balancing cylinders, a pair of balancing chains, a pair of cylinder head moving sprockets, and two pairs of fixed corner sprockets, wherein each balancing cylinder is in gas communication with the nitrogen tank, each cylinder head moving sprocket is mounted on the balancing cylinder head of a corresponding balancing cylinder, each pair of fixed corner sprockets is mounted on the top of one side of said vertical frame, each balancing chain has one end connected to the back of one side of said vertical frame and the other end connected to one side of the top of said Z-axis moving mechanism of said three-axis linkage, and the balancing chains between the one end and the other end are in turn connected to the cylinder head moving sprocket and the pair of fixed corner sprockets, thereby enabling said three-axis linkage to move vertically and downwardly in balance on said vertical frame by virtue of said Z-axis moving mechanism thereof.

10. The wind blade face milling machine as defined in claim 9, wherein said one end of each balancing chain is connected to a fixing leg provided on said back portion on one side of said vertical frame; the other end of the balance chain is connected to a lifting lug on one side of the top of the Z-axis moving mechanism of the three-axis linkage device; each pair of fixed corner sprockets is slidably mounted on the top of one side of the vertical frame via a balance cylinder upper corner.

11. The wind turbine blade face mill according to any one of claims 1 to 8, wherein the fixed hold-down device includes a mounting base, a radial hold-down mechanism including a radial compliance pressure plate mounted on the mounting base, and an axial positioning mechanism including an axial cam, wherein the radial compliance pressure plate is arranged to be radially movably switchable between a non-operating position retracted radially outward and an operating position extended radially inward to hold down the outer circumferential surface of the wind turbine blade, and the axial cam is arranged to be rotatably switchable between an axial release position disengaged from the axial positioning of the wind turbine blade root face and an axial positioning position axially abutting against the wind turbine blade root face.

12. The wind blade face mill of claim 11 wherein said radial hold down mechanism is configured to radially clamp said wind blade from an exterior of said wind blade with said radial compliant pressure plate in said operating position, and said axial positioning mechanism is configured such that said axial cam is rotated from said axially positioned position to said axially released position thereof when said radial compliant pressure plate is extended radially inward from said inoperative position to said operative position thereof.

13. The wind blade face milling machine of claim 12, wherein the mounting base includes a base body to which the radial hold down mechanism and the axial positioning mechanism are mounted and mounting beams on either side of the base body that are configured to be positionally adjustably mounted on the corners of the vertical frame.

14. The wind blade face milling machine as claimed in claim 13, wherein said mounting beam is provided with kidney-shaped mounting holes.

15. The wind blade face milling machine as defined in claim 12, wherein the radial clamping mechanism further comprises a clamping cylinder drivingly connected to the radial form-fitting platen, wherein the radial form-fitting platen is provided with a pressure sensor.

16. The wind turbine blade face milling machine of claim 15, wherein the radial compliant pressure plate includes a compression arc plate and a cushion rubber pad attached to the compression arc plate.

17. The wind turbine blade face milling machine according to claim 12, wherein the axial positioning mechanism further includes a positioning servo motor, a positioning reducer, and a positioning shaft, wherein the positioning servo motor is connected to the positioning shaft via the positioning reducer, the positioning shaft is connected to the axial cam, and the axial cam is provided with a touch limit switch.

18. The wind turbine blade face milling machine of claim 9, wherein the fixed hold-down device includes a mounting base, a radial hold-down mechanism including a radial compliance pressure plate mounted on the mounting base, and an axial positioning mechanism including an axial cam, wherein the radial compliance pressure plate is configured to be radially movably transitionable between a radially outwardly retracted inoperative position and a radially inwardly extended operative position for holding down the outer circumferential surface of the wind turbine blade, and the axial cam is configured to be rotatably transitionable between an axially released position out of axial positioning of the wind turbine blade root face and an axially positioned position axially abutting the wind turbine blade root face.

19. The wind blade face mill of claim 18 wherein said radial hold down mechanism is configured to radially clamp said wind blade from an exterior of said wind blade with said radial compliant pressure plate in said operating position, and said axial positioning mechanism is configured such that said axial cam is rotated from its said axially positioned position to its said axially released position when said radial compliant pressure plate is extended radially inward from its said rest position to its said operating position.

20. The wind turbine blade face milling machine of claim 19 wherein said mounting base includes a base body and mounting beams on opposite sides of said base body, wherein said radial hold down mechanism and said axial positioning mechanism are mounted to said base body, and wherein said mounting beams are provided with kidney-shaped mounting holes for position adjustable mounting to said corners of said vertical frame.

21. The wind turbine blade face milling machine of claim 19, wherein the radial compression mechanism further comprises a compression electric cylinder drivingly connected to the radial conformal pressure plate, wherein the radial conformal pressure plate is provided with a pressure sensor, and the radial conformal pressure plate comprises a compression arc plate and a cushion rubber pad attached to the compression arc plate.

22. The wind turbine blade face milling machine according to claim 19, wherein the axial positioning mechanism further comprises a positioning servo motor, a positioning reducer and a positioning rotating shaft, wherein the positioning servo motor is connected with the positioning rotating shaft through the positioning reducer in a driving manner, the positioning rotating shaft is connected with the axial cam, and the axial cam is provided with a touch limit switch.