A gluing robot system

Abstract

The application belongs to the technical field of wind power blade intelligent manufacturing, and particularly relates to a glue collecting robot system, which comprises a tractor and a glue collecting trolley, and the tractor and the glue collecting trolley are connected through a quick connecting mechanism; a glue storage unit, a rudder wheel mechanism, a web glue collecting and lifting mechanism and a leading edge glue collecting position adjusting mechanism of the glue collecting trolley are all installed on a chassis, the web glue collecting and transferring mechanism is connected with the web glue collecting and lifting mechanism, the web glue collecting mechanism is connected with the web glue collecting and transferring mechanism, the leading edge glue collecting and transferring mechanism is installed on the leading edge glue collecting position adjusting mechanism, and the leading edge glue collecting mechanism is connected with the leading edge glue collecting and transferring mechanism. In the narrow space of the blade tip which is inaccessible to people, the application can automatically collect residual glue at the web bonding angle and the leading edge and take it out of the blade. Cleaning the residual glue can reduce the weight and mass moment of the blade, and help to realize lean manufacturing of the blade.

Description

Technical Field

[0001] This application belongs to the field of intelligent manufacturing technology for wind turbine blades, specifically relating to a glue collection robot system. Background Technology

[0002] Wind turbine blades are made by bonding PS and SS shells together with adhesive. The adhesive is manually applied to the web, main beam cap, and leading and trailing edges. After the blade is molded using tooling, excess adhesive overflows. Significant amounts of adhesive are squeezed out and hang at the bonding corners on the leading edge, the middle of the web, and the trailing edge. The narrow space at the blade tip makes it impossible for workers to clean up the excess adhesive. This residual adhesive not only increases the blade's moment of mass but also falls during operation, causing noise, damaging diaphragms and the blade tip shell, harming the lightning protection system, and clogging drainage holes, posing significant quality risks. Therefore, a robotic system for automatically cleaning residual adhesive in inaccessible areas inside the blade is needed.

[0003] Existing patents related to adhesive application, such as the utility model patent with application number CN201220160277.7 entitled "A Collection Device for Structural Adhesive in the Mold of Composite Wind Turbine Blades," disclose a collection device for structural adhesive in the mold of composite wind turbine blades. The device comprises four parts: a handle, a movable rotating plate, a movable rotating shaft, and a collection box. The movable rotating plate is mounted at the bottom of the collection box via the movable rotating shaft. The collection box is connected to one end of the handle, allowing it to extend into the flange gap. The shape of the end of the collection box matches the shape of the upper and lower flanges on the mold face of the wind turbine blade, ensuring a tight fit between the collection box and the mold flange. The movable rotating plate, located at the bottom of the collection box, has a shape consistent with the bottom and rear wall of the collection box but no side walls. The protruding part of the movable rotating plate, which is flush with the rear wall, extends out of the collection box and is connected in the middle via the movable rotating shaft. The protruding part acts as a lever.

[0004] The aforementioned patent describes only a glue-collecting fixture, used to assist manual glue collection. A person holds the fixture to collect glue from accessible areas within the blades. It does not have an automatic glue-collecting function and cannot collect residual glue from areas of the blades inaccessible to humans. Summary of the Invention

[0005] To address the aforementioned problems in existing technologies, a blade mold-closing and glue-collecting robot system is proposed. This system automatically collects residual glue from the web bonding angle and leading edge of the blade within the narrow space inaccessible to humans at the blade tip and carries it out of the blade.

[0006] To achieve the above technical effects, the technical solution is as follows: A glue-collecting robot system includes a tractor and a glue-collecting trolley, which are connected by a quick-connect mechanism. The glue-collecting trolley includes a web glue-collecting mechanism, a web glue-collecting transfer mechanism, a web glue-collecting lifting mechanism, a leading edge glue-collecting mechanism, a leading edge glue-collecting transfer mechanism, a leading edge glue-collecting position adjustment mechanism, a glue storage unit, a chassis, and a steering wheel mechanism. The glue storage unit, steering wheel mechanism, web glue-collecting lifting mechanism, and leading edge glue-collecting position adjustment mechanism are all mounted on the chassis. The web glue-collecting transfer mechanism is connected to the web glue-collecting lifting mechanism, and the web glue-collecting mechanism is connected to the web glue-collecting transfer mechanism. The leading edge glue-collecting transfer mechanism is mounted on the leading edge glue-collecting position adjustment mechanism, and the leading edge glue-collecting mechanism is connected to the leading edge glue-collecting transfer mechanism.

[0007] Furthermore, the web plate glue-collecting mechanism includes a web plate glue-collecting box, a pair of web plate glue-collecting rollers, a web plate glue-collecting motor, a web plate glue-collecting gear set, and a housing for the web plate glue-collecting gear set. The pair of web plate glue-collecting rollers is installed in the center of the glue-collecting opening of the web plate glue-collecting box. The pair of web plate glue-collecting rollers is connected to two gears in the web plate glue-collecting gear set via keys. The web plate glue-collecting motor is connected to the web plate glue-collecting gear set via a coupling. Under the drive of the web plate glue-collecting motor, the web plate glue-collecting gear set drives the pair of web plate glue-collecting rollers to rotate synchronously. The housing for the web plate glue-collecting gear set is fixed on the web plate glue-collecting box.

[0008] Furthermore, the web plate glue-collecting mechanism and the web plate glue-collecting and transferring mechanism are connected by a flange.

[0009] Furthermore, the web adhesive collection and transfer mechanism includes a web adhesive collection and transfer mechanism housing, a web adhesive collection Archimedes screw, and a web adhesive collection and transfer drive module. The web adhesive collection Archimedes screw is mounted on the web adhesive collection and transfer mechanism housing and is connected to the web adhesive collection and transfer drive module via a coupling. Under the drive of the web adhesive collection and transfer drive module, the web adhesive collection Archimedes screw transfers the adhesive from the web adhesive collection mechanism to the adhesive storage unit through a bellows. The web adhesive collection and transfer drive module is fixed on the lifting arm.

[0010] Furthermore, the web plate glue collection and lifting mechanism includes a support plate, a transition block, a lifting module, a lifting arm, and a rotating shaft. The support plate is installed on the glue storage cavity, the rotating shaft is installed on the support plate, the lifting arm is fixed on the flange of the rotating shaft, the lifting module is installed on the support plate through the transition block, and the lifting module is connected to the lifting arm. Driven by the lifting module, the lifting arm can rotate around the rotating shaft, thereby driving the web plate glue collection and transfer mechanism and the glue collection mechanism to rotate around the rotating shaft.

[0011] Furthermore, the leading edge glue collection position adjustment mechanism includes a lead screw module and a rotary drive mechanism. The lead screw module is mounted on the chassis, and the rotary drive mechanism is mounted on the lead screw module.

[0012] Furthermore, the leading edge receiving mechanism includes a leading edge receiving box, a leading edge receiving roller pair, a leading edge receiving motor, a leading edge receiving gear set, a leading edge receiving gear set housing, a glue position recognition camera, and a leading edge camera light source; the leading edge receiving roller pair is installed at the center of the receiving port of the leading edge receiving box, the leading edge receiving roller pair is connected to two gears in the leading edge receiving gear set by a key, and the leading edge receiving motor is connected to the gear shaft in the leading edge receiving gear set by a coupling; the leading edge receiving gear set drives the leading edge receiving roller pair to rotate synchronously under the drive of the leading edge receiving motor, the leading edge receiving gear set housing is fixedly mounted on the leading edge receiving box, the glue position recognition camera is installed directly above the leading edge receiving box, and the leading edge camera light source is installed on the lead screw module.

[0013] Furthermore, the leading edge glue collection mechanism and the leading edge glue collection and transfer mechanism are connected by a flange.

[0014] Furthermore, the leading edge adhesive collection and transfer mechanism includes a leading edge adhesive collection and transfer mechanism housing, a leading edge Archimedean screw, and a leading edge adhesive collection and transfer drive module. The leading edge Archimedean screw is mounted on the leading edge transfer mechanism housing and connected to the leading edge adhesive collection and transfer drive module via a coupling. Under the drive of the leading edge adhesive collection and transfer drive module, the leading edge Archimedean screw transfers the adhesive from the leading edge adhesive collection mechanism to the adhesive storage unit through a bellows. The leading edge adhesive collection and transfer drive module is mounted on a rotary drive mechanism.

[0015] Furthermore, the glue storage unit includes a glue storage cavity and an upper cover plate. The glue storage cavity is installed on the chassis, and the upper cover plate is fastened to the glue storage cavity by a buckle. The upper cover plate has a glue collection port, which is connected to the web glue collection and transfer mechanism and the front edge glue collection and transfer mechanism through a glue tube. The transfer mechanism delivers the adhesive to the glue storage unit through the glue tube.

[0016] Furthermore, the panoramic camera and light source are mounted above the lead screw module, and the steering of the glue collection trolley is achieved by the steering wheel mechanism in conjunction with the traction wheel of the tractor.

[0017] Furthermore, the steering wheel mechanism includes a servo motor, a wheel frame, and a rubber wheel, the rubber wheel being mounted on the wheel frame and connected to the servo motor.

[0018] The advantages of this application are: The tractor and the glue-collecting trolley of this application are connected via a quick-connect mechanism. Specifically designed for the confined space at the blade tip that is inaccessible to humans, this application can automatically collect residual glue from the bonding corners of the web and the leading edge, and remove it from the blade. Cleaning residual glue reduces the blade's mass moment, facilitating lean manufacturing of the blade. It also reduces the amount of residual glue that falls during blade operation, preventing damage to septa and blade tip shells, lightning protection systems, and drainage holes, thus avoiding significant quality hazards. This glue-collecting robot system is easy to operate, highly efficient, easy to maintain, applicable to a wide range of blade types, and stable and reliable. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this application.

[0020] Figure 2 This is a schematic diagram of the web plate glue collection mechanism and the web plate glue collection and transfer mechanism.

[0021] Figure 3 This is a schematic diagram of the internal structure of the web plate glue collection mechanism and the web plate glue collection and transfer mechanism.

[0022] Figure 4 This is a schematic diagram of the glue storage unit and the glue collection and lifting mechanism for the web.

[0023] Figure 5 This is a schematic diagram of the leading edge glue collection mechanism, the leading edge glue collection and transfer mechanism, and the leading edge glue collection position adjustment mechanism.

[0024] Figure 6 This is a schematic diagram of the internal structure of the leading edge glue collection mechanism, the leading edge glue collection and transfer mechanism, and the leading edge glue collection position adjustment mechanism.

[0025] Figure 7 This is a schematic diagram of the glue storage unit, chassis, and servo mechanism.

[0026] In the attached diagram: 1-Web plate receiving box, 2-Web plate receiving roller pair, 3-Web plate receiving gear set housing, 4-Web plate receiving motor, 5-Web plate receiving transfer drive module, 6-Web plate receiving transfer mechanism housing, 7-Flange, 8-Web plate receiving Archimedes screw, 9-Web plate receiving gear set, 10-Lifting arm, 11-Rotating shaft, 12-Support plate, 13-Lifting module, 14-Transfer block, 15-Receiving cavity, 16-Screw module, 17-Leading edge receiving transfer drive module, 18-... 19-Carrier housing; 20-Leading edge take-up motor; 21-Leading edge take-up gear set housing; 22-Leading edge take-up roller pair; 23-Leading edge take-up box; 24-Colloid position recognition camera; 25-Leading edge camera light source; 26-Working panoramic camera; 27-Light source; 28-Rotary drive mechanism; 29-Leading edge Archimedes screw; 30-Leading edge take-up gear set; 31-Servo motor; 32-Wheel frame; 33-Rubber wheel; 34-Chassis; 35-Top cover plate; 36-Quick-connect mechanism; 37-Tractor. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of this application, it should be noted that the terms "upper," "vertical," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] Example 1 like Figure 1 As shown, a glue-collecting robot system includes a tractor 36 and a glue-collecting trolley. The tractor 36 is responsible for power drive, and the glue-collecting trolley is responsible for glue collection and system steering. The tractor 36 and the glue-collecting trolley are connected by a quick-connect mechanism 35. The glue collection trolley includes a web glue collection mechanism, a web glue collection and transfer mechanism, a web glue collection and lifting mechanism, a leading edge glue collection mechanism, a leading edge glue collection and transfer mechanism, a leading edge glue collection position adjustment mechanism, a glue storage unit, a chassis 33, and a steering wheel mechanism. The glue storage unit, steering wheel mechanism, web glue collection and lifting mechanism, and leading edge glue collection position adjustment mechanism are all mounted on the chassis 33 by screws. The web glue collection and transfer mechanism is connected to the web glue collection and lifting mechanism by screws. The web glue collection mechanism and the web glue collection and transfer mechanism are connected by a flange 7. The leading edge glue collection and transfer mechanism is mounted on the leading edge glue collection position adjustment mechanism by screws. The leading edge glue collection mechanism and the leading edge glue collection and transfer mechanism are connected by a flange 7.

[0033] The blade mold closing and glue collection robot system consists of a tractor 36 and a glue collection trolley. The tractor 36 is responsible for power drive, while the glue collection trolley is responsible for glue collection and system steering. The tractor 36 and the glue collection trolley are connected via a quick-connect mechanism 35. Addressing the confined space at the blade tip that is inaccessible to humans, this application can automatically collect residual glue from the web bonding angle and leading edge, and remove it from the blade. Cleaning residual glue reduces the blade's weight moment, facilitating lean manufacturing of the blade. It also reduces the amount of residual glue falling during blade operation, preventing damage to the partition plate, blade tip shell 18, lightning protection system, and drainage holes, thus avoiding significant quality hazards. This glue collection robot system is easy to operate, highly efficient, easy to maintain, applicable to a wide range of blade types, and stable and reliable.

[0034] Example 2 like Figure 1 As shown, a glue-collecting robot system includes a tractor 36 and a glue-collecting trolley. The tractor 36 is responsible for power drive, and the glue-collecting trolley is responsible for glue collection and system steering. The tractor 36 and the glue-collecting trolley are connected by a quick-connect mechanism 35. The glue collection trolley includes a web glue collection mechanism, a web glue collection and transfer mechanism, a web glue collection and lifting mechanism, a leading edge glue collection mechanism, a leading edge glue collection and transfer mechanism, a leading edge glue collection position adjustment mechanism, a glue storage unit, a chassis 33, and a steering wheel mechanism. The glue storage unit, steering wheel mechanism, web glue collection and lifting mechanism, and leading edge glue collection position adjustment mechanism are all mounted on the chassis 33 by screws. The web glue collection and transfer mechanism is connected to the web glue collection and lifting mechanism by screws. The web glue collection mechanism and the web glue collection and transfer mechanism are connected by a flange 7. The leading edge glue collection and transfer mechanism is mounted on the leading edge glue collection position adjustment mechanism by screws. The leading edge glue collection mechanism and the leading edge glue collection and transfer mechanism are connected by a flange 7.

[0035] like Figure 2 and Figure 3As shown, the web adhesive collection mechanism includes a web adhesive collection box 1, a web adhesive collection roller pair 2, a web adhesive collection motor 4, a web adhesive collection gear set 9, and a web adhesive collection gear set housing 3. The web adhesive collection roller pair 2 is installed at the center of the adhesive collection opening of the web adhesive collection box 1. The web adhesive collection roller pair 2 is connected to two gears in the web adhesive collection gear set 9 via keys. The web adhesive collection motor 4 is connected to the web adhesive collection gear set 9 via a coupling. Driven by the web adhesive collection motor 4, the web adhesive collection gear set 9 drives the web adhesive collection roller pair 2 to rotate synchronously, realizing the adhesive collection function. The web adhesive collection gear set housing 3 is fixed to the web adhesive collection box 1 with screws to protect the web adhesive collection gear set 9 from adhesive contamination.

[0036] The web plate glue collection mechanism and the web plate glue collection and transfer mechanism are connected by flange 7, which can realize the rotation of the web plate glue collection mechanism around the direction of the trolley's movement within a certain range, and adapt to the change of the slope of the shell 18 at the web plate bonding angle.

[0037] The web adhesive collection and transfer mechanism includes a web adhesive collection and transfer mechanism housing 6, a web adhesive collection Archimedes screw 8, and a web adhesive collection and transfer drive module 5. The web adhesive collection Archimedes screw 8 is mounted on the web adhesive collection and transfer mechanism housing 6 and is connected to the web adhesive collection and transfer drive module 5 via a coupling. Driven by the web adhesive collection and transfer drive module 5, the web adhesive collection Archimedes screw 8 transfers the adhesive from the web adhesive collection mechanism to the adhesive storage unit through a bellows. The web adhesive collection and transfer drive module 5 is fixed on the lifting arm 10.

[0038] like Figure 4 As shown, the web plate glue collection and lifting mechanism includes a support plate 12, a transition block 14, a lifting module 13, a lifting arm 10, and a rotating shaft 11. The support plate 12 is mounted on the glue storage cavity 15, the rotating shaft 11 is mounted on the support plate 12, the lifting arm 10 is fixed on the flange of the rotating shaft 11, and the lifting module 13 is mounted on the support plate 12 through the transition block 14. The lifting module 13 is connected to the lifting arm 10. Driven by the lifting module 13, the lifting arm 10 can rotate around the rotating shaft 11, thereby driving the web plate glue collection and transfer mechanism and the glue collection mechanism to rotate around the rotating shaft 11, realizing the lifting and lowering of the glue collection mechanism.

[0039] like Figure 5 and Figure 6As shown, the leading edge glue collection mechanism and the web glue collection mechanism have similar glue collection structures, including a leading edge glue collection box 22, a leading edge glue collection roller pair 21, a leading edge glue collection motor 19, a leading edge glue collection gear set 29, a leading edge glue collection gear set housing 20, a glue position recognition camera 23, and a leading edge camera light source 24. The leading edge glue collection roller pair 21 is installed at the center of the glue collection opening of the leading edge glue collection box 22. The leading edge glue collection roller pair 21 is connected to two gears in the leading edge glue collection gear set 29 by a key. The leading edge glue collection motor 19 is connected to the gear shaft in the leading edge glue collection gear set 29 by a coupling. Driven by the leading edge glue collection motor 19, the leading edge glue collection gear set 29 drives the leading edge glue collection roller pair 21 to rotate synchronously, realizing the glue collection function. The leading edge glue collection gear set housing 20 is fixed to the leading edge glue collection box 22 by screws, protecting the leading edge glue collection gear set 29 from adhesive contamination. A colloid position recognition camera 23 is mounted directly above the leading edge colloid collection box 22 for recognizing the colloid position, thereby controlling the operation of the leading edge colloid collection position adjustment mechanism. A leading edge camera light source 24 is mounted on the lead screw module 16 to provide illumination.

[0040] The leading edge glue collection mechanism and the leading edge glue collection and transfer mechanism are connected by flange 7.

[0041] The leading edge adhesive collection and transfer mechanism and the web adhesive collection and transfer mechanism have similar structures, including a leading edge adhesive collection and transfer mechanism housing 18, a leading edge Archimedes screw 28, and a leading edge adhesive collection and transfer drive module 17. The leading edge Archimedes screw 28 is mounted on the leading edge transfer mechanism housing 18 and is connected to the leading edge adhesive collection and transfer drive module 17 via a coupling. Driven by the leading edge adhesive collection and transfer drive module 17, the leading edge Archimedes screw 28 transfers the adhesive from the leading edge adhesive collection mechanism to the adhesive storage unit through a bellows. The leading edge adhesive collection and transfer drive module 17 is mounted on the rotary drive mechanism 27.

[0042] The leading edge glue collection position adjustment mechanism includes a lead screw module 16 and a rotary drive mechanism 27. The lead screw module 16 is mounted on the chassis 33 by screw connection, and the rotary drive mechanism 27 is mounted on the lead screw module 16 by screw connection. The lead screw module 16 realizes the left and right movement of the leading edge glue collection mechanism perpendicular to the forward direction of the trolley, and the rotary drive mechanism 27 realizes the rotation of the leading edge glue collection mechanism around the forward direction of the trolley. Under the vision system command based on the glue position recognition camera 23, it automatically adapts to the change in the distribution position of the leading edge residual glue.

[0043] The glue storage unit includes a glue storage cavity 15 and an upper cover plate 34. The glue storage cavity 15 is mounted on the chassis 33. The upper cover plate 34 is fastened to the glue storage cavity 15 by a buckle. The upper cover plate 34 has a glue receiving port, which is connected to the web glue receiving and transfer mechanism and the front edge glue receiving and transfer mechanism through a glue tube. The transfer mechanism delivers the adhesive to the glue storage unit through the glue tube.

[0044] A panoramic camera 25 and a light source 26 are mounted above the lead screw module 16 for real-time observation of the glue collection operation. The glue collection trolley is steered by a steering wheel mechanism in conjunction with the traction wheels of the traction vehicle 36.

[0045] like Figure 7 As shown, the steering wheel mechanism includes a servo motor 30, a wheel frame 31, and a rubber wheel 32. The rubber wheel 32 is mounted on the wheel frame 31 and is connected to the servo motor 30.

[0046] During the entire system's forward movement, the web-side glue collection mechanism and the leading-edge glue collection mechanism operate simultaneously, automatically collecting residual glue distributed along the web and leading-edge bonding surfaces of the blades, respectively. After entering the collection mechanism, the residual glue is transferred to the glue storage unit via a bellows by the web-side and leading-edge glue collection transfer mechanisms. The web-side glue collection lifting mechanism applies downward pressure during collection, ensuring the web-side glue collection mechanism is flush with the collection plane. The lead screw module 16 of the leading-edge glue collection position adjustment mechanism enables the left-right movement of the leading-edge glue collection mechanism perpendicular to the trolley's forward direction, while the rotary drive mechanism 27 enables the leading-edge glue collection mechanism to rotate around the trolley's forward direction. Under the command of the vision system based on the glue position recognition camera 23, it automatically adapts to changes in the distribution position of the residual glue at the leading edge. The leading-edge camera light source 24 provides the illumination environment. The flange 7 allows the web-side and leading-edge glue collection mechanisms to adapt to changes in the angle of the collection plane. The steering of the entire system is controlled by the steering wheel mechanism of the glue collection trolley. The panoramic camera 25 and the light source 26 are used to observe the glue collection operation of the entire system in real time.

Claims

1. A glue collection robot system, characterized in that: The system includes a tractor (36) and a rubber collection trolley. The tractor (36) and the rubber collection trolley are connected by a quick-connect mechanism (35). The rubber collection trolley includes a web rubber collection mechanism, a web rubber collection transfer mechanism, a web rubber collection lifting mechanism, a leading edge rubber collection mechanism, a leading edge rubber collection transfer mechanism, a leading edge rubber collection position adjustment mechanism, a rubber storage unit, a chassis (33), and a steering wheel mechanism. The rubber storage unit, the steering wheel mechanism, the web rubber collection lifting mechanism, and the leading edge rubber collection position adjustment mechanism are all installed on the chassis (33). The web rubber collection transfer mechanism is connected to the web rubber collection lifting mechanism, the web rubber collection mechanism is connected to the web rubber collection transfer mechanism, the leading edge rubber collection transfer mechanism is installed on the leading edge rubber collection position adjustment mechanism, and the leading edge rubber collection mechanism is connected to the leading edge rubber collection transfer mechanism. The web plate glue collection mechanism includes a web plate glue collection box (1), a web plate glue collection roller pair (2), a web plate glue collection motor (4), a web plate glue collection gear set (9), and a web plate glue collection gear set housing (3). The web plate glue collection roller pair (2) is installed in the center of the glue collection port of the web plate glue collection box (1). The web plate glue collection roller pair (2) is connected to two gears in the web plate glue collection gear set (9) by keys. The web plate glue collection motor (4) is connected to the web plate glue collection gear set (9) by a coupling. Under the drive of the web plate glue collection motor (4), the web plate glue collection gear set (9) drives the web plate glue collection roller pair (2) to rotate synchronously. The web plate glue collection gear set housing (3) is fixed on the web plate glue collection box (1). The web adhesive collection and transfer mechanism includes a web adhesive collection and transfer mechanism housing (6), a web adhesive collection Archimedes screw (8), and a web adhesive collection and transfer drive module (5). The web adhesive collection Archimedes screw (8) is installed on the web adhesive collection and transfer mechanism housing (6) and connected to the web adhesive collection and transfer drive module (5) via a coupling. Under the drive of the web adhesive collection and transfer drive module (5), the web adhesive collection Archimedes screw (8) transfers the adhesive from the web adhesive collection mechanism to the adhesive storage unit through a bellows. The web adhesive collection and transfer drive module (5) is fixed on the lifting arm (10). The web plate glue collection and lifting mechanism includes a support plate (12), a connecting block (14), a lifting module (13), a lifting arm (10), and a rotating shaft (11). The support plate (12) is installed on the glue storage cavity (15), the rotating shaft (11) is installed on the support plate (12), the lifting arm (10) is fixed on the flange of the rotating shaft (11), the lifting module (13) is installed on the support plate (12) through the connecting block (14), the lifting module (13) is connected to the lifting arm (10), and under the drive of the lifting module (13), it and the lifting arm (10) can rotate around the rotating shaft (11), thereby driving the web plate glue collection and transfer mechanism and the glue collection mechanism to rotate around the rotating shaft (11).

2. The glue collection robot system according to claim 1, characterized in that: The leading edge glue collection position adjustment mechanism includes a lead screw module (16) and a rotary drive mechanism (27). The lead screw module (16) is mounted on the chassis (33), and the rotary drive mechanism (27) is mounted on the lead screw module (16).

3. The glue collection robot system according to claim 2, characterized in that: The leading edge receiving mechanism includes a leading edge receiving box (22), a leading edge receiving roller pair (21), a leading edge receiving motor (19), a leading edge receiving gear set (29), a leading edge receiving gear set housing (20), a glue position recognition camera (23), and a leading edge camera light source (24). The leading edge receiving roller pair (21) is installed at the center of the receiving port of the leading edge receiving box (22), and the leading edge receiving roller pair (21) is connected to two gears in the leading edge receiving gear set (29) by a key. Then, the leading edge take-up motor (19) and the gear shaft in the leading edge take-up gear set (29) are connected by a coupling; the leading edge take-up gear set (29) drives the leading edge take-up roller pair (21) to rotate synchronously under the drive of the leading edge take-up motor (19), the housing (20) of the leading edge take-up gear set is installed and fixed on the leading edge take-up box (22), the glue position recognition camera (23) is installed directly above the leading edge take-up box (22), and the leading edge camera light source (24) is installed on the lead screw module (16).

4. The glue collection robot system according to claim 1, characterized in that: The leading edge adhesive collection and transfer mechanism includes a leading edge adhesive collection and transfer mechanism housing (18), a leading edge Archimedes screw (28), and a leading edge adhesive collection and transfer drive module (17). The leading edge Archimedes screw (28) is mounted on the leading edge transfer mechanism housing (18) and connected to the leading edge adhesive collection and transfer drive module (17) via a coupling. Under the drive of the leading edge adhesive collection and transfer drive module (17), the leading edge Archimedes screw (28) transfers the adhesive from the leading edge adhesive collection mechanism to the adhesive storage unit through a bellows. The leading edge adhesive collection and transfer drive module (17) is mounted on the rotary drive mechanism (27).

5. The glue collection robot system according to claim 1, characterized in that: The glue storage unit includes a glue storage cavity (15) and an upper cover plate (34). The glue storage cavity (15) is installed on the chassis (33). The upper cover plate (34) is fastened to the glue storage cavity (15) by a buckle. The upper cover plate (34) has a glue receiving port, which is connected to the web glue receiving and transfer mechanism and the front edge glue receiving and transfer mechanism through a glue tube. The transfer mechanism delivers the adhesive to the glue storage unit through the glue tube.

6. The glue collection robot system according to claim 2, characterized in that: The panoramic camera (25) and light source (26) are mounted on the top of the screw module (16). The steering of the glue collection trolley is coordinated by the steering wheel mechanism and the traction wheel of the traction vehicle (36).

7. The glue collection robot system according to claim 1, characterized in that: The steering wheel mechanism includes a servo motor (30), a wheel frame (31), and a rubber wheel (32). The rubber wheel (32) is mounted on the wheel frame (31) and is connected to the servo motor (30).

Images