Intelligent laying system for prefabrication of wind power blade structural member

Abstract

The invention relates to the technical field of spraying control, in particular to an intelligent laying system for wind power blade structural part prefabrication, which comprises a wind power blade structural part prefabrication mold system, and the wind power blade structural part prefabrication mold system comprises a wind power blade structural part prefabrication mold and a wind power blade structural part prefabrication mold support frame. The double-rail walking driving mechanism is installed on the wind power blade structural part prefabricating mold supporting frame, the curved surface self-adaption posture adjusting mechanism is installed on the double-rail walking driving mechanism, and the automatic fiber cloth laying mechanism is installed at the tail end of the curved surface self-adaption posture adjusting mechanism. And the surface spraying mechanism, the inclined shearing mechanism and the laying quality detection mechanism are fixedly connected with the automatic fiber cloth laying mechanism. Automatic transformation of an existing mold can be achieved, the track of the double-track walking driving mechanism simulates the shape of the mold and can adapt to the situation that the shape and size of the mold change greatly, the overall occupied space of the track and equipment is small, the space layout of an original plant is not changed, and the space utilization rate is increased.

Description

Technical Field

[0001] The invention belongs to the field of wind turbine blade manufacturing, and in particular relates to an intelligent laying system for prefabrication of wind turbine blade structural parts. Background Art

[0002] The proportion of wind power in new energy sources is increasing year by year. As the core component of wind power generation, wind turbine blades, ultra-long blades of 100 meters in length, have been used in wind energy capture. Shell laying is a basic process for manufacturing large and complex curved surfaces such as wind turbine blades, and it is also one of the key processes. It mainly includes the laying of fiber fabrics, core materials, prefabricated parts and auxiliary materials. The quality of the layup determines whether the product can achieve the designed structure and performance. The layup state will affect the stiffness and strength of the blade, and will also determine the dynamic performance of the blade. The speed of blade production mainly depends on the laying speed of the fiber fabric in the shell laying process.

[0003] The existing wind turbine blade manufacturing and laying process is completely dependent on manual labor, which is easily affected by the on-site environment and molds during the laying process, resulting in slow laying speed, low positioning accuracy, large overlap errors, and easy soiling and damage of the fiber cloth to be laid.

[0004] Under the industry consensus that "large capacity, lightweight, and highly reliable" wind turbines are the main means of reducing costs and increasing efficiency, digitalization and intelligence will become one of the major themes of the development of renewable energy represented by wind power. The various drawbacks of the traditional labor-intensive manufacturing model in terms of quality efficiency and uncontrollable standards no longer meet the current industry's extreme demand for the reliability of high-end wind power equipment. Especially in the era of thin profits after parity, the reduction of wind power cost per kilowatt-hour is extremely dependent on technological innovation and the reduction of operation and maintenance costs. At this time, improving the quality, safety and production efficiency of wind power equipment from the source of manufacturing has become a necessity for the high-quality development of the industry.

[0005] The patent application with application number CN202410286151.1 discloses an automatic laying system for large composite wind turbine blades. The system can push the push roller to be in a downward pressure state through the connection plate and the movable plate under the elastic action of the spring through the laying mechanism, so that the push roller can compact the material tightly without manual operation, and can also achieve good laying efficiency and improve the efficiency of wind turbine blade laying. At the same time, the push roller is always in a downward pressure state to improve the stability of the laying process.

[0006] The patent application with application number CN202121234200.5 discloses a new type of automatic laying device for large wind turbine blades. The application is powered by a motor and has the ability to move autonomously. Tracks are preset on both sides of the laying table to guide the moving path of the device so that it can only move on the preset tracks. This not only reduces the labor intensity of workers, but also increases the laying efficiency. At the same time, the device is also provided with a first pressing wheel, which can flatten the upper layer of material before laying, and the setting of the second pressing wheel can flatten the material after laying again, which greatly improves the flatness of the material laying.

[0007] The patent application with application number CN201810571357.3 discloses a wind turbine blade laying device and laying method. The invention is also different from the general technology in terms of the power selection for staggered laying. The traditional method generally uses manual methods to change the lateral displacement of the cloth layer. The present invention uses an electric drive method, which can be remotely controlled to reduce human errors, improve the accuracy and smoothness of the laying, improve work efficiency, reduce the labor intensity of operators, and reduce the number of operators.

[0008] The above patent only solves the problem of automatic laying, but the laying mechanism has no degree of freedom for curved surface adaptation and adjustment, and is only suitable for molds with curvature and shape variation close to 0, and cannot adapt to the situation where the curved surface of wind turbine blades changes greatly. Therefore, the present invention intends to carry out intelligent transformation of the laying process involved in the prefabrication process of wind turbine blade structures, which can realize the automatic spraying of fiber cloth laying process, automatic laying of fiber materials, automatic tensioning and shearing, intelligent recognition of curved surface features, and intelligent evaluation of laying status in the prefabrication process of large wind turbine blade structures, and solve the problems of slow laying speed, low positioning accuracy, large overlap error, and high labor cost. Summary of the invention

[0009] In order to overcome the above-mentioned technical problems existing in the prior art, the present application provides an intelligent laying system for the prefabrication process of wind turbine blade structural parts, which can realize efficient and high-quality laying and testing of the core load-bearing fiber materials of blade composite materials, thereby ensuring the production quality and production efficiency of wind turbine blade structural parts.

[0010] To achieve the above effects, the technical solutions adopted in this application are as follows: An intelligent laying system for prefabrication of wind turbine blade structural parts, comprising a wind turbine blade structural part prefabrication mold system, a double-track walking drive mechanism, a curved surface adaptive posture adjustment mechanism, a fiber cloth automatic laying mechanism, a surface spraying mechanism, an oblique shearing mechanism and a laying quality detection mechanism; The wind turbine blade structure prefabricated mold system includes a wind turbine blade structure prefabricated mold and a wind turbine blade structure prefabricated mold support frame. The double-track walking drive mechanism is installed on the wind turbine blade structure prefabricated mold support frame and can automatically walk along the length direction of the wind turbine structure prefabricated mold. The curved surface adaptive posture adjustment mechanism is installed on the double-track walking drive mechanism. The fiber cloth automatic laying mechanism is installed at the end of the curved surface adaptive posture adjustment mechanism. The surface spraying mechanism, the oblique shearing mechanism and the laying quality detection mechanism are fixedly connected to the fiber cloth automatic laying mechanism.

[0011] Furthermore, the double-track walking drive mechanism automatically walks along the length direction of the prefabricated mold for the wind turbine blade structure from the starting position of laying the first layer of fiber cloth. The curved surface adaptive posture adjustment mechanism 4 adjusts the relative positions of the fiber cloth automatic laying mechanism, the surface spraying mechanism, the oblique shearing mechanism and the laying quality detection mechanism and the mold surface in real time according to the shape and position of the mold to ensure that the laying angles of the fiber cloth and the mold surface are consistent. The surface spraying mechanism sprays a small amount of special glue according to the program setting before laying the fiber cloth to prevent the fiber cloth from slipping. The laying quality detection mechanism uses a visual method to take real-time photos of the laying effect, and uses image processing to detect in real time whether there are defects such as wrinkles and flash in the laying. After completing the single-layer laying, the oblique shearing mechanism automatically cuts the excess fiber cloth; the double-track walking drive mechanism returns to the starting position of laying the next layer of fiber cloth, and starts laying the second layer of fiber cloth, ultimately realizing high-precision and high-quality automatic layer-by-layer laying of the fiber cloth on the mold surface.

[0012] Furthermore, the double-track travel drive mechanism includes a track frame, which is installed on the prefabricated mold support frame of the wind turbine blade structure, and includes a first track and a second track arranged at intervals, the first track passes between the first active roller on the carrier and the first passive roller below it, and also passes between the second active roller on the carrier and the second passive roller below it; the second track passes between the rotatable first support roller and the second support roller on the carrier. Rotatable means that the roller itself can passively rotate along the track even without power.

[0013] Furthermore, the supporting frame is provided with a first guide rail and a first supporting plate slidably mounted on the first guide rail, a bearing seat is mounted on the first supporting plate, and the first passive roller is rotatably mounted on the bearing seat; the supporting frame is also provided with a first spring for pushing the first supporting plate to slide toward the first active roller; the supporting frame is provided with a first avoidance hole for avoiding the movement of the first passive roller.

[0014] Furthermore, the carrier frame is provided with a second guide rail and a second carrier plate slidably mounted on the second guide rail, a bearing seat is mounted on the second carrier plate, and the second passive roller is rotatably mounted on the bearing seat; the carrier frame is also provided with a second spring for pushing the second carrier plate to slide toward the second active roller; the carrier frame is provided with a second avoidance hole for avoiding the movement of the second passive roller.

[0015] Furthermore, the supporting frame is provided with a third guide rail and a third supporting plate slidably mounted on the third guide rail, two bearing seats are installed on the third supporting plate at intervals, and the first supporting roller and the second supporting roller are rotatably mounted on the bearing seats; the supporting frame is provided with a third spring and a fourth spring respectively abutting against two end portions of the third supporting plate; the supporting frame is provided with a third avoidance hole for avoiding the movement of the first supporting roller and the second supporting roller.

[0016] Furthermore, the first active roller is connected to a first driving mechanism, and the first driving mechanism drives the first active roller to rotate; the second active roller is connected to a second driving mechanism, and the second driving mechanism drives the first active roller to rotate.

[0017] Furthermore, the first driving mechanism is the same as the second driving mechanism, and both include a rotating bracket and a bearing seat fixed on the carrier frame, and a planetary reducer and a servo motor are installed on the rotating bracket, and the servo motor is connected to the planetary reducer; the first active roller is connected to the planetary reducer in the first driving mechanism through a coupling, and the second active roller is connected to the planetary reducer in the second driving mechanism through a coupling.

[0018] Furthermore, two clamping and braking mechanisms for clamping and braking the second track are installed on the carrier frame, and the two clamping and braking mechanisms are located on both sides of the first supporting roller.

[0019] Furthermore, the clamping brake mechanism includes a ball screw mounted on a carrier frame, and a first screw nut and a second screw nut which are arranged on the ball screw at intervals and have opposite spiral directions; a first clamping portion is installed on the first screw nut, and a second clamping portion is installed on the second screw nut; a fourth guide rail is provided on the carrier frame, and the first clamping portion and the second clamping portion are both slidably mounted on the fourth guide rail; a stepping motor is connected to the ball screw.

[0020] Furthermore, the first clamping part includes a first bracket fixed on the first screw nut, the first bracket is slidably mounted on the fourth guide rail, and a first clamping block with an adjustable position is installed on the first bracket; the second clamping part includes a second bracket fixed on the second screw nut, the second bracket is slidably mounted on the fourth guide rail, and a second clamping block with an adjustable position is installed on the second bracket.

[0021] Preferably, the first clamping block and the second clamping block are provided with positioning concave surfaces facing each other.

[0022] Furthermore, a relay and a conductive arm conductively connected to the relay and arranged at intervals are integrated in the carrier frame, and a conductive part is provided at the end of the conductive arm; a plurality of mounting blocks evenly distributed along the moving direction are installed on the first track and the second track, and a conductive block is provided on the mounting block, and a sliding groove is provided on the conductive block to slide with the conductive part.

[0023] Furthermore, the curved surface adaptive posture adjustment mechanism uses a multi-degree-of-freedom articulated arm, the base of the articulated arm is installed on the support frame, and the articulated arm adjusts its movement posture according to the shape of the prefabricated mold for the wind turbine blade structure, ensuring that the relative position of the terminal fiber cloth automatic laying mechanism, the surface spraying mechanism and the inclined shearing mechanism and the surface of the prefabricated mold for the wind turbine blade structure is always fixed.

[0024] Furthermore, the fiber cloth laying device includes a main frame, to which a bearing structure, multiple guide shafts, a correction device and a flattening device are connected, the bearing structure is used to sleeve the fiber cloth; the multiple guide shafts are used to guide the fiber cloth to pass along a preset direction; the correction device is arranged parallel to the fiber cloth and located between the multiple guide shafts, and is used to correct the fiber cloth according to the passing path; the flattening device is installed at the end of the fiber cloth passing path, and is used to flatten the fiber cloth and output it flatly.

[0025] Furthermore, the bearing structure includes a brake assembly and a first rotating shaft, and the brake assembly and the first rotating shaft are coaxially fixedly connected.

[0026] Furthermore, the multiple guide shafts include at least a first guide shaft, a second guide shaft, a third guide shaft and a fourth guide shaft, and the four guide shafts are arranged in parallel.

[0027] Furthermore, the first guide shaft is arranged on the left side of the bearing structure and is vertically fixedly connected to the main frame, the first guide shaft and the first rotation axis of the bearing structure are in the same horizontal plane, and the fiber cloth passes under the first guide shaft; The second guide shaft and the third guide shaft are fixedly connected to the deviation correcting device, the second guide shaft is installed on the side of the first guide shaft away from the bearing structure, and the top of the second guide shaft is flush with the bottom of the first guide shaft, and the third guide shaft is arranged directly below the second guide shaft; The fourth guide shaft is arranged below the bearing structure and is vertically fixedly connected to the main frame.

[0028] Furthermore, the deviation correction device includes a distance sensor, a deviation correction control device and a first support frame; One side of the deviation correction control device is fixedly connected to the main frame, the side of the deviation correction control device away from the main frame is fixedly connected to the distance sensor, and the first support frame is fixedly connected to the surface of the deviation correction control device facing the fiber cloth; The second guide shaft among the plurality of guide shafts is arranged at the top of the first support frame, and the third guide shaft among the plurality of guide shafts is arranged at the bottom of the first support frame.

[0029] Furthermore, the distance sensor includes a groove, and the fiber cloth passes through the groove after passing through the third guide shaft among the plurality of guide shafts.

[0030] The deviation correction control device is the main control part of the YP-2000 deviation correction integrated guide frame.

[0031] Furthermore, the flattening device comprises a second support frame, a pressing device and a smoothing device; the second support frame is fixedly connected to the main frame, and the pressing device and the smoothing device are fixedly connected to the second support frame; The pressing device is arranged in parallel with a fourth guide shaft among the plurality of guide shafts, and the bottom of the pressing device is lower than the bottom of the fourth guide shaft, and the fiber cloth passes through the top of the fourth guide shaft and then passes through the bottom of the pressing device; The smoothing device is arranged behind the pressing device along the output direction of the fiber cloth, and the fiber cloth is output after passing through the bottom of the smoothing device.

[0032] Furthermore, the pressing device includes a plurality of roller assemblies arranged in a close relationship, each roller assembly includes a limiting nut, an intermediate shaft, a first spring portion and a roller portion, a plurality of through holes are arranged on the second support frame corresponding to each intermediate shaft, the top of the intermediate shaft passes through the through hole and is fixedly connected to the limiting nut, the bottom of the intermediate shaft is fixedly connected to the roller portion, and the first spring portion is arranged between the roller portion and the second support frame.

[0033] Furthermore, the smoothing device includes a plurality of smoothing components arranged in close contact, each smoothing component includes an L-shaped support frame, a second spring portion, an axial rotation portion, a second rotating shaft and a flexible smoothing portion; The L-shaped support frame is fixedly connected to the second support frame, the vertical side of the L-shaped support frame is fixedly connected to one end of the second spring portion, and the horizontal side is provided with a first through hole; One end of the axial rotating part is fixedly connected to one end of the second spring part away from the L-shaped support frame, a second through hole is arranged in the middle of the axial rotating part, the first through hole and the second through hole are located on the same axis, the second rotating shaft passes through all the first through holes and the second through holes, and the other end of the axial rotating part is fixedly connected to the flexible smoothing part; One end of the flexible smoothing portion away from the axial rotating portion has a curved surface that is in contact with the fiber cloth.

[0034] The flexible smoothing portion is made of foamed silica gel.

[0035] Furthermore, the bottom of the flexible smoothing portion is lower than the bottom of the pressing device, and the height difference between the flexible smoothing portion and the bottom of the pressing device is 5 mm-8 mm.

[0036] Furthermore, the surface spraying mechanism of the fiber cloth includes a clamping device and a spray tank, the clamping device and the spray tank are connected, one end of the clamping device is connected to a first driving device, the other end of the clamping device is connected to a second driving device, the second driving device is connected to a pressing part, the first driving device drives the clamping device to move, and the second driving device drives the pressing part to move.

[0037] Furthermore, the nozzle of the spray tank faces downward.

[0038] Furthermore, the first driving device includes a first driving motor, a fixed base and a first screw structure, the first driving motor is fixedly connected to the fixed base, the first screw structure is arranged above the fixed base, and the first screw structure is coaxially fixedly connected to the output shaft of the first driving motor.

[0039] Furthermore, the first driving motor is a 42HS08 stepping motor.

[0040] Furthermore, the clamping device comprises a fixing portion, a clamping portion and an abutting portion; a threaded hole is provided on the fixing portion, the first screw structure passes through the threaded hole and is matched with the threaded hole; the side of the clamping portion away from the second driving device is fixedly connected to the fixing portion; Furthermore, the fixing part includes a first fixing component, a weighing sensor and a second fixing component; a threaded hole is arranged on the first fixing component, the threaded hole is threadedly connected to the first screw rod structure, the weighing sensor is arranged on the top of the first fixing component, and the second fixing component is fixedly arranged on the top of the weighing sensor.

[0041] Furthermore, the abutting portion is an L-shaped bending component, including a first bending structure and a second bending structure connected to each other, the first bending structure is fixedly connected to the clamping portion, and the second bending structure abuts against the bottom of the spray can.

[0042] Furthermore, the clamping portion includes an upper cover plate and a lower cover plate, a through clamping hole is formed between the upper cover plate and the lower cover plate, the inner surface of the clamping hole matches the shape of the spray can, and the upper cover plate and the lower cover plate are fixedly connected by a stainless steel pin lock.

[0043] Furthermore, the second driving device includes a second driving motor, a guide rail and a second screw structure, the output shaft of the second driving motor is coaxially fixedly connected to the second screw structure, the second screw structure is provided with a groove, the groove matches the guide rail, and the guide rail is fixedly arranged on the clamping device.

[0044] Furthermore, the second driving motor is a GSSD42 stepping motor.

[0045] Furthermore, the downward pressing part is an L-shaped bending component, including a third bending structure and a fourth bending structure connected to each other, the third bending structure is fixedly connected to the second screw structure; the fourth bending structure is provided with a pit, the pit is matched with the nozzle of the spray tank, and a fixing structure is provided in the pit.

[0046] Furthermore, the inclined shearing mechanism includes a mounting seat, on which are spaced two bearing seats, and a rotating rod is provided between the two bearing seats; a knife seat is slidably installed below the mounting seat, the knife seat is connected to a shear knife and an elastic pre-stressing structure, an eccentric cam mechanism is rotatably installed on the rotating rod, and drives the knife seat to slide reciprocally relative to the mounting seat, and a positioning base plate for supporting materials is provided below the elastic pre-stressing structure.

[0047] Furthermore, the cutting edge of the shearing knife is inclined from one end of the positioning base plate toward the other end.

[0048] Furthermore, a driving mechanism for driving the rotating rod to rotate is provided on the mounting seat.

[0049] Furthermore, the positioning base plate is provided with a shearing groove for accommodating the cutting edge of the shearing knife.

[0050] Furthermore, elastic pre-stressing structures are respectively provided on both sides of the shearing knife, and each elastic pre-stressing structure includes two first sliding rods arranged on the knife seat, first linear bearings are slidably provided on the first sliding rods, and pressure plates are fixed on the two first sliding rods; a spring is sleeved on the first sliding rod between the first linear bearing and the pressure plate.

[0051] Furthermore, the eccentric cam mechanism includes two eccentric structures arranged at both ends of the rotating rod, and a swing handle is rotatably installed on the eccentric structure. A traction block is rotatably installed on the parts where the two swing handles pass through the mounting seat, and the traction block is fixed on the tool holder.

[0052] Furthermore, a second linear bearing is provided at both ends of the mounting seat, a second sliding rod slides inside the second linear bearing, and the second sliding rod is fixedly connected to the tool holder. The driving mechanism includes a planetary reducer mounted on the mounting seat and a servo motor connected thereto, and the planetary reducer is connected to the rotating rod through a coupling.

[0053] Further, a latch-type quick clamp is provided at one end of the mounting seat, and the latch-type quick clamp comprises a rotating seat fixed on the mounting seat, a rotating clamp is rotatably mounted on the rotating seat, and a limit hook is rotatably provided on the rotating clamp; a hook seat is installed on the tool holder, and the limit hook cooperates with the hook seat to stop the sliding of the tool holder. A limit notch is provided on the hook seat for limiting the limit hook.

[0054] Furthermore, the positioning base plate is rotatably mounted on the adjustment seat, and a rotating pin is provided on the adjustment seat, and the rotating pin is used to lock the rotation angle of the positioning base plate relative to the adjustment seat. The laying quality detection mechanism includes a mounting rod, an array camera and a light source, and the mounting rod is fixedly connected to the main frame of the fiber cloth laying device. The array camera and the light source determine the relative installation position according to the shooting field of view to ensure that the camera can clearly and completely shoot the fiber cloth laying area to be inspected. The captured image of the laying quality detection mechanism is transmitted to the software system in real time, and image processing and recognition are realized through the software to realize the detection of laying quality defects.

[0055] The advantages of this application are: The present invention can realize the automation of the laying process involved in the prefabrication process of wind turbine blade structural parts, and reduce labor costs. The present invention can realize the automated transformation of existing molds, and the track of the double-track walking drive mechanism simulates the mold shape and can be installed on the support frame of the existing mold, which can adapt to the situation where the mold shape and size change greatly. The track and equipment occupy a small space as a whole, and the original factory space layout is not changed, thereby improving space utilization.

[0056] The curved surface adaptive posture adjustment mechanism of the present invention adjusts the relative positions of the fiber cloth automatic laying mechanism, the surface spraying mechanism and the oblique shearing mechanism and the mold surface in real time according to the mold shape and position, ensuring that the laying angles of the fiber cloth and the mold surface are consistent. The surface spraying mechanism sprays a small amount of special glue according to the program setting before laying the fiber cloth to prevent the fiber cloth from slipping. After completing the single-layer laying, the oblique shearing mechanism automatically cuts the excess fiber cloth. Further, the double-track walking drive mechanism returns to the starting position for laying the next layer of fiber cloth and starts laying the second layer of fiber cloth, finally realizing the high-precision and high-quality layer-by-layer laying of the fiber cloth on the mold surface. During the laying process of the fiber cloth of the present invention, on the one hand, the output direction is positively corrected by the deviation correction device, so that the output fiber cloth has an accurate positive output path; on the other hand, it is flattened by the flattening device, so that the fiber cloth has the best fit with the laying plane, and the surface of the final fiber cloth has sufficient flatness by the smoothing device, ensuring the quality of the wind turbine blade structure.

[0057] When the inclined shearing mechanism of the present invention is actuated by the eccentric cam mechanism through the driving mechanism, the knife seat can reciprocate relative to the mounting seat. When moving toward the positioning base plate, the fiber cloth is pre-compressed by the elastic pre-compression structure in cooperation with the positioning base plate, and the fiber cloth is kept compressed during the continued movement of the knife seat, and the lower end of the cutting blade of the shearing knife begins to cut the fiber cloth, forming a shearing force, which can gradually shear the fiber cloth from one side to the other, ensuring that no excessive shearing force is required during the cutting process, and ensuring that the cutting edge is neat and flat; when the driving mechanism moves the knife seat away from the positioning base plate, the shearing knife and the elastic pre-compression structure leave the positioning base plate and release the cut fiber cloth, until the next time it needs to be cut again, it can be controlled again by the driving mechanism. The laying quality detection mechanism of the present invention can detect the laying quality of the fiber cloth in real time, and record quality defects, avoiding quality defects of wind turbine blade structures caused by false detection and missed detection in manual spot checks. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0059] Figure 2 It is a schematic diagram of the structure of the automatic laying mechanism, surface spraying mechanism and oblique shearing mechanism of the fiber cloth of the present invention.

[0060] Figure 3 It is a structural schematic diagram of the double-track walking drive mechanism.

[0061] Figure 4 It is a side view structural diagram of the double-track walking drive mechanism.

[0062] Figure 5 It is a rear view structural diagram of the double-track walking drive mechanism.

[0063] Figure 6 It is a schematic diagram of the three-dimensional structure of the double-track walking drive mechanism.

[0064] Figure 7 It is a partial schematic diagram of the clamping brake mechanism in the double-track travel drive mechanism.

[0065] Figure 8 It is a structural schematic diagram of a fiber cloth laying device.

[0066] Fig. 9 It is a structural schematic diagram of the bearing structure of the fiber cloth automatic laying mechanism.

[0067] Fig.10 It is a schematic diagram of the structure of the guide shaft of the automatic fiber cloth laying mechanism.

[0068] Fig.11 It is a structural schematic diagram of a deviation-correcting device of an automatic fiber cloth laying mechanism.

[0069] Fig.12 It is a structural schematic diagram of a flattening device of a fiber cloth automatic laying mechanism.

[0070] Fig.13 It is a structural schematic diagram of a pressing device of an automatic fiber cloth laying mechanism.

[0071] Fig.14 It is a structural schematic diagram of a smoothing device of a fiber cloth automatic laying mechanism.

[0072] Fig.15 It is a structural diagram of a surface spraying mechanism.

[0073] Fig.16 It is a structural schematic diagram of the first driving device of the surface spraying mechanism.

[0074] Fig.17 It is a structural schematic diagram of a clamping device of a surface spraying mechanism.

[0075] Fig.18 It is a structural schematic diagram of the fixed part of the surface spraying mechanism.

[0076] Fig.19 It is a structural schematic diagram of the clamping part of the surface spraying mechanism.

[0077] Fig. 20 It is a structural schematic diagram of the second driving device of the surface spraying mechanism.

[0078] Fig.21 It is a structural schematic diagram of the lower pressure part of the surface spraying mechanism.

[0079] Fig. 22 It is a structural schematic diagram of the inclined shearing mechanism.

[0080] Fig.23 It is a first-person structural diagram of the shearing action part of the oblique shearing mechanism.

[0081] Fig.24 It is a second perspective structural schematic diagram of the shearing action part of the oblique shearing mechanism.

[0082] 01-support frame for prefabricated molds for wind turbine blade structures, 02-prefabricated molds for wind turbine blade structures, 03-double-track walking drive mechanism, 04-curved surface adaptive posture adjustment mechanism, 05-automatic fiber cloth laying mechanism, 06-surface spraying mechanism, 07-oblique shearing mechanism, 101-first track, 102-second track, 103-carrying frame, 104-first active roller, 105-second active roller, 106-first passive roller, 107-second passive roller, 108-first support roller, 109-second support roller, 110-first drive mechanism, 111-second drive mechanism, 112-first guide rail, 113-first bearing plate, 114-first spring, 115-first avoidance hole, 116 -second guide rail, 117-second bearing plate, 118-second spring, 119-second avoidance hole, 120-third guide rail, 121-third bearing plate, 122-third spring, 123-fourth spring, 124-third avoidance hole, 125-rotating bracket, 126-planetary reducer, 127-servo motor, 128-coupling, 129-clamping brake mechanism, 1291-ball screw, 1292-first screw nut, 1293-second screw nut, 1294-first clamping part, 12941-first bracket, 12942-first clamping block, 1295-second clamping part, 12951-second bracket, 12952-second clamping block, 1296-fourth guide rail, 1297-stepping Motor, 1298-positioning concave surface, 130-conductive arm, 131-conductive part, 132-mounting block, 133-conductive block, 1330-slideway, 1100-bearing seat, 210-main frame, 220-bearing structure, 221-brake assembly, 222-first rotating shaft, 230-guide shaft, 231-first guide shaft, 232-second guide shaft, 233-third guide shaft, 234-fourth guide shaft, 240-correction device, 241-distance sensor, 242-correction control device, 243-first support frame, 250-flattening device, 251-second support frame, 252-pressing device, 2521-limiting nut, 2522-first spring part, 2523-roller part, 253 -smoothing device, 2531-L-shaped support frame, 2532-second spring portion, 2533-axial rotation portion, 2534-second rotating shaft, 2535-flexible smoothing portion, 310-first driving device, 311-first driving motor, 312-fixed base, 313-first screw structure, 320-clamping device, 321-fixing portion, 3211-threaded hole, 3212-first fixing component, 3213-weighing sensor, 3214-second fixing component, 322-clamping portion, 3221-upper cover plate, 3222-lower cover plate, 3223-stainless steel pin lock, 323-butting portion, 3231-first bending structure, 3232-second bending structure, 330-spray can, 331-nozzle,340-second drive device, 341-second drive motor, 342-guide rail, 343-second screw rod structure, 350-downward pressure portion, 351-third bending structure, 352-fourth bending structure, 353-pit, 401-mounting seat, 402-bearing seat, 403-rotating rod, 404-knife seat, 405-shearing knife, 406-eccentric cam mechanism, 461-eccentric structure, 462-swing handle, 463-traction block, 407-elastic pre-pressure structure, 47 1-first linear bearing, 472-first sliding rod, 473-pressing plate, 474-spring, 408-positioning base plate, 409-driving mechanism, 491-planetary reducer, 492-servo motor, 410-shearing groove, 411-second linear bearing, 412-second sliding rod, 413-latch type quick clamp, 4131-rotating seat, 4132-rotating clamp, 4133-limiting hook, 4134-hook seat, 4135-limiting notch, 414-adjusting seat. , DETAILED DESCRIPTION

[0083] like Figure 1 and Figure 2 As shown, an intelligent laying system for prefabrication of wind turbine blade structural parts includes a wind turbine blade structural part prefabrication mold system 02, a double-track walking drive mechanism 03, a curved surface adaptive posture adjustment mechanism 04, a fiber cloth automatic laying mechanism 05, a surface spraying mechanism 06, an oblique shearing mechanism 07 and a laying quality detection mechanism; The wind turbine blade structure prefabricated mold system includes a wind turbine blade structure prefabricated mold and a wind turbine blade structure prefabricated mold support frame. The double-track walking drive mechanism 03 is installed on the wind turbine blade structure prefabricated mold support frame and can automatically walk along the length direction of the wind turbine structure prefabricated mold. The curved surface adaptive posture adjustment mechanism 04 is installed on the double-track walking drive mechanism 03. The fiber cloth automatic laying mechanism 05 is installed at the end of the curved surface adaptive posture adjustment mechanism 04. The surface spraying mechanism 06, the oblique shearing mechanism 07 and the laying quality detection mechanism are fixedly connected to the fiber cloth automatic laying mechanism 05.

[0084] Furthermore, the double-track walking drive mechanism 03 automatically walks along the length direction of the prefabricated mold 02 for the wind turbine blade structure from the starting position of laying the first layer of fiber cloth. The curved surface adaptive posture adjustment mechanism 04 adjusts the relative positions of the automatic fiber cloth laying mechanism 05, the surface spraying mechanism 06, the oblique shearing mechanism 07 and the laying quality inspection mechanism and the mold surface in real time according to the shape and position of the mold to ensure that the laying angle of the fiber cloth is consistent with the mold surface. The surface spraying mechanism 06 sprays a small amount of special glue according to the program setting before laying the fiber cloth to prevent the fiber cloth from slipping. The laying quality inspection mechanism takes real-time pictures of the laying effect through visual means, and detects whether there are wrinkles, flash and other defects in the laying through image processing. After completing the single-layer laying, the oblique shearing mechanism 07 automatically cuts the excess fiber cloth. The double-track walking drive mechanism 03 returns to the starting position of laying the next layer of fiber cloth and starts laying the second layer of fiber cloth, finally realizing the high-precision and high-quality automatic layer-by-layer laying of the fiber cloth on the mold surface.

[0085] like Figure 3-Figure 7As shown, the double-track walking mechanism is used in the glass fiber cloth spraying process, mainly the spraying mechanism is integrated and installed and then moved synchronously, other glass fiber cloth preparation lines can directly apply the existing technology, and the solution proposed in this embodiment can be applied to the existing line to improve the moving stability. It includes a track frame, the track frame includes a first track 101 and a second track 102 arranged at intervals, the track frame is fixedly arranged, and the purpose is to guide and limit the walking track of the entire mechanism, and the cross-sections of the first track 101 and the second track 102 can be circular, T-shaped, concave, etc. The first track 101 and the second track 102 always remain in a parallel state, and the overall shape can be set according to the actual path track. It also includes a carrier frame 103, on which a first active roller 104 and a second active roller 105 are rotatably mounted, and on which a first passive roller 106 located below the first active roller 104 and a second passive roller 107 located below the second active roller 105 are rotatably mounted, wherein the first track 101 passes between the first active roller 104 and the first passive roller 106, and passes between the second active roller 105 and the second passive roller 107. At the same time, a first supporting roller 108 and a second supporting roller 109 which are arranged longitudinally and can rotate are installed on the supporting frame 103, and the second track 102 passes between the first supporting roller 108 and the second supporting roller 109, thereby realizing sliding limitation of the entire mechanism through the first track 101 and the second track 102, and being able to move only on the track without falling off the track, and specifically limiting the first track 101 through the first passive roller 106 and the second passive roller 107, while the first active roller 104 and the second active roller 105 are mainly supported on the first track 101, and realizing stable limitation of the entire mechanism relative to the track frame and maintaining balance through the cooperation of the first supporting roller 108, the second supporting roller 109 and the second track 102.

[0086] Specifically, a first driving mechanism 110 for driving the first active roller 104 to rotate and a second driving mechanism 111 for driving the second active roller 105 to rotate in the same direction are provided on the carrier frame 103. The first driving mechanism 110 drives the first active roller 104 to rotate on the first track 101, and the second driving mechanism 111 drives the second active roller 105 to rotate on the first track 101, thereby realizing the movement of the entire mechanism along the guide frame.

[0087] The use of dual power to achieve power output at two positions respectively makes the entire mechanism more powerful during movement, especially after the spraying mechanism is integrated and installed on the carrier 103, it can also move smoothly during movement to meet the spraying uniformity requirements. In addition, the use of dual power can also adapt to the first track 101 and the second track 102 having a turning structure in the moving direction, and can also maintain sufficient power to turn.

[0088] Among them, the first driving mechanism 110 is the same as the second driving mechanism 111, both of which include a rotating bracket 125 and a bearing seat 1100 fixed on the carrier 103, and a planetary reducer 126 and a servo motor 127 installed on the planetary reducer 126 are installed on the rotating bracket 125; the first active roller 104 is connected to the planetary reducer 126 in the first driving mechanism 110 through a coupling 128, and the second active roller 105 is connected to the planetary reducer 126 in the second driving mechanism 111 through a coupling 128; the power is output through the servo motor 127, the planetary reducer 126, and the coupling 128, and the components can all adopt mature product applications. The servo motor 127 is used to facilitate comprehensive control response. Of course, other types of motors or other rotating drive devices can also be used.

[0089] Specifically, a first guide rail 112 and a first bearing plate 113 slidably mounted on the first guide rail 112 are provided on the bearing frame 103, a bearing seat 1100 is installed on the first bearing plate 113, and the first passive roller 106 is rotatably mounted on the bearing seat 1100. At the same time, a first spring 114 for pushing the first bearing plate 113 to slide toward the first active roller 104 is also provided on the bearing frame 103, and a first avoidance hole 115 for avoiding the movement of the first passive roller 106 is provided on the bearing frame 103; the action force of the first spring 114 can push the first bearing plate 113 to move with the first passive roller 106 toward the first active roller 104, thereby cooperating with the first track 101, and having a certain floating adaptability to crossing obstacles.

[0090] At the same time, a second guide rail 116 and a second bearing plate 117 slidably mounted on the second guide rail 116 are provided on the bearing frame 103, a bearing seat 1100 is installed on the second bearing plate 117, and the second passive roller 107 is rotatably mounted on the bearing seat 1100. At the same time, a second spring 118 for pushing the second bearing plate 117 to slide toward the second active roller 105 is also provided on the bearing frame 103, and a second avoidance hole 119 for avoiding the movement of the second passive roller 107 is provided on the bearing frame 103; the action force of the second spring 118 is used to push the second bearing plate 117 to move with the second passive roller 107 toward the first track 101, so as to cooperate with the first track 101, and has a certain floating function to adapt to crossing obstacles.

[0091] Therefore, the first passive roller 106 and the second passive roller 107 both have a certain floating adaptation range, so that they can be adapted when installed on the first track 101, and have a certain adaptability to uneven conditions.

[0092] Specifically, the first support roller 108 and the second support roller 109 are used to cooperate with the second track 102, so that when a corresponding floating action is generated on the first track 101, an adaptation range is also required on the second track 102. Therefore, a third guide rail 120 and a third bearing plate 121 slidably mounted on the third guide rail 120 are provided on the carrier frame 103, and two bearing seats 1100 are installed on the third bearing plate 121 at intervals. The first support roller 108 and the second support roller 109 are respectively rotated and arranged It is mounted on the bearing seat 1100; and a third spring 122 and a fourth spring 123 are provided on the support frame 103, which respectively abut against the two end portions of the third support plate 121; at the same time, a third avoidance hole 124 is provided on the support frame 103 to avoid the movement of the first support roller 108 and the second support roller 109; thus, when there is floating, the floating adaptation is achieved through the action of the third spring 122 and the fourth spring 123, so that the first support roller 108 and the second support roller 109 can maintain contact with the second track 102.

[0093] When the entire mechanism moves into place, braking is required to avoid the risk of sliding. Furthermore, two clamping brake mechanisms 129 are installed on the carrier frame 103 and located on both sides of the first support roller 108. The clamping brake mechanism 129 is used to clamp the second rail 102 for braking. The braking state is formed after the second rail 102 is clamped by the two clamping brake mechanisms 129.

[0094] Specifically, the clamping brake mechanism 129 includes a ball screw 1291 rotatably mounted on the carrier 103, and a first screw nut 1292 and a second screw nut 1293 which are arranged on the ball screw 1291 at intervals and have opposite spiral directions. A first clamping portion 1294 is installed on the first screw nut 1292, and a second clamping portion 1295 is installed on the second screw nut 1293. A fourth guide rail 1296 is provided on the carrier 103, and the first clamping portion 1294 and the second clamping portion 1295 are both slidably mounted on the fourth guide rail 1296. A stepper motor 1297 is connected to the rod 1291; when the ball screw 1291 is rotated by the stepper motor 1297, the first screw nut 1292 and the second screw nut 1293 are restricted from sliding by the first clamping part 1294 and the second clamping part 1295, and through the opposite spiral matching actions between the ball screw 1291 and the first screw nut 1292 and the second screw nut 1293, the first clamping part 1294 and the second clamping part 1295 slide towards each other to clamp the second rail 102, or the first clamping part 1294 and the second clamping part 1295 slide away from each other to release the braking state of the second rail 102.

[0095] Therefore, when the second rail 102 is clamped by the clamping brake mechanism 129, the moving state of the entire mechanism is braked, and the braking state is released after the clamping state is released, so that it is convenient to control the stepper motor 1297 at the position where braking is required to control the forward or reverse rotation of the stepper motor 1297.

[0096] In order to adapt to the second rail 102 not sliding when clamping, and to be able to adjust according to the corresponding sliding distance to ensure the braking effect; specifically, the first clamping part 1294 includes a first bracket 12941 fixed on the first screw nut 1292, the first bracket 12941 is slidably installed on the fourth guide rail 1296, and the first bracket 12941 is equipped with a first clamping block 12942 with an adjustable position, and the second clamping part 1295 includes a second bracket 12951 fixed on the second screw nut 1293, the second bracket 12951 is slidably installed on the fourth guide rail 1296, and the second bracket 12951 is equipped with a second clamping block 12952 with an adjustable position, the first clamping block 12942 can be adjusted relative to the first bracket 12941, and the second clamping block 12952 can be adjusted relative to the second bracket 12951, thereby ensuring the braking effect after adjustment according to the sliding range.

[0097] At the same time, facing positioning concave surfaces 1298 are provided on the first clamping block 12942 and the second clamping block 12952. The positioning concave surfaces 1298 can be used to form positioning when clamping the second rail 102, and further ensure that the first clamping block 12942, the second clamping block 12952 and the second rail 102 are tightly fitted in the clamping state.

[0098] Specifically, the cross-sectional shape of the positioning concave surface 1298 may match the cross-sectional shape of the second rail 102 .

[0099] The entire mechanism needs to conduct electricity continuously during the movement to supply power to the internal electrical components. In order to avoid the situation of laying too many cables and to ensure continuous conduction, a relay and a conductive arm 130 conductively connected to the relay and arranged at intervals are integrated in the carrier 103. A conductive part 131 is provided at the end of the conductive arm 130. The specific relays and the like can all adopt existing mature products, and the conductive arm 130 is used to support the conductive part 131 and to be able to draw power from the relay. The internal electrical components are subsequently powered and controlled by the relay. At the same time, a number of mounting blocks 132 evenly distributed along the moving direction are installed on the first track 101 and the second track 102. A conductive block 133 is provided on the mounting block 132. A slide groove 1330 that slidably cooperates with the conductive part 131 is opened on the conductive block 133. After the conductive block 133 is energized, the conductive part 131 cooperates with the slide groove 1330 to achieve conduction during the movement of the entire mechanism along the track, and the current is conducted to the internal relay through the conductive arm 130 for diversion.

[0100] It can reduce the number of cables to be laid and achieve continuous conductivity throughout the entire sliding process of the mechanism.

[0101] See also Figure 8 The fiber cloth laying device includes: a main frame 210; a bearing structure 220, which is fixedly connected to the main frame 210 and is used to cover the fiber cloth; a plurality of guide shafts 230, which are fixedly connected to the main frame 210 and are used to guide the fiber cloth to pass along a preset direction; a deviation correction device 240, which is fixedly connected to the main frame 210, and the deviation correction device 240 is arranged parallel to the fiber cloth and is located between the plurality of guide shafts 230, and is used to correct the deviation of the fiber cloth according to the passing path; a flattening device 250, which is fixedly connected to the main frame 210, and the flattening device 250 is arranged at the end of the passing path of the fiber cloth, and is used to flatten the fiber cloth and output it flatly.

[0102] In a specific implementation process, the fiber cloth is rolled on a drum for storage and transportation. After being transported to the vicinity of the fiber cloth laying device provided in the embodiment of the present application, the technicians place the fiber cloth on the bearing structure 220 .

[0103] See also Fig. 9 In the embodiment of the present application, the bearing structure 220 includes a brake assembly 221 and a first rotating shaft 222 , and the brake assembly 221 and the first rotating shaft 222 are coaxially fixedly connected.

[0104] In the embodiment of the present application, the brake assembly 221 is preferably an EPB-KX-006 magnetic powder brake. During the application process, when a certain section of fiber cloth needs to be flattened and laid, the fiber cloth is pulled out from the drum. During the pulling process, the force received by the drum is transmitted to the first rotating shaft 222 and then starts to rotate, thereby gradually releasing the fiber cloth wrapped in the drum. After the pulling force is removed, under the action of the magnetic powder brake, the first rotating shaft 222 quickly stops rotating and stops the output of the fiber cloth. After being pulled out and output, the fiber cloth passes through each guide shaft 230 in turn.

[0105] See also Fig.10 In the embodiment of the present application, the plurality of guide shafts 230 include a first guide shaft 231, a second guide shaft 232, a third guide shaft 233 and a fourth guide shaft 234; the first guide shaft 231 is disposed on the left side of the bearing structure 220 and is vertically fixedly connected to the main frame 210, the first guide shaft 231 and the rotating shaft 22 are in the same horizontal plane, and the fiber cloth passes under the first guide shaft 231; the second guide shaft 232 and the third guide shaft 233 are fixedly connected to the deviation correction device 240, The second guide shaft 232 is installed on the side of the first guide shaft 231 away from the supporting structure 220, and the top of the second guide shaft 232 is flush with the bottom of the first guide shaft 231, and the third guide shaft 233 is arranged directly below the second guide shaft 232; the fourth guide shaft 234 is arranged below the supporting structure 220 and is vertically fixedly connected to the main frame 210; the first guide shaft 231, the second guide shaft 232, the third guide shaft 233 and the fourth guide shaft 234 are arranged in parallel.

[0106] The fiber cloth first passes through the bottom of the first guide shaft 231 and then further extends to the second guide shaft 232. The first guide shaft 231 and the rotating shaft 22 are located in the same plane. The top of the second guide shaft 232 and the bottom of the first guide shaft 231 are located in the same plane. After passing through the top of the second guide shaft 232, the fiber cloth folds down 90 degrees to extend to the surface of the third guide shaft 233 directly below, and after further folding and passing through the bottom of the third guide shaft 233, it extends to the fourth guide shaft 234. The bottom of the third guide shaft 233 and the top of the fourth guide shaft 234 are located in the same plane. Through the above extension and stretching, the fiber cloth is stably pulled out to facilitate the subsequent flattening process.

[0107] However, in actual application, if the stretched fiber cloth is directly flattened, on the one hand, since the fiber cloth may have a certain position deviation when it is wound into the drum, the stretched fiber cloth may also have a certain deviation in the extension direction, and in the subsequent flattening process, it may not be flattened properly and wrinkles may be generated; on the other hand, although the guide shaft 230 is required to be installed accurately and parallel, there is inevitably a certain installation deviation in the actual installation process, which will also cause the stretched fiber cloth to have a certain deviation in the extension direction. In order to improve the above technical problems, a deviation correction device 240 is set on the stretching path of the fiber cloth to correct its deviation and ensure that the output fiber cloth is a stable and positive fiber cloth.

[0108] See also Fig.11 In the embodiment of the present application, the correcting device 240 includes a distance sensor 241, a correcting control device 242 and a first support frame 243; one side of the correcting control device 242 is fixedly connected to the main frame 210, the correcting control device 242 is fixedly connected to the distance sensor 241 away from the main frame 210, and the first support frame 243 is fixedly connected to the surface of the correcting control device 242 facing the fiber cloth; the second guide shaft 232 is arranged at the top of the first support frame 243, and the third guide shaft 233 is arranged at the bottom of the first support frame 243; the distance sensor 241 includes a groove, and the fiber cloth passes through the groove after passing through the third guide shaft 233.

[0109] In the embodiment of the present application, the correction control device 242 is the main control part of the YP-2000 correction integrated guide frame.

[0110] In actual application, the distance sensor 241 monitors the position information of the fiber cloth output from the third guide shaft 233 in real time, and determines whether the fiber cloth has position deviation according to the position information. If so, the deviation correction control device 242 is controlled to output corresponding control instructions to control the first support frame 243 to perform corresponding actions to correct the extension direction of the fiber cloth, so that the fiber cloth finally output has an accurate extension direction. After the positive and stable fiber cloth is output, it is flattened.

[0111] See also Fig.12In the embodiment of the present application, the flattening device 250 includes a second support frame 251, a pressing device 252 and a smoothing device 253; the second support frame 251 is fixedly connected to the main frame 210, and the pressing device 252 and the smoothing device 253 are fixedly connected to the second support frame 251; the pressing device 252 is arranged in parallel with the fourth guide shaft 234, and the bottom of the pressing device 252 is lower than the bottom of the fourth guide shaft 234, and the fiber cloth passes through the top of the fourth guide shaft 234 and then passes through the bottom of the pressing device 252; the smoothing device 253 is arranged behind the pressing device 252 along the output direction of the fiber cloth, and the fiber cloth is output after passing through the bottom of the smoothing device 253.

[0112] See also Fig.13 In the embodiment of the present application, the pressing device 252 is composed of a plurality of roller assemblies arranged in a close relationship, each roller assembly includes a limiting nut 2521, an intermediate shaft (not shown), a first spring portion 2522 and a roller portion 2523, and a plurality of through holes (not shown) are arranged on the second support frame 251 corresponding to each intermediate shaft, the top of the intermediate shaft passes through the through hole and is fixedly connected to the limiting nut 2521, the bottom of the intermediate shaft is fixedly connected to the roller portion 2523, and the first spring portion 2522 is arranged between the roller portion 2523 and the second support frame 251.

[0113] During use, the bottom of the roller portion 2523 is lower than the bottom of the fourth guide shaft 234, and the fiber cloth extends downward from the top of the fourth guide shaft 234 to the bottom of the roller portion 2523 and is further output horizontally. Since the laying plane of the fiber cloth may be an uneven plane with an arc or slope, by arranging the first spring portion 2522 above the roller portion 2523, each roller assembly can perform a corresponding flattening operation on the fiber cloth according to the surface shape of the laying plane, so that the fiber cloth can fully fit the laying surface. At the same time, the limiting nut 2521 arranged on the top can effectively prevent the roller portion 2523 from being excessively pressed downward, thereby ensuring that the fiber cloth has sufficient fit and will not be crushed.

[0114] Furthermore, since the fiber cloth has certain depressions or protrusions on its surface after being manufactured, it cannot meet the actual needs of application scenarios with high requirements for surface flatness. In order to further smooth the surface of the fiber cloth, a flexible smoothing device 253 is used to smooth the surface.

[0115] See also Fig.14In the embodiment of the present application, the smoothing device 253 is composed of a plurality of smoothing components arranged in a close relationship, each smoothing component includes an L-shaped support frame 2531, a second spring portion 2532, an axial rotation portion 2533, a second rotation axis 2534 and a flexible smoothing portion 2535; the L-shaped support frame 2531 is fixedly connected to the second support frame 251, the vertical side of the L-shaped support frame 2531 is fixedly connected to one end of the second spring portion 2532, and the horizontal side is provided with a first through hole (not shown); one end of the axial rotation portion 2533 The first end of the axial rotating portion 2533 is fixedly connected to the end of the second spring portion 2532 away from the L-shaped support frame 2531, a second through hole (not shown) is arranged in the middle of the axial rotating portion 2533, the first through hole and the second through hole are located on the same axis, the second rotating axis 2534 passes through all the first through holes and the second through holes, and the other end of the axial rotating portion 2533 is fixedly connected to the flexible smoothing portion 2535; the end of the flexible smoothing portion 2535 away from the axial rotating portion 2533 has a curved surface that is bonded to the fiber cloth.

[0116] In the embodiment of the present application, preferably, the flexible smoothing portion 2535 is foamed silicone.

[0117] In the embodiment of the present application, the bottom of the flexible smoothing portion 2535 is lower than the bottom of the pressing device 252, and the height difference between the flexible smoothing portion 2535 and the bottom of the pressing device 252 is 5-8 mm.

[0118] In actual application, since the bottom of the flexible smoothing portion 2535 is 5-8 mm lower than the bottom of the pressing device 252, when the fiber cloth passes through the bottom of the flexible smoothing portion 2535, on the one hand, the surface of the fiber cloth is smoothed under the flexible action of the flexible smoothing portion 2535; on the other hand, the bottom of the flexible smoothing portion 2535 is subjected to the force of the fiber cloth and generates an upward force, which is transmitted to the axial rotating portion 2533 to make it rotate axially around the second rotating axis 2534. During the rotation, the top of the axial rotating portion 2533 applies a force to the second spring portion 2532 to compress it. In this embodiment of the present application, the elastic force of the first spring portion 2522 is greater than the elastic force of the second spring portion 2532, and the elastic force of the second spring portion 2532 is less than 20 N / m.

[0119] After being smoothed by the smoothing portion 53 , the fiber cloth is output in a flat and fitted manner, thus meeting actual needs.

[0120] See also Fig.15The surface spraying mechanism of the fiber cloth includes a first driving device 310, which is used to perform a first horizontal driving action; a clamping device 320, which is fixedly connected to the first driving device 310, and the clamping device 320 moves axially along the axis of the first driving device 310 under the action of the first horizontal driving action; a spray tank 330, which is fixedly arranged on the clamping device 320, and the nozzle 331 of the spray tank 330 is facing downward; a second driving device 340, which is arranged on the side of the clamping device 320 away from the first driving device 310, and is used to perform a second horizontal driving action; a pressing portion 350, which is fixedly connected to the second driving device 340, and the pressing portion 350 moves axially along the axis of the second driving device 340 under the action of the second horizontal driving action.

[0121] In a possible implementation manner, the surface spraying mechanism for the fiber cloth provided in the embodiment of the present application is applied to a fiber cloth processing plant, specifically, to a workbench for processing the fiber cloth, and is fixedly disposed on the workbench.

[0122] See also Fig.16 In the embodiment of the present application, the first driving device 310 includes a first driving motor 311, a fixed base 312 and a first screw structure 313, the first driving motor 311 is fixedly connected to the fixed base 312, the first screw structure 313 is arranged above the fixed base 312, and the first screw structure 313 is coaxially fixedly connected to the output shaft of the first driving motor 311.

[0123] In the embodiment of the present application, the first driving motor 311 is preferably a 42HS08 stepping motor.

[0124] In a specific implementation process, the fixed base 312 is fixedly installed on the workbench, the first screw structure 313 is fixedly installed above the fixed base 312, and the first drive motor 311 is coaxially fixedly connected and installed with the first screw structure 313. When in use, the first drive motor 311 rotates to drive the first screw structure 313 to rotate coaxially, and further drives the clamping device 320 threadedly connected to the first screw structure 313 to move horizontally along the axis of the first screw structure 313.

[0125] See also Fig.17In the embodiment of the present application, the clamping device 320 includes a fixing portion 321, a clamping portion 322 and an abutting portion 323; a threaded hole 3211 is provided on the fixing portion 321, and the first screw rod structure 313 passes through the threaded hole 3211 and is matched with the threaded hole 3211; the side of the clamping portion 322 away from the second driving device 340 is fixedly connected to the fixing portion 321; the abutting portion 323 is an L-shaped bending component, and the first bending structure 3231 of the abutting portion 323 is fixedly connected to the clamping portion 322, and the second bending structure 3232 of the abutting portion 323 abuts against the bottom of the spray tank 330.

[0126] In actual application, the fixing portion 321 is threadedly connected to the first screw structure 313 through the threaded hole 3211, so as to make horizontal movement along the axis of the first screw under the rotation of the first screw structure 313. Since the spray tube 30 is fixed on the clamping device 320, whether there is enough paint in the spray tube 30 will affect the spraying process during subsequent use. If manual frequent inspection is used, the workload of technicians will be increased and the work efficiency will be reduced.

[0127] To improve this technical issue, see Fig.18 In the embodiment of the present application, the fixing portion 321 includes a first fixing component 3212, a weighing sensor 3213 and a second fixing component 3214; the first fixing component 3212 is provided with a threaded hole 3211, and the threaded hole 3211 is threadedly connected to the first screw structure 313, the weighing sensor 3213 is fixedly arranged on the top of the first fixing component 3212, and the second fixing component 3214 is fixedly arranged on the top of the weighing sensor 3213.

[0128] In the embodiment of the present application, by setting a weighing sensor 3213 on the top of the first fixing part 3212, the weight of the spray tube 30 can be transferred to the weighing sensor 3213 through the second fixing part 3214. The weighing sensor 3213 can determine whether the remaining paint in the spray tube 30 is sufficient according to the detected weight and give prompts in time. Therefore, frequent manual inspection is no longer required, which greatly reduces the workload of technicians and ensures the effective progress of the spraying work.

[0129] See also Fig.19 In the embodiment of the present application, the clamping portion 322 includes an upper cover plate 3221 and a lower cover plate 3222, and a through clamping hole (not shown) is formed between the upper cover plate 3221 and the lower cover plate 3222, and the inner surface of the clamping hole matches the shape of the spray tank 330, and the upper cover plate 3221 and the lower cover plate 3222 are fixedly connected by a stainless steel pin lock 3223.

[0130] See also Fig. 20 In the embodiment of the present application, the second driving device 340 includes a second driving motor 341, a guide rail 342 and a second screw structure 343. The output shaft of the second driving motor 341 is coaxially fixedly connected with the second screw structure 343. The second screw structure 343 is provided with a groove, and the groove matches the guide rail 342. The guide rail 342 is fixedly arranged on the clamping device 320.

[0131] In the embodiment of the present application, the second driving motor 341 is preferably a GSSD42 stepping motor.

[0132] See also Fig.21 In the embodiment of the present application, the pressing portion 350 is an L-shaped bending component, and the third bending structure 351 of the pressing portion 350 is fixedly connected to the second screw structure 343 .

[0133] In the embodiment of the present application, the fourth bending structure 352 of the pressing portion 350 is provided with a recess 353 , the recess 353 is matched with the nozzle 331 of the spray can 330 , and a fixing structure is provided in the recess 353 .

[0134] During use, when it is necessary to press the spray can 330 to perform a paint spraying operation, the second drive motor 341 is first controlled to operate to drive the second screw structure 343 to rotate, and the second screw structure 343 moves horizontally along the guide rail 342 under the action of the rotational force. At this time, the third bending structure 351 fixedly connected to the top of the second screw structure 343 moves horizontally synchronously to move the fourth bending structure 352 to the top of the spray can 330 and perform a pressing operation. During the pressing process, the nozzle 331 is stuck in the pit 35352 and is fixed under the action of the clamping structure in the pit 353, for example, the clamping structure is a structure with a clamping protrusion, or a structure matching the shape of the nozzle 33151, thereby preventing the spray can 330 from rotating during the pressing process of spraying paint, thereby effectively ensuring the reliability and accuracy of spraying paint.

[0135] See also Figure 22-Figure 24As shown, the oblique shearing mechanism is installed in the glass fiber cloth preparation line and is used to cut the glass fiber cloth. The specific installation method can be adapted to the assembly line layout. Specifically, it includes a mounting seat 401 and a bearing seat 402 spaced apart on the mounting seat 401. A rotating rod 403 is provided on the bearing seat 402. A knife seat 404 and a shearing knife 405 fixed on the knife seat 404 are slidably installed on the mounting seat 401. An eccentric cam mechanism 406 for driving the knife seat 404 to slide back and forth relative to the mounting seat 401 is rotatably installed on the rotating rod 403. An elastic pre-compression structure 407 is installed on the knife seat 404. When the rotating rod 403 rotates, the eccentric cam mechanism 406 drives the knife seat 404 to reciprocate relative to the mounting seat 401, thereby achieving synchronous reciprocating movement of the elastic pre-compression structure 407 and the shearing knife 405. It also includes a positioning base plate 408 for supporting materials and located below the elastic pre-pressing structure 407 . The cutting edge of the shear knife 405 is inclined from one end of the positioning base plate 408 toward the other end.

[0136] When the eccentric cam mechanism 406 moves toward the side of the positioning base plate 408 with the knife holder 404, the shear knife 405, and the elastic pre-loading structure 407, the elastic pre-loading structure 407 first contacts the positioning base plate 408 to press and position the shearing part of the glass fiber cloth, and continues to move downward toward the knife holder 404 to make the pressing effect more stable, and the lower end of the cutting blade of the shear knife 405 contacts the glass fiber cloth first, and gradually cuts from one side of the glass fiber cloth to the other side, similar to the shearing mode. Therefore, there is no need to form a large shear force on the glass fiber cloth, which avoids the situation where the glass fiber is pulled, and at the same time, the cut edge of the glass fiber cloth can be kept flat and neat.

[0137] Specifically, the rotating rod 403 is driven to rotate, and a driving mechanism 409 for driving the rotating rod 403 to rotate is provided on the mounting seat 401. The specific driving mechanism 409 can be a mechanism for realizing a rotation action, such as a rotating cylinder, a rotating motor, etc.

[0138] In order to ensure the continuity of the shearing action and to allow the eccentric cam mechanism 406 to have a controllable state when it runs to the top dead center and the bottom dead center in this embodiment, the driving mechanism 409 includes a planetary reducer 491 installed on the mounting seat 401 and a servo motor 492 installed on the planetary reducer 491. The planetary reducer 491 is connected to the rotating rod 403 through a coupling. The controllability of the servo motor 492 can realize reciprocating rotation within the range of the top dead center and the bottom dead center, and the power is transmitted to the rotating rod 403 through the planetary reducer 491 and the coupling.

[0139] Specifically, in order to allow the cutting edge of the shearing knife 405 to fully penetrate the glass fiber cloth, a shearing groove 410 for accommodating the cutting edge of the shearing knife 405 is provided on the positioning base plate 408. After the cutting edge is fully inserted into the shearing groove 410, it is ensured that the glass fiber cloth is completely cut off. At the same time, the inclined setting of the cutting edge allows the lower end to have space to avoid on the positioning base plate 408.

[0140] In order to achieve compression on both sides of the glass fiber cloth during the shearing process, the number of the elastic pre-compression structures 407 is two and they are respectively located on both sides of the shearing knife 405. Specifically, the elastic pre-compression structure 407 includes a first linear bearing 471 arranged on the knife seat 404 at intervals, and a first sliding rod 472 slidably arranged on the first linear bearing 471, and a pressure plate 473 is fixed on the two first sliding rods 472; the first sliding rod 472 is sleeved with a spring 474 located between the first linear bearing 471 and the pressure plate 473, and the pressure plate 473 is maintained to have a tendency to slide toward the side of the positioning base plate 408 through the action of the spring 474, and the glass fiber cloth can be continuously compressed during the contact between the pressure plate 473 and the positioning base plate 408, so that the compression state achieved as the pressure plate 473 and the positioning base plate 408 are closer is more stable, and after releasing the downward pressure, the pressure plate 473 can reset and slide.

[0141] The knife holder 404 can reciprocate relative to the mounting seat 401 through the eccentric cam mechanism 406. Specifically, the eccentric cam mechanism 406 includes an eccentric structure 461 arranged at intervals on the rotating rod 403, and a swing handle 462 is rotatably installed on the eccentric structure 461. A traction block 463 is rotatably installed on the parts where the two swing handles 462 pass through the mounting seat 401, and the traction block 463 is fixed on the knife holder 404. The specific rotation installation can be connected through a bearing. When the eccentric structure 461 integrated on the rotating rod 403 rotates with the rotating rod 403, it will swing with the swing handle 462. In addition, since the swing handle 462 and the traction block 463 are rotatably matched, and the traction block 463 is fixed on the knife holder 404, it can only slide relative to the mounting seat 401. Therefore, when the swing handle 462 swings, it follows the eccentric structure 461 to reciprocate between the upper dead center and the lower dead center, and drives the knife holder 404 to reciprocate synchronously through the traction block 463.

[0142] Specifically, the knife seat 404 needs to be guided and positioned to slide relative to the mounting seat 401 , and a second linear bearing 411 and a second sliding rod 412 slidably arranged on the second linear bearing 411 are spaced apart on the mounting seat 401 , and the second sliding rod 412 is fixedly connected to the knife seat 404 .

[0143] When the shearing function is not used, in order to avoid the downward movement of the knife holder 404 due to misoperation and the like, thereby causing an unexpected situation, the entire mechanism also includes a latch-type quick clamp 413, which includes a rotating seat 4131 fixed on the mounting seat 401, on which a rotating clamp 4132 is rotatably mounted, and on which a limiting hook 4133 is rotatably provided. At the same time, a hook seat 4134 is mounted on the knife holder 404, and the limiting hook 4133 cooperates with the hook seat 4134 to stop the sliding of the knife holder 404; by pulling the rotating clamp 4132 to rotate relative to the rotating seat 4131, the limiting hook 4133 and the hook seat 4134 cooperate to limit the locking state to prevent the knife holder 404 from moving relative to each other; in the use state, the limiting hook 4133 is separated from the hook seat 4134 to unlock, thereby improving the safety during use.

[0144] In order to form an anti-escape limit for the limit hook 4133 when it cooperates with the hook seat 4134, a limit notch 4135 for limiting the limit hook 4133 is provided on the hook seat 4134. In the cooperated state, the limit hook 4133 is inserted into the limit notch 4135 and will not slip out easily, thereby improving safety.

[0145] The positioning base plate 408 can relatively adjust its installation angle to achieve the flatness of the glass fiber cloth during shearing, and specifically includes an adjusting seat 414. The positioning base plate 408 is rotatably installed on the adjusting seat 414, and the adjusting seat 414 is provided with a rotating pin for locking the rotation angle of the positioning base plate 408 relative to the adjusting seat 414, wherein the adjusting seat 414 is fixed in the assembly line to form a rotating installation base for the positioning base plate 408, and the rotating pin is used to realize the rotation adjustment angle of the positioning base plate 408 relative to the adjusting seat 414 and limit it, such as a pin shaft with a threaded structure, etc., which can rotate when loose and is locked in a tightened state.

Claims

1. An intelligent laying system for prefabrication of wind turbine blade structures, characterized in that: It includes a wind turbine blade structural component prefabrication mold (02) system, a double-track walking drive mechanism (03), a curved surface adaptive posture adjustment mechanism (04), a fiber cloth automatic laying mechanism (05), a surface spraying mechanism (06), an oblique shearing mechanism (07) and a laying quality detection mechanism; The wind turbine blade structural component prefabricated mold (02) system comprises a wind turbine blade structural component prefabricated mold (02) and a wind turbine blade structural component prefabricated mold support frame (01); the double-track walking drive mechanism (03) is mounted on the wind turbine blade structural component prefabricated mold support frame (01); the curved surface self-adaptive posture adjustment mechanism (04) is mounted on the double-track walking drive mechanism (03); the fiber cloth automatic laying mechanism (05) is mounted at the end of the curved surface self-adaptive posture adjustment mechanism (04); and the surface spraying mechanism (06), the oblique shearing mechanism (07) and the laying quality detection mechanism are fixedly connected to the fiber cloth automatic laying mechanism (05).

2. The intelligent laying system for prefabrication of wind turbine blade structures according to claim 1, characterized in that: The double-track walking drive mechanism (03) automatically walks along the length direction of the prefabricated mold (02) of the wind turbine blade structure component from the starting position of laying the first layer of fiber cloth. The curved surface adaptive posture adjustment mechanism (04)4 adjusts the relative positions of the automatic fiber cloth laying mechanism (05), the surface spraying mechanism (06), the inclined shearing mechanism (07) and the laying quality detection mechanism and the mold surface in real time according to the shape and position of the mold. The surface spraying mechanism (06) sprays special glue before laying the fiber cloth. The laying quality detection mechanism uses a visual method to take real-time photos of the laying effect and uses image processing to detect whether the laying has defects in real time. After completing the laying of a single layer, the inclined shearing mechanism (07) realizes the shearing of excess fiber cloth. The double-track walking drive mechanism (03) returns to the starting position of laying the next layer of fiber cloth and starts laying the second layer of fiber cloth, finally realizing the automatic laying of the fiber cloth on the mold surface layer by layer.

3. An intelligent laying system for prefabrication of wind turbine blade structures according to claim 1 or 2, characterized in that: The double-track travel drive mechanism (03) comprises a track frame, the track frame being mounted on a wind turbine blade structural component prefabricated mold support frame (01), the track frame comprising a first track (101) and a second track (102) arranged at intervals, the first track (101) passing between a first active roller (104) on the support frame (103) and a first passive roller (106) below the first track, and also passing between a second active roller (105) on the support frame (103) and a second passive roller (107) below the first track; the second track (102) passing between a rotatable first support roller (108) and a second support roller (109) on the support frame (103); The support frame (103) is provided with a first guide rail (112) and a first support plate (113) slidably mounted on the first guide rail (112); a bearing seat (1100) is mounted on the first support plate (113); the first passive roller (106) is rotatably mounted on the bearing seat (1100); the support frame (103) is also provided with a first spring (114) for pushing the first support plate (113) to slide toward one side of the first active roller (104); the support frame (103) is provided with a first avoidance hole (115) for avoiding the movement of the first passive roller (106); The support frame (103) is provided with a second guide rail (116) and a second support plate (117) slidably mounted on the second guide rail (116); a bearing seat (1100) is mounted on the second support plate (117); the second passive roller (107) is rotatably mounted on the bearing seat (1100); the support frame (103) is also provided with a second spring (118) for pushing the second support plate (117) to slide toward one side of the second active roller (105); the support frame (103) is provided with a second avoidance hole (119) for avoiding the movement of the second passive roller (107); The support frame (103) is provided with a third guide rail (120) and a third support plate (121) slidably mounted on the third guide rail (120); two bearing seats (1100) are installed on the third support plate (121) at intervals; the first support roller (108) and the second support roller (109) are rotatably mounted on the bearing seats (1100); the support frame (103) is provided with a third spring (122) and a fourth spring (123) respectively abutting against two end portions of the third support plate (121); and the support frame (103) is provided with a third avoidance hole (124) for avoiding the movement of the first support roller (108) and the second support roller (109).

4. The intelligent laying system for prefabrication of wind turbine blade structures according to claim 3 is characterized in that: The first active roller (104) is connected to a first driving mechanism (110), and the first driving mechanism (110) drives the first active roller (104) to rotate; the second active roller (105) is connected to a second driving mechanism (111), and the second driving mechanism (111) drives the first active roller (105) to rotate; the first driving mechanism (110) and the second driving mechanism (111) are the same, both comprising a rotating bracket (125) fixed on the carrier frame (103) and a bearing seat (1100), the rotating bracket (125) being provided with a planetary reducer (126) and a servo motor (127), the servo motor (127) being connected to the planetary reducer (126); the first active roller (104) is connected to the planetary reducer (126) in the first driving mechanism (110) via a coupling (128), and the second active roller (105) is connected to the planetary reducer (126) in the second driving mechanism (111) via a coupling (128); The carrier frame (103) is provided with two clamping brake mechanisms (129) for clamping and braking the second rail (102), and the two clamping brake mechanisms (129) are located on both sides of the first supporting roller (108); the clamping brake mechanism (129) comprises a ball screw (1291) mounted on the carrier frame (103), and a first lead screw nut (1292) and a second lead screw nut (1293) which are arranged on the ball screw (1291) at intervals and have opposite spiral directions; the first lead screw nut (1292) is provided with a first clamping portion (1294), and the second lead screw nut (1293) is provided with a second clamping portion (1295); the carrier frame (103) is provided with a fourth guide rail (1296), and the first clamping portion (1294) and the second clamping portion (1295) are both slidably mounted on the fourth guide rail (1296); The ball screw (1291) is connected to a stepper motor (1297); the first clamping portion (1294) comprises a first bracket (12941) fixed on the first screw nut (1292), the first bracket (12941) is slidably mounted on a fourth guide rail (1296), and a first clamping block (12942) whose position can be adjusted is mounted on the first bracket (12941); the second clamping portion (1295) comprises a second bracket (12951) fixed on the second screw nut (1293), the second bracket (12951) is slidably mounted on the fourth guide rail (1296), and a second clamping block (12952) whose position can be adjusted is mounted on the second bracket (12951); the first clamping block (12942) and the second clamping block (12952) are provided with facing positioning concave surfaces (1298); The carrier frame (103) is integrated with a relay and a conductive arm (130) conductively connected to the relay and arranged at intervals, and a conductive portion (131) is provided at the end of the conductive arm (130); a plurality of mounting blocks (132) evenly distributed along the moving direction are mounted on the first track (101) and the second track (102), a conductive block (133) is provided on the mounting block (132), and a slide groove (1330) is provided on the conductive block (133) for sliding cooperation with the conductive portion (131).

5. The intelligent laying system for prefabrication of wind turbine blade structures according to claim 1 or 2, characterized in that: The fiber cloth laying device comprises a main frame (210), to which a bearing structure (220), a plurality of guide shafts (230), a deviation correction device (240) and a flattening device (250) are connected, the bearing structure (220) being used to sleeve the fiber cloth; the plurality of guide shafts (230) being used to guide the fiber cloth to travel along a preset direction; the deviation correction device (240) being arranged in parallel with the fiber cloth and being located between the plurality of guide shafts (230), being used to correct the deviation of the fiber cloth according to the travel path; the flattening device (250) being installed at the end of the travel path of the fiber cloth, being used to flatten the fiber cloth and output it in a smooth manner; The bearing structure (220) comprises a brake assembly (221) and a first rotating shaft (222), and the brake assembly (221) and the first rotating shaft (222) are coaxially fixedly connected; The plurality of guide shafts (230) at least include a first guide shaft (231), a second guide shaft (232), a third guide shaft (233) and a fourth guide shaft (234), and the four guide shafts (230) are arranged in parallel; the first guide shaft (231) is arranged on the left side of the bearing structure (220) and is vertically fixedly connected to the main frame (210); the first guide shaft (231) and the first rotating shaft (222) of the bearing structure (220) are in the same horizontal plane, and the fiber cloth passes under the first guide shaft (231); The second guide shaft (232) and the third guide shaft (233) are fixedly connected to the deviation correcting device (240); the second guide shaft (232) is installed on the side of the first guide shaft (231) away from the bearing structure (220), and the top of the second guide shaft (232) is flush with the bottom of the first guide shaft (231); and the third guide shaft (233) is arranged directly below the second guide shaft (232); The fourth guide shaft (234) is arranged below the bearing structure (220) and is vertically fixedly connected to the main frame (210).

6. The intelligent laying system for prefabrication of wind turbine blade structures according to claim 5, characterized in that: The deviation correction device (240) comprises a distance sensor (241), a deviation correction control device (242) and a first support frame (243); One side of the deviation correction control device (242) is fixedly connected to the main frame (210), the side of the deviation correction control device (242) away from the main frame (210) is fixedly connected to the distance sensor (241), and the first support frame (243) is fixedly connected to a surface of the deviation correction control device (242) facing the fiber cloth; The second guide shaft (232) among the plurality of guide shafts (230) is arranged at the top of the first support frame (243), and the third guide shaft (233) among the plurality of guide shafts (230) is arranged at the bottom of the first support frame (243); The flattening device (250) comprises a second support frame (251), a pressing device (252) and a smoothing device (253); the second support frame (251) is fixedly connected to the main frame (210), and the pressing device (252) and the smoothing device (253) are fixedly connected to the second support frame (251); The pressing device (252) is arranged in parallel with a fourth guide shaft (234) among the plurality of guide shafts (230), and the bottom of the pressing device (252) is lower than the bottom of the fourth guide shaft (234), and the fiber cloth passes through the top of the fourth guide shaft (234) and then passes through the bottom of the pressing device (252); The smoothing device (253) is arranged behind the pressing device (252) along the output direction of the fiber cloth, and the fiber cloth is output after passing through the bottom of the smoothing device (253).

7. An intelligent laying system for prefabrication of wind turbine blade structures according to claim 1 or 2, characterized in that: The surface spraying mechanism of the fiber cloth comprises a clamping device (320) and a spray tank (330), wherein the clamping device (320) and the spray tank (330) are connected, one end of the clamping device (320) is connected to a first driving device (310), and the other end of the clamping device (320) is connected to a second driving device (340), and the second driving device (340) is connected to a pressing portion (350), the first driving device (310) drives the clamping device (320) to move, and the second driving device (340) drives the pressing portion (350) to move; the nozzle (331) of the spray tank (330) faces downward; The first driving device (310) comprises a first driving motor (311), a fixed base (312) and a first screw structure (313); the first driving motor (311) is fixedly connected to the fixed base (312); the first screw structure (313) is arranged above the fixed base (312); and the first screw structure (313) is coaxially fixedly connected to an output shaft of the first driving motor (311); The clamping device (320) comprises a fixing portion (321), a clamping portion (322) and an abutting portion (323); a threaded hole (3211) is provided on the fixing portion (321), and the first screw rod structure (313) passes through the threaded hole (3211) and is arranged to match the threaded hole (3211); the side of the clamping portion (322) away from the second driving device (340) is fixedly connected to the fixing portion (321).

8. The intelligent laying system for prefabrication of wind turbine blade structures according to claim 7, characterized in that: The fixing portion (321) comprises a first fixing component (3212), a weighing sensor (3213) and a second fixing component (3214); a threaded hole (3211) is provided on the first fixing component (3212), the threaded hole (3211) is threadedly connected to the first screw structure (313), the weighing sensor (3213) is provided on the top of the first fixing component (3212), and the second fixing component (3214) is fixedly provided on the top of the weighing sensor (3213); The abutting portion (323) is an L-shaped bending component, comprising a first bending structure (3231) and a second bending structure (3232) connected to each other, the first bending structure (3231) being fixedly connected to the clamping portion (322), and the second bending structure (3232) abutting against the bottom of the spray can (330); the clamping portion (322) comprises an upper cover plate (3221) and a lower cover plate (3222), a through clamping hole is formed between the upper cover plate (3221) and the lower cover plate (3222), the inner surface of the clamping hole matches the shape of the spray can (330), and the upper cover plate (3221) and the lower cover plate (3222) are fixedly connected by a stainless steel pin lock (3223); The second drive device (340) comprises a second drive motor (341), a guide rail (342) and a second screw structure (343); the output shaft of the second drive motor (341) is coaxially fixedly connected to the second screw structure (343); the second screw structure (343) is provided with a groove, the groove matches the guide rail (342), and the guide rail (342) is fixedly arranged on the clamping device (320); the pressing portion (350) is an L-shaped bending component, comprising a third bending structure (351) and a fourth bending structure (352) connected to each other, the third bending structure (351) is fixedly connected to the second screw structure (343); the fourth bending structure (352) is provided with a pit (353), the pit (353) is matched with the nozzle (331) of the spray can (330), and a clamping structure is arranged in the pit (353).

9. An intelligent laying system for prefabrication of wind turbine blade structures according to claim 1 or 2, characterized in that: The inclined shearing mechanism (07) comprises a mounting seat (401), two bearing seats (1100) are spaced apart on the mounting seat (401), and a rotating rod (403) is provided between the two bearing seats (1100); a knife seat (404) is slidably installed below the mounting seat (401), the knife seat (404) is connected to a shearing knife (405) and an elastic pre-pressing structure (407), an eccentric cam mechanism (406) is rotatably installed on the rotating rod (403) for driving the knife seat (404) to slide back and forth relative to the mounting seat (401), and a positioning base plate (408) for supporting materials is provided below the elastic pre-pressing structure (407); The cutting edge of the shearing knife (405) is arranged to be inclined from one end of the positioning base plate (408) toward the other end; the mounting seat (401) is provided with a driving mechanism (409) for driving the rotating rod (403) to rotate; the positioning base plate (408) is provided with a shearing groove (410) for accommodating the cutting edge of the shearing knife (405); Elastic pre-compression structures (407) are respectively arranged on both sides of the shearing knife (405), and each elastic pre-compression structure (407) comprises two first sliding rods (472) arranged on the knife seat (404), a first linear bearing (471) is slidably arranged on the first sliding rods (472), and a pressure plate (473) is fixed on the two first sliding rods (472); a spring (474) is sleeved on the first sliding rod (472) between the first linear bearing (471) and the pressure plate (473).

10. The intelligent laying system for prefabrication of wind turbine blade structures according to claim 9, characterized in that: The eccentric cam mechanism (406) comprises two eccentric structures (461) arranged at both ends of the rotating rod (403), a swing handle (462) being rotatably mounted on the eccentric structure (461), a traction block (463) being rotatably mounted on the portion where the two swing handles (462) pass through the mounting seat (401), and the traction block (463) being fixed on the knife seat (404); second linear bearings (411) are provided at both ends of the mounting seat (401), a second sliding rod (412) is slidably disposed in the second linear bearing (411), and the second sliding rod (412) is fixedly connected to the knife seat (404); the driving mechanism (409) comprises a planetary reducer (126) mounted on the mounting seat (401) and a servo motor (127) connected thereto, and the planetary reducer (126) is connected to the rotating rod (403) via a coupling (128); A latch-type quick clamp (413) is provided at one end of the mounting seat (401), and the latch-type quick clamp (413) comprises a rotating seat (4131) fixed on the mounting seat (401), a rotating clamp (4132) is rotatably mounted on the rotating seat (4131), and a limit hook (4133) is rotatably mounted on the rotating clamp (4132); a hook seat (4134) is installed on the tool holder (404), and the limit hook (4133) is rotatably mounted on the tool holder (404). 33) cooperates with the hook seat (4134) to form a stop for the sliding of the knife seat (404); the hook seat (4134) is provided with a limiting notch (4135) for limiting the limiting hook (4133); the positioning base plate (408) is rotatably mounted on the adjustment seat (414), and the adjustment seat (414) is provided with a rotating pin, which is used to lock the rotation angle of the positioning base plate (408) relative to the adjustment seat (414).

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