Wind power blade composite material laying system

Abstract

The invention provides a wind power blade composite material laying system which comprises a glass fabric laying subsystem which is provided with an end effector integrated with a high-frequency vibration smoothing mechanism, and the high-frequency vibration smoothing mechanism is used for conducting vibration smoothing on dry glass fabric after the dry glass fabric is laid so as to form a fiber substrate; the core material laying subsystem is configured to be used for placing the fiber substrate, and the core material laying subsystem comprises a heavy movable chassis, a core material laying subsystem and a core material laying subsystem, and the heavy movable chassis moves along a fixed guide rail so as to provide a positioning reference; the three-axis Cartesian coordinate robot is arranged on the heavy movable chassis and composed of a first transverse load-carrying operation steel beam, a second transverse load-carrying operation steel beam and a vertical lifting electric cylinder, the first transverse load-carrying operation steel beam and the second transverse load-carrying operation steel beam are orthogonal to each other, and the vertical lifting electric cylinder drives the clamping type core material clamping device to move vertically so as to make contact with a fiber substrate. The problems that in the prior art, due to structural defects, the quality of the laid layers is low, and effective collaboration cannot be achieved are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade manufacturing equipment, and in particular to a composite material laying system for wind turbine blades. Background Art

[0002] With the growing global demand for clean energy, wind power technology is developing rapidly, and wind turbine blades are also trending towards larger, lighter, and more reliable blades. Large blades are typically manufactured using a composite one-piece molding process. The core process involves precisely laying down multiple materials, including fiberglass fabric as a reinforcing skeleton and core material as a filler support, layer by layer within a massive mold. To improve production efficiency and quality consistency, automated placement has become a technological trend in this field.

[0003] Automated solutions for single processes have emerged in the prior art. For example, Chinese Patent Publication No. CN115784071A discloses an automated placement system for reinforced composite materials. This system utilizes a gantry robot equipped with a multi-jointed robotic arm, with a pressure roller at the end of the arm used to lay and press the sticky prepreg. However, this solution has inherent structural limitations. When the target material is changed from the inherently sticky prepreg to the more commonly used and lower-cost dry-laid fiberglass cloth, its technical shortcomings become apparent. Dry-laid fiberglass cloth is inherently soft and non-sticky. The rolling friction generated by the pressure roller when contacting the cloth inevitably causes a dragging and stretching effect on the cloth, which can easily lead to uneven residual stress within the cloth and wrinkles. This structure cannot fundamentally achieve a natural, relaxed, and uniform arrangement of fibers, resulting in uneven quality of the laid fiber substrate, which poses a threat to the ultimate mechanical properties of the blade.

[0004] On the other hand, in the core material placement process, Chinese Patent Publication No. CN115972626A discloses an automated core material placement system that utilizes an autonomous mobile vehicle (AGV) equipped with a multi-jointed robotic arm. While this solution achieves automated handling, its structural design presents more serious technical problems. First, the AGV's navigation and positioning relies on external sensors or preset markers, resulting in inherent errors in its repeatability. When operating alongside blade molds, which can be tens of meters long, this drift and uncertainty in the reference position are unacceptable. Second, and most fundamental, is its structural flaw: the multi-jointed robotic arm is a cantilevered, tandem structure. Its kinematic characteristics dictate that its distal end moves in a complex arc. Even if the program strives for a vertical descent, a small horizontal velocity component is almost unavoidable at the physical level. This horizontal force, when applied to the underlying material, can cause detrimental shearing and disturbance. More seriously, when the robotic arm extends to cover the wide mold and load the heavy core material block, its distal end rigidity decreases dramatically, inevitably resulting in vibration and deflection. This unstable mechanical structure makes it unable to perform placement tasks that require high precision and high stability.

[0005] In summary, existing technologies fragment the layup process, and each employs inherently flawed equipment structures: The layup equipment, due to its roller structure, cannot form a high-quality fiber substrate; while the core material placement equipment, due to its combination of an automated guided vehicle (AGV) and a multi-jointed arm, suffers from significant deficiencies in positioning accuracy, motion trajectory, and structural rigidity, making it impossible to achieve precise, stable, and undisturbed placement of the core material. Therefore, this field urgently needs a new system that can fundamentally address these issues at the mechanical level, thereby achieving truly high-quality automated composite material placement. Summary of the Invention

[0006] The purpose of the present invention is to provide a wind turbine blade composite material laying system to solve the technical problems in the prior art that the fiber substrate has internal stress due to improper structure of the laying equipment, and the positioning accuracy, structural rigidity and motion trajectory are defective due to improper structure of the core material placement equipment, thus making it impossible to achieve high-quality collaborative laying.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A wind turbine blade composite material laying system includes: a glass fiber cloth laying subsystem, which has an end effector integrated with a high-frequency vibration smoothing mechanism, the high-frequency vibration smoothing mechanism is used to vibrate and smooth the dry glass fiber cloth after laying it to form a fiber base; and a core material laying subsystem, configured to place the fiber base, the core material laying subsystem including: a heavy-duty mobile chassis that moves along a fixed guide rail to provide a positioning reference; and a three-axis Cartesian coordinate robot arranged on the heavy-duty mobile chassis, consisting of a first transverse load-bearing working steel beam, a second transverse load-bearing working steel beam and a vertical lifting electric cylinder that are orthogonal to each other, wherein the end of the vertical lifting electric cylinder is provided with a clamping core material clamp for clamping a core material block, and the vertical lifting electric cylinder drives the clamping core material clamp to perform vertical movement to contact the fiber base.

[0009] Through the above structure, the present invention constructs a collaborative system with internal logical connections. First, the setting of the glass fiber cloth laying subsystem and its high-frequency vibration smoothing mechanism solves the problem of internal stress generated by the dragging of the pressure roller in the prior art. It can create a uniform, fluffy, stress-free "ideal but fragile" fiber base (i.e., "lock") through vibration. Secondly, in order to cope with the new technical difficulties brought about by this "ideal base", the present invention abandons the AGV and multi-joint arm solutions in the prior art and innovatively adopts a heavy-duty mobile chassis that moves along a fixed guide rail. This structural relationship ensures that the core material subsystem has a drift-free positioning reference, solving the problem of insufficient AGV positioning accuracy. More importantly, the three-axis Cartesian coordinate robot arranged on the chassis, its three-axis decoupling structural characteristics ensure that the clamping core material clamp at its end can contact the base with pure vertical vector motion. This structural relationship fundamentally eliminates the horizontal shear force that the multi-joint arm inevitably generates due to its kinematic characteristics and the vibration caused by insufficient rigidity, thereby perfectly solving the problem of non-destructive placement on a fragile base. This "lock and key" collaborative design, where one subsystem creates a specific technical problem and the other subsystem solves the problem with a unique, targeted structure, is the core of the present invention.

[0010] Preferably, the fiberglass cloth laying subsystem also includes: a mold for supporting the fiber base; a gantry frame spanning above the mold; a multi-joint robotic arm connected to the lower end of the gantry frame; and a vacuum adsorption device arranged at the end of the multi-joint robotic arm, and the high-frequency vibration smoothing mechanism is integrated into the periphery of the vacuum adsorption device.

[0011] This preferred solution further clarifies the way to create the "lock". The setting of the vacuum adsorption device is a prerequisite for achieving an "energy zero" substrate. Compared with the pressure roller in the prior art, it can achieve stress-free grasping and release of dry glass fiber cloth through negative pressure adsorption. This structural relationship ensures that before the core step of vibration smoothing begins, no drag stress is artificially introduced into the fiber cloth itself. The structural relationship in which the high-frequency vibration smoothing mechanism is integrated into the periphery of the vacuum adsorption device allows the two actions of stress-free release and vibration smoothing to be closely connected, thereby ensuring the perfect initial state of the formed fiber substrate.

[0012] Preferably, the fiberglass cloth laying subsystem also includes: a laser positioning sensor installed on the multi-joint robotic arm, and a visual sensor installed near the vacuum adsorption device, the laser positioning sensor and the visual sensor are respectively facing the mold and the fiber base laid on the mold.

[0013] This preferred solution adds precise geometric guidance to the formation of a high-quality substrate. The laser positioning sensor and vision sensor enable the system to perceive the precise contours of the mold and the edge position of the laid fabric in real time. The structural relationship between these two sensors and the multi-jointed robotic arm eliminates the blind execution of program execution and instead implements closed-loop control guided by vision and distance perception. This ensures that the ideal "zero-energy" substrate not only has superior physical properties, but also that the geometric form formed within the mold fully meets the design requirements, providing an accurate geometric reference for the subsequent precise placement of the core material.

[0014] Preferably, the core material laying subsystem also includes a vertical lifting steel beam arranged on the heavy mobile chassis, and an electric turntable assembly, which is arranged between the vertical lifting steel beam and the first transverse load-bearing operation steel beam of the three-axis Cartesian coordinate robot, and the length of the first transverse load-bearing operation steel beam is greater than the length of the second transverse load-bearing operation steel beam.

[0015] This preferred solution adds a critical posture adjustment capability to the "key". On the complex curved surface of the blade mold, the local surface of the base is not horizontal. The structural relationship between the electric turntable assembly and the Cartesian robot allows the entire Cartesian robot, together with the core material block it clamps, to perform precise angle pre-rotation before vertical descent. This solves the problem of angle matching between the bottom surface of the core material block and the tangent of the base surface, ensuring that the entire surface is in uniform contact during subsequent contact, rather than a single side or a single point first, thereby avoiding local overpressure and tilting.

[0016] Preferably, the core material placement subsystem further comprises a three-dimensional laser scanner installed at the front end of the heavy-duty mobile chassis, and the scanning range of the three-dimensional laser scanner covers the fiber base in the mold.

[0017] This preferred solution elevates the system's decision-making from theoretical to practical. The 3D laser scanner enables the core material subsystem to accurately perceive the actual base surface, including all its subtle undulations and fluffiness, freshly created by the fiberglass fabric subsystem. Working in conjunction with the electric turntable assembly and three-axis Cartesian coordinate robot, the system's posture adjustments and target point positioning are no longer based on idealized CAD models, but on real-time data from the physical world. This enables precise perception and matching of the "key" to the "lock" in its true form.

[0018] Preferably, the system also includes a central controller that is communicatively connected to the laser positioning sensor, visual sensor of the fiberglass cloth laying subsystem and the three-dimensional laser scanner of the core material laying subsystem; the central controller is configured to construct a base model based on data from the laser positioning sensor and visual sensor, and update the base model based on data from the three-dimensional laser scanner.

[0019] This preferred solution establishes the system's "nerve center." The central controller's configuration and its communication connection with all sensors deeply integrate the two physically separate subsystems at the cognitive level. It unifies the sensory data of the "lock creator" (fiberglass cloth subsystem) and the sensory data of the "key user" (core material subsystem), forming a dynamically updated digital twin model that reflects physical reality. This structural relationship makes the collaboration between the two subsystems no longer a simple process connection, but an intelligent decision-making based on unified cognition.

[0020] Preferably, the three-axis Cartesian coordinate robot includes a three-axis mobile power assembly, the three-axis mobile power assembly includes a motor that drives the vertical lifting electric cylinder, and the motor is communicatively connected to the central controller, and the central controller senses the contact force between the clamping core material clamp and the fiber base based on the current of the motor.

[0021] This preferred solution adds a critical "sense of touch" to the system. By establishing a force sensing relationship between the motor, central controller, and gripper, the system can seamlessly switch from high-precision position control to high-sensitivity force control in the final stage of the placement action. The slight resistance generated when the gripper contacts the substrate is immediately reflected as a change in the motor current. The central controller can immediately stop the descent after capturing this change. This structural relationship ensures that the huge potential energy of the core material is flexibly "absorbed" rather than violently "impacted", which is the ultimate physical execution guarantee for achieving non-destructive contact.

[0022] In summary, the present invention designs a unique collaborative system consisting of a fiberglass cloth laying subsystem and a core material laying subsystem, wherein the mechanical structure and control logic of the latter are tailored to solve the specific technical problems created by the former, thereby fundamentally solving the problems of poor laying quality and ineffective coordination caused by structural defects in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural block diagram of a composite material placement system for wind turbine blades according to one embodiment of the present invention.

[0024] Figure 2 Schematic diagram of the structure of a glass fiber cloth laying subsystem according to one embodiment of the present invention.

[0025] Figure 3 Schematic diagram of the structure of the core material placement subsystem according to one embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings.

[0027] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element, or intervening elements may exist between them. When an element is referred to as being "connected to" another element, it can be directly connected to the other element, or intervening elements may exist between them. Unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly.

[0028] See also Figures 1 to 3 , Figure 1 This is a structural block diagram of a wind turbine blade composite material placement system according to one embodiment of the present invention. Figure 2 Schematic diagram of the structure of the glass fiber cloth laying subsystem according to one embodiment of the present invention. Figure 3 Schematic diagram of the structure of the core material placement subsystem according to one embodiment of the present invention.

[0029] This embodiment provides a wind turbine blade composite material placement system 300 , which includes a glass fiber cloth placement subsystem 100 and a core material placement subsystem 200 .

[0030] As attached Figure 2As shown, the glass fiber cloth placement subsystem 100 has an end effector integrated with a high-frequency vibration smoothing mechanism 113. This subsystem is used to place dry-laid glass fiber cloth within a mold 115 for supporting the fiber substrate. After placement, the high-frequency vibration smoothing mechanism 113 vibrates and smoothes the laid dry-laid glass fiber cloth to form a uniform fiber substrate free of internal stress.

[0031] As attached Figure 3 As shown, the core material placement subsystem 200 is configured to subsequently place core material blocks on the fiber substrate formed by the aforementioned fiberglass cloth subsystem 100. The core material placement subsystem includes a heavy-duty mobile chassis 202 that moves along fixed guide rails 201. This structure provides a high-precision, drift-free positioning reference for all operating mechanisms above it. A three-axis Cartesian coordinate robot is mounted on the heavy-duty mobile chassis 202. The robot consists of a first transverse load-bearing steel beam 211 and a second transverse load-bearing steel beam 212 that are orthogonal to each other, and a vertical lift cylinder 214. A clamping core material gripper 215 is located at the end of the vertical lift cylinder 214 for clamping a core material block. During operation, the vertical lift cylinder 214 drives the clamping core material gripper 215, enabling it to contact the fiber substrate within the mold 115 using a purely vertical motion trajectory.

[0032] In a preferred embodiment, as shown in the attached Figure 2 As shown, the glass fiber cloth placement subsystem also includes a gantry frame 103 that spans above the mold 115. A multi-jointed robotic arm 109 is connected to the lower end of the gantry frame 103. A vacuum suction device 114 is located at the end of the multi-jointed robotic arm 109, and the high-frequency vibration smoothing mechanism 113 is integrated into the periphery of the vacuum suction device 114. This structure allows the system to grasp and release the dry glass fiber cloth without stress through vacuum suction, and immediately perform vibration smoothing operations after release.

[0033] To achieve precise placement, the fiberglass cloth placement subsystem further includes a laser positioning sensor 110 mounted on the multi-joint robotic arm 109, and a visual sensor 112 mounted near the vacuum adsorption device 114. The laser positioning sensor 110 and the visual sensor 112 are respectively directed toward the mold 115 and the fiber substrate placed on the mold 115, providing precise contour and edge guidance for the placement process. Figure 3 , mold 115 in Figure 3 It is represented as mold 216 in the figure.

[0034] In a preferred embodiment, as shown in the attached Figure 3As shown, the core material placement subsystem also includes a vertical lift steel beam 204 mounted on the heavy-duty mobile chassis 202. An electric turntable assembly 209 is installed between this vertical lift steel beam 204 and the first transverse load-bearing steel beam 211 of the three-axis Cartesian coordinate robot. The length of the first transverse load-bearing steel beam 211 is greater than the length of the second transverse load-bearing steel beam 212 to accommodate the narrow and long blade mold. This electric turntable assembly 209 enables precise pre-adjustment of the angle of the entire Cartesian robot and the core material block it holds before vertical placement.

[0035] In order to achieve perception of the real environment, the core material placement subsystem also includes a three-dimensional laser scanner 210 installed at the front end of the heavy mobile chassis 202. The scanning range of the three-dimensional laser scanner 210 can completely cover the fiber substrate in the mold 115, thereby obtaining real three-dimensional data of the substrate surface.

[0036] The system also includes a central controller (not shown) that is in communication with the laser positioning sensor 110 and vision sensor 112 of the fiberglass placement subsystem, as well as the 3D laser scanner 210 of the core material placement subsystem. The central controller is configured to construct an initial base model based on data from the laser positioning sensor 110 and vision sensor 112, and to perform a final, high-precision update of the base model based on data scanned by the 3D laser scanner 210.

[0037] To achieve flexible contact, the three-axis Cartesian coordinate robot includes a three-axis motion power assembly 213, which includes a motor (not shown) for driving the vertical lift cylinder 214. This motor is in communication with the central controller, enabling the central controller to accurately sense the tiny force applied by the clamping core material gripper 215 to the fiber substrate by monitoring the motor's drive current in real time.

[0038] To enhance the system's practicality and safety, a driver's cabin 207 is installed on the heavy-duty mobile chassis 202 of the core material placement subsystem. This cabin 207 houses an operating handle (not shown) and a display screen (not shown) that communicate with the central controller. Located to one side of the vertically elevating steel beam 204, the cabin's overall height is lower than that of the electric turntable assembly 209, ensuring the operator has a good field of view.

[0039] Specifically in this embodiment, the operating logic of the entire system is designed as a highly coordinated, physically realistic, closed-loop process. First, before the core placement subsystem performs any physical actions, the central controller performs a "virtual test placement." It loads a precise digital model of the core block onto a real-world model of the fiber substrate, freshly constructed by the 3D laser scanner 210 and incorporating all the real-world physical details. Through simulation, the system can predict the amount of compression the core will exert on the substrate under its own weight, the uniformity of the pressure distribution on the contact surface, and the presence of risks such as a "seesaw effect" caused by localized fluctuations. If the simulation results indicate a risk, the system fine-tunes the core placement posture by controlling the electric turntable assembly 209 or fine-tuning its horizontal position using a three-axis Cartesian coordinate robot before any physical action is performed, thereby generating an optimal placement strategy that guarantees a successful first-time placement. This process completely eliminates the possibility of finding the optimal placement through "physical trial and error," as any incorrect physical contact with the "zero-energy" substrate created by this invention is potentially irreversible.

[0040] When executing the optimal strategy determined by the virtual trial release, the control core of the system seamlessly switches from "position control" to "flexible contact for energy management". When the vertical lifting cylinder 214 drives the clamp 215 to descend to only a few millimeters from the surface of the base, its descending speed will drop sharply, and the central controller will start high-frequency monitoring of the current of the drive motor. Once a small jump in the current caused by contact is detected, it is determined that contact has occurred, and all vertical movements will be stopped immediately. Subsequently, the system will maintain the clamping state for a short period of a few tenths of a second to allow the tiny vibration energy generated by the sudden stop of the movement of the mechanical structure to be completely dissipated. Finally, the clamping plates of the clamping core material clamp 215 will open in a preset smooth and symmetrical manner to achieve disturbance-free release, avoiding the release action itself from generating any thrust in any direction on the core material that has been precisely positioned. At the same time, the human-machine interaction function provided by Cockpit 207 allows the system to switch between multiple modes such as full automation, guided teaching and manual maintenance. This enables this highly sophisticated automated process to rely on human experience and intuition when facing non-standard challenges, while operating safely and efficiently in daily production and maintenance, thus ensuring the high robustness and practicality of the entire system in real industrial environments.

[0041] In order to further illustrate the synergistic relationship and design ingenuity between the various structural components of the present invention, which are different from conventional technologies, several key structural layouts will be described in depth below.

[0042] For further information, please see the attached Figure 2, the integration of the high-frequency vibration smoothing mechanism 113 and the vacuum adsorption device 114 in the present invention has a unique "parallel, selective" operating layout. Specifically, the vacuum adsorption device 114 constitutes the main body of the end effector, and the high-frequency vibration smoothing mechanism 113 is an independent strip-shaped operating unit, which is arranged in parallel with the vacuum adsorption device 114 on the same end effector mounting frame. This structure brings about an advanced process flow of "first placing the whole, then focusing on the treatment". First, the vacuum adsorption device 114 completes the initial stress-free laying of the entire piece of fiberglass cloth. Then, if local wrinkles are detected, the multi-joint robotic arm 109 can move precisely so that the parallel smoothing mechanism 113 acts alone on the specific area. This "surgical" solution is different from conventional integral vibration equipment. It realizes the on-demand distribution of energy and minimizes the intervention on the workpiece. It is a more refined and efficient leveling method.

[0043] For further information, please see the attached Figure 3 The axis stacking method of the three-axis Cartesian coordinate robot in the present invention adopts a "wide base load-bearing, upper long axis" structure. The second transverse load-bearing operation steel beam 212 with a relatively short length that provides a transverse stroke is arranged on the lower layer, forming a mobile platform with a wider support span. The first transverse load-bearing operation steel beam 211 with a longer length that provides the main longitudinal stroke is arranged on the upper layer and is supported by the second steel beam 212 on the lower layer. The subtlety of this design is that the wide base of the lower layer provides extremely stable support for the long cantilever steel beam 211 on the upper layer, which can effectively decompose and withstand the huge bending moment and lateral force generated by it when it is stretched under heavy load. This design, which is made to counteract the cantilever torque under specific working conditions and gives priority to ensuring rigidity, is different from the conventional general design that places the long axis on the bottom layer only to lower the center of gravity, and has better structural stability.

[0044] Also refer to the attached Figure 3 , the layout of the three-dimensional laser scanner 210 in the present invention adopts a "turntable linkage, high-position center" strategy. The scanner 210 is installed on a platform that rotates together with the electric turntable assembly 209 through a bracket. Its position is close to the center of rotation and is in a higher overlooking position. This layout allows the scanner's "line of sight" to always keep the same direction as the robot's "arm". When the turntable rotates to align with the new target, the scanner is also synchronized to ensure that the area to be operated can always be "focused" scanned at the best angle. This is different from conventional fixed global scanning or "eyes on hands" solutions. It avoids processing massive amounts of invalid data and allows scanning and execution of actions in parallel. It is a more intelligent and efficient sensor layout strategy.

[0045] To achieve better placement accuracy, please refer to the attached Figure 2In some embodiments, at the end of the fiberglass placement subsystem, in addition to the visual sensor 112, two symmetrically positioned laser positioning sensors, namely, laser positioning sensor 110 and laser positioning sensor 111, can be further installed. These sensors are mounted at either end of the end effector mounting frame, on the left and right sides of the vacuum suction device 114. This symmetrical arrangement is not simply a redundant design, but rather constitutes a real-time attitude calculation system. By comparing the differences in the instantaneous distance values ​​returned by these sensors, the central controller can accurately and in real time calculate the pitch and roll angles of the end effector relative to the local curved surface of the mold beneath it. This enables active attitude servo control during the final contact phase of placement. Specifically, the multi-jointed robotic arm 109 dynamically fine-tunes its end-effector attitude based on the real-time feedback from these sensors until the entire suction surface of the vacuum suction device 114 is aligned parallel to the complex curved surface of the mold. This active, closed-loop attitude calibration fundamentally eliminates placement defects caused by angular deviation.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wind turbine blade composite material laying system, characterized in that: include: A glass fiber cloth laying subsystem has an end effector integrated with a high-frequency vibration smoothing mechanism (113), wherein the high-frequency vibration smoothing mechanism (113) is used to vibrate and smooth the dry-process glass fiber cloth after laying it to form a fiber base; and a core material placement subsystem configured to place the fiber substrate, the core material placement subsystem comprising: a heavy-duty mobile chassis (202) that moves along a fixed guide rail (201) to provide a positioning reference; and a three-axis Cartesian coordinate robot arranged on the heavy-duty mobile chassis (202), which is composed of a first transverse load-bearing operation steel beam (211), a second transverse load-bearing operation steel beam (212) and a vertical lifting electric cylinder (214) that are orthogonal to each other, wherein a clamping core material clamp (215) for clamping a core material block is provided at the end of the vertical lifting electric cylinder (214), and the vertical lifting electric cylinder (214) drives the clamping core material clamp (215) to move vertically to contact the fiber substrate.

2. The wind turbine blade composite material placement system according to claim 1, characterized in that: The glass fiber cloth laying subsystem also includes: a mold (115) for supporting the fiber base; a gantry frame (103) spanning above the mold (115); a multi-joint robotic arm (109) connected to the lower end of the gantry frame (103); and a vacuum adsorption device (114) arranged at the end of the multi-joint robotic arm (109), and the high-frequency vibration smoothing mechanism (113) is integrated around the vacuum adsorption device (114).

3. The wind turbine blade composite material placement system according to claim 2, characterized in that: The glass fiber cloth laying subsystem also includes: a laser positioning sensor (110) installed on the multi-joint robotic arm (109), and a visual sensor (112) installed near the vacuum adsorption device (114), wherein the laser positioning sensor (110) and the visual sensor (112) are respectively directed toward the mold (115) and the fiber substrate laid on the mold (115).

4. The wind turbine blade composite material placement system according to claim 3, characterized in that: The core material placement subsystem also includes a vertical lifting steel beam (204) arranged on the heavy-duty mobile chassis (202), and an electric turntable assembly (209), which is arranged between the vertical lifting steel beam (204) and the first transverse load-bearing operation steel beam (211) of the three-axis Cartesian coordinate robot, and the length of the first transverse load-bearing operation steel beam (211) is greater than the length of the second transverse load-bearing operation steel beam (212).

5. The wind turbine blade composite material placement system according to claim 4, characterized in that: The core material placement subsystem further includes a three-dimensional laser scanner (210) installed at the front end of the heavy-duty mobile chassis (202), and the scanning range of the three-dimensional laser scanner (210) covers the fiber substrate in the mold (115).

6. The wind turbine blade composite material placement system according to claim 5, characterized in that: The system further comprises a central controller that is communicatively connected to the laser positioning sensor (110) and the visual sensor (112) of the glass fiber cloth laying subsystem and the three-dimensional laser scanner (210) of the core material laying subsystem; the central controller is configured to construct a base model based on data from the laser positioning sensor (110) and the visual sensor (112), and to update the base model based on data from the three-dimensional laser scanner (210).

7. The wind turbine blade composite material placement system according to claim 6, characterized in that: The three-axis Cartesian coordinate robot includes a three-axis mobile power assembly (213), the three-axis mobile power assembly (213) includes a motor for driving the vertical lifting electric cylinder (214), and the motor is communicatively connected to the central controller for sensing the force when the clamping core material clamp (215) contacts the fiber base.

8. The wind turbine blade composite material placement system according to claim 7, characterized in that: The heavy-duty mobile chassis (202) of the core material placement subsystem is also provided with a cockpit (207), wherein an operating handle and a display screen are provided in the cockpit (207) and are connected to the central controller for communication. The cockpit (207) is located on one side of the vertical lifting steel beam (204), and its height is lower than that of the electric turntable assembly (209).

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