A wind power mixed tower horizontal joint stirring and material distributing integrated robot

Abstract

This invention discloses an integrated robot for mixing and placing slurry at the horizontal joint of a wind turbine hybrid tower, comprising a mixing truck and an automatic slurry placing robot. The mixing truck is used for feeding, metering, mixing, preparing, temporarily storing, adjusting the state, and continuously pumping the slurry required for the construction of the horizontal joint of the wind turbine hybrid tower on the concrete tower sections, continuously delivering the slurry to the automatic slurry placing robot. The automatic slurry placing robot is used to receive the slurry delivered by the mixing truck and automatically walk along the horizontal joint of the wind turbine hybrid tower, store material, quantitatively discharge material, vibrately place the slurry, smooth and repair, and monitor quality. It features automatic mixing, automatic storage, automatic supply, continuous slurry placement, real-time control of slurry state, replaceable cross-section discharge, modular discharge port arrangement, adaptive walking based on tower curvature, and visual monitoring of the construction process.

Description

Technical Field

[0001] This invention belongs to the field of automatic material placement robot technology, specifically relating to an integrated robot for mixing and placing material at the horizontal joint of a wind power hybrid tower. Background Technology

[0002] Wind turbine hybrid towers are typically formed by stacking and installing multiple precast concrete tower sections on site, with horizontal joints between adjacent sections. The grout, filling material, or epoxy-based material at these horizontal joints primarily serves for leveling, filling, sealing, and force transmission. The quality of this grout application directly affects the contact between the upper and lower tower sections, installation accuracy, and structural integrity. Currently, the construction of horizontal joints in wind turbine hybrid towers largely relies on manual labor or simple machinery, resulting in problems such as high dependence on manual labor, low construction efficiency, difficulty in controlling grout thickness and width, poor grout continuity, localized grout shortages or accumulations, and difficulty in real-time monitoring and traceability of construction quality.

[0003] For mortar spreading, leveling, or wind turbine tower joint construction, some published patents have proposed related robotic equipment.

[0004] For example, CN121654232A discloses a robotic device for grouting concrete towers in wind power plants. The patent's background technology points out that traditional grouting operations mainly rely on manual labor, resulting in low construction efficiency, difficulty in ensuring uniformity and consistency, easy occurrence of incomplete filling and uneven surfaces, high risks associated with high-altitude operations, poor adaptability to curved tower surfaces and variable-diameter structures, and a lack of real-time monitoring and feedback mechanisms. However, this patent primarily addresses the grouting and surface smoothing of the tower's outer wall, focusing on the sealing and appearance treatment of the outer wall joints, without fully addressing the grouting requirements for horizontal pressure joints during wind power tower installation. Its material supply system mainly consists of a storage tank, a concrete pump, an inlet pipe, and an outlet hose, and has not yet formed an integrated system linking mixing, storage, insulation, fluidity testing, automatic water replenishment, real-time pumping, and the material-laying robot.

[0005] CN121828103A discloses a paving robot suitable for the installation of concrete towers in wind power plants. The patent clearly points out that the paving of grout and epoxy resin is a key process in the construction of wind power concrete towers, directly affecting the structural stability, corrosion resistance, and service life of the tower. Existing technologies mainly rely on manual or simple mechanical operations, which have problems such as high dependence on manual labor, insufficient adaptability, poor environmental adaptability, and safety hazards. However, this technology is mainly a single-machine paving robot. Although it is equipped with structures such as a hopper, mixer, material cut-off valve, screw pump, material distribution box, air compressor, discharge nozzle, scraper, and vibration compaction device, it still does not solve the problem of integrated coordination between the mixer truck and the automatic material distribution robot. It does not fully consider the long-term storage, heat preservation, real-time flowability adjustment, material storage status feedback, on-demand pumping, rapid replacement of modular discharge ports, and adaptation of discharge width and discharge rate for different tower widths during the construction process.

[0006] In summary, existing publicly available technologies still have the following shortcomings: First, most equipment only automates partial processes, making it difficult to achieve integrated slurry mixing, storage, pumping, distribution, and quality monitoring; second, existing equipment lacks adaptability to different tower diameters, wall thicknesses, joint widths, and tower curvatures; third, the temperature, flowability, and discharge volume of the slurry during storage, transportation, and distribution lack real-time detection and closed-loop control; fourth, the discharge ports are mostly fixed structures, making it difficult to modularly adjust them according to different tower plate widths and designed distribution volumes; fifth, existing construction processes lack image recognition, automatic repair, and data uploading functions, making it difficult to achieve full-process recording and traceability of construction quality. Therefore, it is necessary to propose an automatic distribution robot suitable for horizontal joints of wind power hybrid towers, achieving integrated collaboration between the mixing truck and the automatic distribution robot, as well as slurry status control, modular discharge, curvature adaptive walking, and real-time monitoring of distribution quality. Summary of the Invention

[0007] To overcome the technical problems in existing wind turbine hybrid tower horizontal joint construction, such as high reliance on manual labor, fragmented slurry mixing and spreading processes, difficulty in maintaining slurry fluidity, discontinuous feeding and spreading, difficulty in adapting discharge cross-section and discharge volume to different joint sizes, insufficient robot adaptability to tower curvature and width variations, and lack of real-time monitoring and process traceability of construction quality, the present invention aims to provide an integrated robot for mixing and spreading slurry at wind turbine hybrid tower horizontal joints. This robot features automatic mixing, automatic storage, automatic feeding, continuous spreading, real-time control of slurry status, replaceable cross-section discharge, modular discharge port arrangement, adaptive tower curvature walking, and visualized monitoring of the construction process, enabling continuous, automated, and standardized slurry construction at wind turbine hybrid tower horizontal joints.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A wind power hybrid tower horizontal joint mixing and spreading robot includes a mixing truck and an automatic spreading robot body; The mixer truck is used to feed, meter, mix, prepare, temporarily store, condition and continuously pump the slurry required for the construction of horizontal joints of wind power hybrid towers on concrete tower sections, and continuously deliver the slurry to the automatic material distribution robot body. The automatic material-laying robot body is used to receive the slurry delivered by the mixing truck, and automatically walks, stores, quantitatively discharges, vibrates and lays the material, smooths and repairs, and monitors the quality along the horizontal joint of the wind power mixing tower.

[0009] The mixer truck includes a feed inlet, a mixing tank, a storage tank, mixing blades, a control console, a flow meter, a temperature-flowability detection device, a heating device, a pumping device, and a mixer truck discharge outlet. The mixing tank and the storage tank are arranged side by side inside or on top of the mixer truck. The mixing tank is used for the initial mixing and preparation of the slurry raw materials, while the storage tank is used for the temporary storage and maintenance of the slurry's condition after mixing. The mixing tank is provided with a feed inlet at the top, which is connected to the inside of the mixing tank. It is used to add dry powder, water, admixtures, premixed slurry, grouting material, or other slurry materials suitable for the construction of horizontal joints of wind power towers into the mixing tank. The metering device is set at the feed inlet or on the feed pipeline connected to the feed inlet. It is used to record the amount of slurry or liquid material added into the mixing tank and transmit the metering data to the control console to prompt the operator or control system to adjust the feed rate. The mixing tank is equipped with stirring blades, which are driven by a stirring motor. The stirring motor is electrically connected to a control console. The control console controls the stirring motor to operate according to the set stirring time, stirring speed, and slurry ratio, thereby driving the stirring blades to stir the slurry in the mixing tank. An internal discharge port is provided at the bottom or lower side of the mixing tank, which is connected to a storage tank through a connecting pipe. A valve or pumping mechanism is provided at the internal discharge port to open after the slurry is stirred, allowing the slurry in the mixing tank to enter the storage tank through the internal discharge port.

[0010] The storage tank is equipped with auxiliary stirring blades, a heater, and a liquid replenishment device. The auxiliary stirring blades are driven by an auxiliary stirring motor and are used to intermittently or continuously stir the slurry in the storage tank. The heater is located on the inner wall, bottom, or outer wall of the storage tank and is used to keep or heat the slurry in the storage tank. The liquid replenishment device is connected to the storage tank and is used to replenish a set amount of water, additive solution, or matching adjustment components into the storage tank within the allowable range of the material specification, based on the slurry flowability test results, and to record the replenishment volume. The storage tank has a discharge port at the bottom or lower side, which is connected to the inlet of the pumping device. The outlet of the pumping device is connected to the storage tank of the automatic material distribution robot body through a conveying pipe.

[0011] Temperature-flowability detection devices are installed in both the mixing tank and the storage tank. These devices consist of a temperature detection device and a flowability detection device. The temperature detection device detects the temperature of the slurry in the mixing tank and / or storage tank, while the flowability detection device detects changes in the slurry's flow properties or consistency. The temperature detection device, flowability detection device, flow meter, mixing motor, auxiliary mixing motor, heater, replenishment device, valves, and pump are all electrically connected to the control console. Based on the data fed back from the temperature detection device, flowability detection device, and flow meter, the control console controls the mixing blades, the heater, the replenishment device, the opening and closing of the internal discharge port, and the pumping operation.

[0012] The pump is installed inside the mixer truck, below the storage tank, or on one side of the storage tank's discharge port. The pump's inlet is connected to the storage tank, and the pump's outlet is connected to the automatic material distribution robot body via a conveying pipe. The automatic material distribution robot body is equipped with a material monitoring device to detect the remaining slurry in the robot body's storage tank. This material monitoring device is communicatively connected to the control console. A control console is installed on the outside of the mixer truck. The control console is used to display the amount of slurry added, the mixing status, the remaining amount in the storage tank, the slurry temperature, the slurry flowability, the pumping status, and fault information. It can also be used to set the mixing speed, mixing time, heating temperature, water replenishment, and pumping rate. The bottom of the mixer truck is equipped with wheels to facilitate movement on the construction site. A discharge port is located on the side of the mixer truck, which is connected to the discharge end of the pump and used to connect to an external conveying pipe to deliver slurry to the automatic material distribution robot. The discharge module is located at the bottom of the material distribution box and on the side close to the horizontal joint of the wind power hybrid tower. The discharge modules are arranged along the width direction of the horizontal joint of the material box, i.e. the thickness direction of the tower wall, on the bottom wall of the material box, and are composed of multiple detachable discharge modules arranged in parallel. Multiple installation stations are set on the bottom wall of the material box, and each installation station corresponds to the installation of a discharge module. The multiple discharge modules are arranged sequentially along the width direction of the tower plate, so that the overall discharge range can cover the width of the material required for the horizontal joint.

[0013] The discharge module has a hollow structure, with an inlet end at the upper end that communicates with the inner cavity of the fabric box, and an outlet at the lower end for discharging fabric into the horizontal seam. The discharge module as a whole can be a rectangular, trapezoidal or other block structure that is easy to splice and install. The top of the discharge module is provided with a connecting protrusion, a plug-in part or a snap-fit ​​part, and the bottom wall of the fabric box is provided with a corresponding groove, a sliding groove, a snap-fit ​​groove or a mounting hole. An adjustable closure port is provided on the upper part of the discharge module. The adjustable closure port is located between the feed end of the discharge module and the inner cavity of the material box, and is used to adjust the flow area of ​​the slurry entering the corresponding discharge module. The adjustable closure port adopts a spiral opening and closing structure, including a fixed perforated plate, a rotating closing plate and a driving unit. The fixed perforated plate is set at the feed end of the discharge module, and the rotating closing plate is set above or below the fixed perforated plate and can rotate relative to the fixed perforated plate. The drive unit uses a micro motor, servo motor, stepper motor, or electromagnetic actuator, and is communicatively connected to the robot control module. The drive unit is electrically connected to the control module via a cable, or connected to the control module via Bluetooth, a wireless communication module, or other short-range communication methods. The control module controls the adjustable opening of each discharge module based on the design cross-section of the horizontal joint, the target fabric thickness, the target fabric width, the robot's walking speed, the slurry flowability, and the feedback data from the flow sensor.

[0014] Specifically, the control module pre-stores discharge control parameters corresponding to different tower plate widths, horizontal joint widths, designed fabric thicknesses, and slurry types; Before construction, the control module determines the number of output modules to be activated based on the input target fabric width and target fabric thickness, and calculates the target output amount required per unit time based on the robot's set walking speed. During construction, the control module distributes the target output amount to each output module and controls the corresponding drive unit of each output module to make the adjustable closing port at the corresponding opening. During construction, the control module also dynamically corrects the opening based on feedback from the flow sensor, slurry flowability detection device, and visual monitoring device. When insufficient fabric thickness or lack of slurry is detected in the central area, the control module increases the opening of the corresponding discharge module in the central main fabric area. When overflow, slurry accumulation, or fabric width exceeding the set range is detected in the edge area, the control module reduces the opening of the corresponding discharge module in the edge limited fabric area, or closes the outermost discharge module.

[0015] The discharge module has a discharge cross-section with different shapes and sizes, including circular, rectangular, oblong, flat slot, trapezoidal, and irregular cross-sections that match the horizontal joints of the wind power hybrid tower. The effective discharge width of a single discharge module along the tower wall thickness direction is 30 mm to 150 mm. Multiple discharge modules are arranged sequentially along the tower wall thickness direction to form a combined discharge area, and the number of discharge modules is not less than 3. Each discharge module is arranged sequentially along the length of the bottom of the fabric box and is detachably connected to the bottom wall of the fabric box; the bottom wall of the fabric box is provided with continuous or spaced mounting grooves along its length, the mounting grooves being dovetail grooves, T-grooves, rectangular slides, or stepped slots; the upper part of each discharge module is provided with a connecting boss that matches the mounting groove, the connecting boss being able to be inserted into or slide into the mounting groove, so that the discharge module is initially positioned at the bottom of the fabric box; The discharge module is a hollow block structure with an inlet at the upper end that communicates with the inner cavity of the cloth box, and an outlet at the lower end that discharges slurry to the horizontal joint. The material discharge module is rectangular, trapezoidal, or wedge-shaped; a vertical or inclined material discharge channel is formed inside the material discharge module, the upper end of the material discharge channel is connected to the inner cavity of the material box, and the lower end is connected to the material discharge port; the cross-section of the material discharge port is set as circular, rectangular, oblong, flat slit, trapezoidal, or an irregular cross-section that matches the cross-section of the horizontal joint. A connector is provided between the material discharge module and the fabric box; Each mounting groove corresponds to one discharge module; or a continuous mounting groove is set so that multiple discharge modules can be inserted and arranged sequentially along the same groove; limiting surfaces, sealing gaskets or splicing edges are set between adjacent discharge modules so that multiple discharge modules can be installed side by side to form a continuous discharge area and avoid leakage between adjacent modules.

[0016] The automatic material-laying robot body includes a storage box, a material-laying box, an inner hole, a controllable opening and closing component, an extrusion head, a water sprayer, and a modular discharge port; The storage tank is located in the middle or upper part of the vehicle body and is used to receive and temporarily store the slurry transported by the mixer truck; the distribution tank is located on the side near the horizontal joint of the tower and is arranged adjacent to the storage tank; an inner hole is provided between the storage tank and the distribution tank, the inner hole is located on the side wall of the storage tank near the distribution tank and communicates with the inner cavity of the distribution tank, so as to allow the slurry in the storage tank to enter the distribution tank; A controllable opening and closing component is provided at the inner hole. The controllable opening and closing component is an electric valve, gate valve, flap valve, rotary valve plate or solenoid valve, used to control the flow of slurry between the storage box and the distribution box. A modular discharge port is provided on the side of the material distribution box near the horizontal joint of the tower. The modular discharge port is connected to the inner cavity of the material distribution box and is used to discharge the slurry in the material distribution box to the horizontal joint of the tower. The storage box, the inner hole, the material distribution box and the modular discharge port are arranged in sequence along the direction of slurry flow to form a lateral material distribution channel from the storage box to the material distribution box and then from the material distribution box to the horizontal joint of the tower. The extrusion head is installed inside the fabric box. The extrusion head is located on the side of the fabric box away from the modular discharge port and is arranged towards the modular discharge port. The extrusion head adopts a push plate type, piston type, air bladder type or diaphragm pneumatic type structure. When the pneumatic drive method is used, the gas is isolated from the slurry through the air bladder or flexible diaphragm to avoid the gas from directly entering the slurry. When a push-plate extrusion head is used, the extrusion head includes a push plate and a drive mechanism. The push plate is set in the inner cavity of the fabric box and slides in cooperation with the inner wall of the fabric box. The drive mechanism is set on the outside of the fabric box or on the side of the fabric box away from the modular discharge port and is connected to the push plate. It is used to drive the push plate to move toward the modular discharge port, thereby extruding the slurry in the fabric box to the modular discharge port and discharging it. A water sprayer is installed inside the extrusion head or on one side near the working surface of the extrusion head. The water sprayer is connected to a water source or water supply device through a water supply pipe. The nozzle of the water sprayer is arranged facing the inner wall of the material box, the periphery of the inner hole, the working surface of the extrusion head, and the modular discharge port inlet. The opening and closing of the inner hole is controlled by the control module based on the remaining slurry in the fabric box, the pressure of the fabric box, the discharge flow rate, and the fabric working conditions.

[0017] The automatic fabric-laying robot body is equipped with a visual monitoring device, which includes a camera assembly and a visual recognition unit. The camera assembly includes a front-view camera, a top-view camera, and a depth camera or a structured light ranging module. The forward-facing camera is mounted on a bracket at the front of the vehicle body, above the front of the fabric box, or on one side of the vehicle's direction of travel, with the lens facing the robot's direction of travel. It is used to collect images of the horizontal seam of the tower, the seam boundary, the edge of the tower plate, obstacles, and the front of the fabric-covered area in front of the robot. The top-view camera is mounted on a bracket above the fabric box, above the modular discharge port, or behind the discharge port, with the lens facing the modular discharge port and the horizontal joint area nearby, for real-time acquisition of images of the area below the discharge port and the surface of the slurry after discharge. Both the front-view camera and the top-view camera are electrically or communicatively connected to the control module. The control module has a built-in vision recognition unit, which is used to perform edge recognition, seam recognition, fabric width recognition, slurry coverage status recognition, and surface quality judgment on the images captured by the cameras. The front-view camera is mainly used to identify the positional deviation and travel direction deviation of the robot relative to the center line of the horizontal seam. The top-view camera is mainly used to identify whether the slurry is continuously covered, and whether there are any deficiencies, breaks, accumulations, overflows, or poor smoothing.

[0018] The visual recognition unit first performs grayscale conversion, filtering and noise reduction, brightness equalization, and distortion correction on the image captured by the front-view camera, and then extracts the boundary lines on both sides of the horizontal joint using edge detection, threshold segmentation, or contour extraction methods; let the expressions of the left and right boundary lines of the horizontal joint in the image coordinate system be: The center line of the horizontal joint is then represented as: in, and These are the boundary lines on both sides of the joint. Center line of the seam , The slope of the boundary line. , The boundary intercept; Let the robot's preset driving centerline in the image be: The lateral deviation of the robot relative to the center line of the horizontal seam Represented as: in, The horizontal coordinate of the centerline of the horizontal joint at the designated detection section is the image's abscissa. Let x be the horizontal coordinate of the robot's centerline in the image. This is the conversion factor between the image pixel size and the actual size, with the unit being mm / pixel; Angular deviation between the robot's direction of travel and the center line of the horizontal joint It can be represented as: in, The slope of the centerline of the horizontal joint. This is the robot's current direction of travel angle; when the lateral deviation... Greater than 5 mm to 20 mm, or angular deviation When the deviation is greater than 1° to 5°, the control module determines that the robot is veering off course and adjusts the speed of the left and right drive wheels according to the following formula: in, and These are the target speeds for the left and right drive wheels, respectively. The robot's baseline walking speed, This is the lateral deviation correction factor. This is the angle deviation correction coefficient. The robot is kept stable along the horizontal joint direction by controlling the differential speed of the left and right drive wheels, or by adjusting the steering angle of the front and rear chassis. The visual recognition unit analyzes the images captured by the top-view camera to identify the slurry boundary, slurry width, slurry continuity, and surface flatness of the slurry area. The visual recognition unit segments the image based on differences in grayscale, color, texture, or reflectivity between the slurry and the concrete surface of the tower, thus obtaining the slurry area. The slurry area is represented as: in, For pixels in the image The grayscale value, color value, or texture feature value, Determine the threshold range for the slurry area; In the top-view image, let the identified left and right boundaries of the slurry be respectively... and Then the actual width of the fabric at a certain cross-section for: Average actual fabric width along the detection length range for: in, To detect the number of cross sections, This is the conversion factor between pixel size and actual size; Let the target fabric width be Then the fabric width deviation for: When the following formula is met, it is determined that the fabric width is insufficient or there is a risk of insufficient sizing: When the following condition is met, the fabric is considered to be too wide or there is a risk of spillage: The visual recognition unit determines the state of insufficient slurry, interrupted slurry, and slurry accumulation based on the slurry coverage area; let the target detection area be... The actual slurry coverage area is Slurry coverage for: When the slurry coverage meets the following requirements: or partially uncovered areas A thickness greater than 500 mm² to 5000 mm² is considered insufficient; when the continuous uncovered length along the robot's travel direction... When the grout thickness is greater than 50 mm to 150 mm, it is considered a grout break; when the area of ​​the local grout zone is... When the area exceeds 1.10 to 1.30 times the target area, or when the width of the local slurry suddenly increases by more than 10% to 30% of the target fabric width, it is judged as slurry piling. For overflow determination, let the design boundary of the horizontal joint be... The distance by which the outer boundary of the slurry exceeds the design boundary of the joint is Then, if the following conditions are met: If the actual fabric width is 105% to 115% greater than the target fabric width, the visual recognition unit determines it as overflow; The visual recognition unit judges the smoothing quality based on the uniformity of grayscale on the slurry surface and boundary fluctuations; let the standard deviation of grayscale on the slurry surface within the detection area be . The slurry boundary fluctuation is ,but: in, The first in the slurry area The grayscale value or brightness value of each pixel. The average grayscale value. This represents the number of pixels in the slurry area. when Greater than the set grayscale fluctuation threshold, or A difference of more than 5 mm to 20 mm is considered an uneven or poorly smoothed slurry surface. For applications equipped with depth cameras or structured light ranging modules, surface flatness can also be determined by the height difference. Let the maximum height difference of the slurry surface be... ,when: If the smoothing effect is not satisfactory, it is determined that the smoothing effect does not meet the requirements. When insufficient fabric width, localized lack of sizing, or sizing interruption is detected, the control module controls the corresponding dispensing module to increase its opening or decrease the walking speed of the automatic fabric-laying robot based on the defect location. The opening correction amount for the corresponding dispensing module can be determined by the following formula: in, For the first Current opening degree of each discharge module The corrected opening. This is the width deviation correction factor. This is the correction factor for coverage area deviation; When slurry accumulation, overflow, or excessive discharge is detected, the control module reduces the opening of the corresponding discharge module or increases the trolley's travel speed. The opening correction amount can be determined by the following formula: in, This represents the actual spillover distance. To allow an overflow threshold, This is the spillover distance correction factor. This is the correction factor for excessive fabric width.

[0019] The robot's walking speed can also be adjusted according to the fabric condition. Let the current walking speed be... The corrected walking speed is ,but: Used to reduce walking speed when there is insufficient slurry or fabric; used when slurry accumulates or overflows. When the overhead camera detects that the smoothing effect does not meet the set requirements, the control module uses the coordinates of the defect image. Walking distance with robots Convert the defect location into robot path coordinates Let the robot's current position be... The robot then retreats a distance of for: in, To ensure a safe distance for repairs, a distance of 20 mm to 100 mm can be used. The control module controls the drive motor to rotate in the opposite direction, causing the robot to back up to the defective area. Subsequently, the corresponding material discharge module is opened, the extrusion head is activated, and the vibration device is started to perform secondary material replenishment, vibration, and smoothing on the defective area. After the repair is completed, the overhead camera re-captures images of the area, and the visual recognition unit recalculates the slurry coverage. Actual fabric width Boundary fluctuation and surface height difference ; If all of the above indicators meet the set threshold, the repair is deemed successful; otherwise, continue the repair process or trigger a manual review prompt. The visual recognition unit determines the number of material output modules to be activated based on the seam width recognition result. Let the effective fabric width of the recognized horizontal seam be... The effective discharge width of a single discharge module is Then the number of discharge modules enabled It can be determined by the following formula: in, This indicates rounding up, and No fewer than 3; When the horizontal seam width is detected to be large, the control module activates more discharge modules; when the horizontal seam width is detected to be small, the control module closes the edge discharge modules or reduces the opening of the edge discharge modules; thus, the discharge width of the discharge port matches the actual seam width.

[0020] The automatic fabric-laying robot body is also equipped with a data recording module and a communication module; The data recording module is used to record image data, video data, robot walking speed, walking trajectory, material discharge module opening, actual material discharge flow rate, slurry balance in storage tank, material distribution box pressure, slurry temperature, slurry flowability, defect identification results, and repair records during the construction process. The communication module can use wireless network, Bluetooth, 4G / 5G communication, or on-site local area network communication to upload construction data to the data platform. The data platform is used for archiving and managing the construction process, quality traceability, remote viewing, and anomaly alarms.

[0021] The vehicle body is equipped with a walking chassis at the bottom, and wall-mounted wheel sets are provided on both sides of the walking chassis. The walking chassis and wall-mounted wheel sets are used to enable the automatic material placing robot to walk stably along the horizontal joint of the tower and adapt to different tower curvature and width changes. The chassis includes a front chassis, a rear chassis, a connecting shaft, and a chassis axle; The connecting shaft is located between the front chassis and the rear chassis, allowing the front chassis and the rear chassis to rotate or swing relative to each other around the connecting shaft to adapt to the circumferential curvature changes of the wind power hybrid tower plates. The relative rotation angle between the front chassis and the rear chassis is ±5° to ±45°. The wall-mounted wheel assembly includes wheels, an outer baffle, a spring, and a drive motor. The wheels are respectively located on the lower part of the front chassis and the rear chassis. The wheels are installed on the lower part of the corresponding chassis via axles and contact the support surface on the upper surface of the tower plate or near the horizontal joint. They are used to support the robot and drive the robot to move along the direction of the horizontal joint of the tower. The chassis axle is located on the upper part of the front chassis and / or the rear chassis, and the main frame of the vehicle body or the storage box is connected to the front chassis and the rear chassis through the chassis axle.

[0022] The elastic fitting component is disposed between the wheel and the chassis, or between the outer baffle and the chassis; the elastic fitting component includes a guide rod, a spring, an adjusting nut, and a limiting component; One end of the guide rod is connected to the wheel assembly or the outer baffle, and the other end passes through the guide hole on the chassis; the spring is sleeved on the outside of the guide rod and is located between the chassis and the wheel assembly or the outer baffle. The adjusting nut is threadedly connected to the guide rod and is used to adjust the pre-compression of the spring. The outer baffle is located on the side of the vehicle body near the side of the tower plate. The outer baffle is used to fit against the positioning surface near the side, outer wall or seam edge of the tower plate, and plays a guiding and limiting role. The drive motor is mounted on the front chassis and / or rear chassis and is connected to at least one wheel via a reducer, gear drive, chain drive or synchronous belt drive to drive the wheel to rotate; the drive motor is electrically connected to the control module.

[0023] The beneficial effects of this invention are: 1. This invention integrates automatic mixing, storage, pumping and spreading of slurry by linking a mixer truck with an automatic spreading robot, thereby reducing manual mixing, transportation and spreading processes and improving construction efficiency.

[0024] 2. This invention achieves separation of material replenishment and pressure stabilization during material distribution by using a storage box, a distribution box, an inner hole, an extrusion head, and a controllable opening and closing component, thus ensuring stable discharge pressure and discharge volume during the material distribution process.

[0025] 3. This invention, through its replaceable modular discharge port and independent opening control, allows for the addition, reduction, or replacement of discharge modules based on the tower plate width, joint width, and material distribution amount, thus achieving precise material distribution under different working conditions.

[0026] 4. This invention uses a camera, visual recognition, curvature adaptive chassis, and elastic fitting structure to achieve seam recognition, walking correction, fabric monitoring, automatic back-back repair, and construction data traceability, thereby improving fabric quality and equipment adaptability. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the integrated robot for mixing and spreading materials at the horizontal joint of a wind power hybrid tower according to the present invention. Figure 2 This is a schematic diagram of the structure of the mixer truck in this invention; Figure 3 This is a schematic diagram of the internal structure of the mixer truck in this invention; Figure 4 This is a schematic diagram of the structure of the automatic material-laying robot in this invention; Figure 5 This is a schematic diagram of the structure of the fabric box, camera assembly, and discharge module in this invention; Figure 6 This is a front view structural diagram of the automatic material-laying robot in this invention; Figure 7 This is a schematic diagram of the structure of the storage box of the automatic material distribution robot in this invention; Figure 8 This is a schematic diagram of the walking drive mechanism of the automatic fabric-laying robot in this invention; Figure 9 This is a schematic diagram of the structure of the wheel, axle, and baffle assembly in this invention; Figure 10 This is a bottom-view structural diagram of the automatic material-laying robot in this invention.

[0028] 1—Concrete mixer truck; 2—Automatic material placing robot body; 3—Concrete tower plates; 101—Feed inlet; 102—Mixing tank; 103—Storage tank; 104—Mixing blades; 105—Control console; 106—Metering device; 107—Temperature-flowability detection device; 108—Heating device; 109—Pumping device; 110—Discharge outlet of mixer truck; 201—Car body; 202—Storage bin; 203—Packaging bin; 2031—Connector; 204—Extrusion device; 205—Discharge module; 2051—Mounting groove; 2052—Adjustable closure / discharge opening; 206—Vibration device; 207—Visual monitoring device; 2071—Forward-looking camera; 2072—Top-looking camera; 208—Temperature-flowability detection device; 209—Heating device; 210—Material monitoring device; 211—Flow sensor Device; 212—Inner hole; 213—Extrusion device of storage box; 214—Push plate of storage box; 215—Walking chassis; 2151—Chassis shaft; 2152—Connecting shaft; 216—Wall-adhering wheel set; 2161—Wheel; 2162—Outer baffle; 2163—Spring; 2153—First fixing part, 2154—Second fixing part; Guide rod—2164, 2165—Adjusting nut; 2166—Drive motor; 217—Conveying pipe; 218—Control module. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] A wind power hybrid tower horizontal joint mixing and spreading robot includes a mixing truck 1 and an automatic spreading robot body 2; it realizes automatic mixing to generate slurry, automatic supply and spreading in one integrated process. The mixer truck 1 is used to feed, meter, mix, prepare, temporarily store, adjust the state and continuously pump the slurry required for the construction of the horizontal joint of the wind power hybrid tower on the concrete tower plate 3, and continuously transport the slurry to the automatic material placement robot body 2. The automatic material-laying robot body 2 is used to receive the slurry delivered by the mixing truck 1, and automatically walk, store, quantitatively discharge, vibrate and lay the material, smooth and repair, and monitor the quality along the horizontal joint of the wind power mixing tower.

[0031] The mixer truck 1 includes a feed inlet 101, a mixing tank 102, a storage tank 103, mixing blades 104, a control console 105, a flow meter 106, a temperature-flowability detection device 107, a heating device 108, a pumping device 109, and a mixer truck discharge outlet 110. The slurry material enters the mixing tank 102 through the feed inlet 101. The metering device 106 records the amount of material added and transmits the metering data to the control console 105 to display or indicate the amount of material added. The control console 105 controls the stirring blades 104 to stir the slurry. After mixing, the slurry is fed into the storage tank 103 through the internal outlet for storage. The tank contains stirring blades 104, a heater, and a liquid replenishment device. Temperature detection devices and flowability detection devices are installed in the mixing tank 102 and the storage tank 103 to detect the temperature and flowability of the slurry and to feed back the detection data to the control console 105 to assist in controlling the heating, stirring and replenishment processes.

[0032] The mixer truck 1 is equipped with a pumping device 109, which continuously or intermittently pumps slurry into the storage tank 202 according to the remaining slurry or the material distribution requirements in the storage tank 202 of the automatic material distribution robot body 2.

[0033] The mixing tank 102 and the storage tank 103 are arranged side by side inside the vehicle body or on the upper part of the mixing truck 1. The mixing tank 102 is used for the initial mixing and preparation of slurry raw materials, and the storage tank 103 is used for the temporary storage and state maintenance of the slurry after mixing. The mixing tank 102 is provided with a feed inlet 101 at its upper part. The feed inlet 101 is connected to the inside of the mixing tank 102 and is used to add dry powder, water, admixtures, premixed slurry, grouting material or other slurry materials suitable for the construction of horizontal joints of wind power mixed towers into the mixing tank 102. The metering device 106 is provided at the feed inlet 101 or on the feed pipeline connected to the feed inlet 101 and is used to record the amount of slurry or liquid material added into the mixing tank 102 and transmit the metering data to the control console 105 to prompt the operator or control system to adjust the feed rate. The mixing tank 102 is equipped with a stirring blade 104, which is connected to a stirring motor. The stirring motor is electrically connected to a control console 105. The control console 105 controls the stirring motor to work according to the set stirring time, stirring speed and slurry ratio, thereby driving the stirring blade 104 to stir the slurry in the mixing tank 102. The bottom or lower side of the mixing tank 102 is provided with an internal discharge port, which is connected to a storage tank 103 through a connecting pipe. A valve or pumping mechanism is provided at the internal discharge port to open after the slurry is stirred, so that the slurry in the mixing tank 102 enters the storage tank 103 through the internal discharge port.

[0034] The storage tank 103 is equipped with an auxiliary stirring blade 104, a heater, and a liquid replenishment device. The auxiliary stirring blade 104 is connected to an auxiliary stirring motor and is used to intermittently or continuously stir the slurry in the storage tank 103 to prevent slurry sedimentation, segregation, or local hardening. The heater is located on the inner wall, bottom, or outer wall of the storage tank 103 and is used to keep or heat the slurry in the storage tank 103. The liquid replenishment device is connected to the storage tank 103 and is used to replenish a set amount of water, additive solution, or matching adjustment components to the storage tank 103 within the allowable range of the material specification based on the slurry flowability test results, and to record the replenishment amount. The storage tank 103 has a discharge port at the bottom or lower side, which is connected to the inlet of the pumping device 109. The outlet of the pumping device 109 is connected to the storage tank 202 of the automatic material distribution robot body 2 through a conveying pipe 217.

[0035] Temperature detection devices and flowability detection devices are respectively installed in the mixing tank 102 and the storage tank 103. The temperature detection device is used to detect the temperature of the slurry in the mixing tank 102 and / or the storage tank 103, and the flowability detection device is used to detect changes in the flowability or consistency of the slurry. The temperature detection device, flowability detection device, flow meter 106, stirring motor, auxiliary stirring motor, heater, liquid replenishment device, valve and pump are all electrically connected to the control console 105. The control console 105 controls the stirring blade 104 to stir, the heating device 108 to heat, the liquid replenishment device to replenish the adjusting components within the allowable range, the opening and closing of the internal discharge port and the pumping device 109 to pump, based on the data fed back by the temperature detection device, the flowability detection device and the metering device 106.

[0036] After the slurry raw materials enter the mixing tank 102 through the feed inlet 101, they are automatically mixed by the mixing blades 104 to form a slurry that meets the construction requirements. After the mixing is completed, the slurry enters the storage tank 103 for temporary storage. The temperature and fluidity of the slurry are monitored in real time by a temperature detection device and a fluidity detection device. The state of the slurry is then adjusted by a heating device 108, a water addition device, and auxiliary mixing. The pumping device 109 continuously delivers the slurry to the automatic material placing robot body 2 according to the storage state and material placement requirements in the automatic material placing robot body 2.

[0037] The automatic material-laying robot body 2 includes a vehicle body 201, a storage bin 202, a material-laying bin 203, a connecting piece 2031 for the material-laying bin, an extrusion device 204, a discharge module 205, a vibration device 206, a visual monitoring device 207, a forward-looking camera 2071, a temperature-flowability detection device 208, a heating device 209, a material monitoring device 210, a flow sensor 211, an inner hole 212, an extrusion device 213 for the storage bin, a push plate 214 for the storage bin, a walking chassis 215, a wall-mounted wheel set 216, a material conveying pipe 217, and a control module 218. The storage tank 202 is used to receive and temporarily store the slurry pumped by the mixer truck 1. The material monitoring device 210 is used to monitor the remaining slurry in the storage tank 202 and provide feedback to control the mixer truck 1 to supply material. The material distribution box 203 is used to guide the slurry into the discharge port. The extrusion device 204 is used to push the slurry to be discharged evenly. The discharge module 205 can be disassembled, replaced, or combined according to the width of the horizontal joint, the thickness of the material, the designed discharge volume, and the slurry flowability requirements to achieve adaptation to different discharge cross sections, different discharge widths, and different discharge rates. The walking chassis 215 and the wall-mounted wheel set 216 are used to enable the automatic material distribution robot body 2 to walk stably along the horizontal joint of the tower and adapt to different tower curvatures and width changes. The visual monitoring device 207 is used to identify the joint position and the material distribution status, and when it detects insufficient slurry, broken slurry, slurry accumulation, or poor smoothing, it provides feedback to control the robot to replenish material or retreat for repair.

[0038] The pump is located inside the mixer truck 1, below the storage tank 103, or on one side of the discharge port of the storage tank 103. The pump's inlet is connected to the storage tank 103, and the pump's outlet is connected to the automatic material distribution robot body 2 via a material conveying pipe 217. A material monitoring device 210 is installed inside the automatic material distribution robot body 2 to detect the remaining slurry in the storage tank 202 of the automatic material distribution robot body 2. The material monitoring device 210 is communicatively connected to the control console 105. When the slurry level in the automatic material distribution robot body 2 is lower than the set lower limit, the control panel 105 controls the pump to start and pump the slurry in the storage tank 103 to the automatic material distribution robot body 2; when the slurry level in the automatic material distribution robot body 2 reaches the set upper limit, the control panel 105 controls the pump to stop or reduce the pumping rate, thereby realizing real-time automatic material supply from the mixer truck 1 to the automatic material distribution robot body 2.

[0039] Furthermore, a control console 105 is provided on the outside of the mixer truck 1. The control console 105 is used to display the amount of slurry added, the mixing status, the remaining amount in the storage tank 103, the slurry temperature, the slurry flowability, the pumping status, and fault information. It can also be used to set the mixing speed, mixing time, heating temperature, water replenishment amount, and pumping rate. The bottom of the vehicle body 201 is provided with wheels to facilitate the movement of the mixer truck 1 on the construction site. The side of the vehicle body 201 is provided with a discharge port, which is connected to the discharge end of the pump and is used to connect to the external conveying pipe 217 to convey slurry to the automatic material distribution robot body 2. The discharge module 205 is located at the lower part of the material box 203 and is situated on the side near the horizontal joint of the wind power hybrid tower. The discharge module 205 is preferably arranged along the width direction of the horizontal joint of the material box 203, i.e. the thickness direction of the tower wall, on the bottom wall of the material box 203, and is composed of multiple detachable discharge modules arranged in parallel; multiple installation stations are provided on the bottom wall of the material box 203, and each installation station corresponds to the installation of a discharge module; the multiple discharge modules are arranged sequentially along the width direction of the tower plate, so that the overall discharge range can cover the width of the material required for the horizontal joint.

[0040] The discharge module has a hollow structure, with an inlet end at the upper end that communicates with the inner cavity of the fabric box 203, and an outlet at the lower end for discharging fabric into the horizontal seam. The discharge module as a whole can be a rectangular, trapezoidal or other block structure that is easy to splice and install. The top of the discharge module is provided with a connecting protrusion, a plug-in part or a snap-fit ​​part, and the bottom wall of the fabric box 203 is provided with a corresponding groove 2051, a sliding groove, a snap-fit ​​groove or a mounting hole. The discharge module is detachably connected to the fabric box 203 through bolts, buckles, pins, quick-release buckles, dovetail plug-in structures or other connecting parts 2031, thereby realizing the quick disassembly, installation and replacement of the discharge module.

[0041] Furthermore, the upper part of the discharge module is provided with an adjustable closure port (2052), which is located between the feed end of the discharge module and the inner cavity of the material box 203, and is used to adjust the flow area of ​​the slurry entering the corresponding discharge module. The adjustable closure port preferably adopts a spiral opening and closing structure, including a fixed perforated plate, a rotating closing plate and a driving unit. The fixed perforated plate is set at the feed end of the discharge module, and the rotating closing plate is set above or below the fixed perforated plate and can rotate relative to the fixed perforated plate. By rotating the rotating closing plate, the overlapping opening area between the fixed perforated plate and the rotating closing plate can be changed, thereby realizing the opening, partial opening or closing of the feed end of the discharge module.

[0042] The drive unit uses a micro motor, servo motor, stepper motor or electromagnetic actuator, and is communicatively connected to the robot control module 218; the drive unit is electrically connected to the control module 218 via a cable, or connected to the control module 218 via Bluetooth, wireless communication module or other short-range communication methods. The control module 218 controls the adjustable opening of each discharge module based on the design cross section of the horizontal joint, the target fabric thickness, the target fabric width, the robot walking speed, the slurry flowability, and the feedback data from the flow sensor 211.

[0043] The control module 218 controls the adjustable closure opening of each discharge module based on the design cross-section of the horizontal joint, the target fabric thickness, the target fabric width, the robot's walking speed, the slurry flowability, and feedback data from the flow sensor 211. Specifically, the control module 218 pre-stores discharge control parameters corresponding to different tower plate widths, horizontal joint widths, design fabric thicknesses, and slurry types. Before construction, the control module 218 determines the number of discharge modules to be activated based on the input target fabric width and target fabric thickness, and calculates the target discharge volume required per unit time based on the robot's set walking speed. During construction, the control module 218 allocates the target discharge volume to each discharge module and controls the corresponding drive unit of each discharge module to operate, ensuring the adjustable closure is at the appropriate opening.

[0044] Furthermore, the adjustment of the adjustable closure opening is based on the deviation between the target output and the actual output. When the flow sensor 211 detects that the actual output is less than the target output, the control module 218 increases the opening of the adjustable closure of the corresponding output module or reduces the robot's walking speed to increase the amount of slurry distributed per unit length of joint; when the flow sensor 211 detects that the actual output is greater than the target output, the control module 218 decreases the opening of the adjustable closure of the corresponding output module or increases the robot's walking speed to reduce slurry accumulation and overflow. The control module 218 can also modify the opening control parameters based on the slurry flowability detection results. When the slurry flowability decreases and the discharge resistance increases, the adjustable closure opening is appropriately increased or the output pressure of the extrusion device 204 is increased; when the slurry flowability is high and overflow is likely to occur, the opening of the edge output module is appropriately decreased.

[0045] Preferably, the opening degree of each discharge module can be differentiated according to the required slurry distribution of the horizontal joint section. Specifically, the control module 218 divides the multiple discharge modules arranged sequentially along the target fabric width direction into a central main fabric area, a transition fabric area, and an edge limited fabric area, and sets different adjustable initial opening degrees for each. The central main fabric area corresponds to the main pressure-bearing and filling area of ​​the horizontal joint, and the adjustable closing opening degree of its discharge module is preferably 70% to 100% of the maximum opening degree; the transition fabric area is located between the central main fabric area and the edge limited fabric area, and the adjustable closing opening degree of its discharge module is preferably 40% to 70% of the maximum opening degree; the edge limited fabric area is close to the two edges of the horizontal joint, and the adjustable closing opening degree of its discharge module is preferably 10% to 40% of the maximum opening degree.

[0046] During construction, the control module 218 dynamically corrects the opening based on feedback from the flow sensor 211, the slurry flowability detection device, and the visual monitoring device 207. When insufficient slurry thickness or slurry shortage is detected in the central area, the control module 218 increases the opening of the discharge module corresponding to the central main slurry area; when overflow, slurry accumulation, or slurry width exceeding the set range is detected in the edge area, the control module 218 decreases the opening of the discharge module corresponding to the edge limited slurry area, or closes the outermost discharge module. This creates a gradient slurry distribution with a larger discharge volume in the center and gradually decreasing discharge volumes on both sides, making the slurry cross-section closer to the design cross-section required for the horizontal joint and reducing edge overflow, local accumulation, and slurry shortage.

[0047] Furthermore, the discharge cross-section of the discharge module can be set to different shapes and sizes, including circular, rectangular, oblong, flat-slit, trapezoidal, and irregular cross-sections that match the horizontal joints of the wind turbine tower. By replacing the discharge modules with different cross-sectional forms, the construction requirements of different tower wall thicknesses, horizontal joint widths, material thicknesses, and designed discharge volumes can be adapted. Preferably, the effective discharge width of a single discharge module along the tower wall thickness direction is 30 mm to 150 mm, and multiple discharge modules are arranged sequentially along the tower wall thickness direction to form a combined discharge area, with no fewer than three discharge modules, in order to form a gradient material distribution with a main discharge in the center and limited discharge on both sides.

[0048] Specifically, when the tower wall thickness or the effective fabric width of the horizontal joint is 180 mm to 250 mm, it is preferable to set 3 to 5 discharge modules; when the tower wall thickness or the effective fabric width of the horizontal joint is 250 mm to 350 mm, it is preferable to set 5 to 7 discharge modules; when the tower wall thickness or the effective fabric width of the horizontal joint is 350 mm to 500 mm, it is preferable to set 7 to 10 discharge modules. For working conditions with smaller wall thickness or narrower fabric width at the joint, the number of discharge modules can be reduced, or the discharge modules on both sides can be turned off; for working conditions with larger wall thickness or wider fabric width at the joint, the number of discharge modules can be increased, or more discharge modules can be turned on, so that the total discharge width matches the designed fabric width of the horizontal joint.

[0049] With the above structure, the discharge module 205 can not only adjust the number of modules according to the width of the tower plate, but also independently control the opening of each discharge module according to the requirements of the horizontal joint section, so as to achieve precise material distribution under different widths, different thicknesses and different slurry distribution forms.

[0050] The modular discharge port includes several detachable discharge modules 205, which are arranged sequentially along the length of the bottom of the fabric box 203 and are detachably connected to the bottom wall of the fabric box 203. The bottom wall of the fabric box 203 is provided with continuous or spaced mounting grooves 2051 along its length. The mounting grooves 2051 are dovetail grooves, T-grooves, rectangular slides, or stepped slots. The upper part of the discharge module is provided with a connecting boss that matches the mounting groove 2051. The connecting boss can be inserted into or slid into the mounting groove 2051, so that the discharge module is initially positioned at the bottom of the fabric box 203.

[0051] The discharge module is a hollow block structure with an inlet 2052 at its upper end communicating with the inner cavity of the material distribution box 203, and an outlet at its lower end discharging slurry into the horizontal joint. The discharge module can be rectangular, trapezoidal, or wedge-shaped. A vertical or inclined discharge channel is formed inside the module, with its upper end communicating with the inner cavity of the material distribution box 203 and its lower end communicating with the discharge outlet. The cross-section of the discharge outlet can be circular, rectangular, oblong, flat-slit, trapezoidal, or an irregular cross-section matching the cross-section of the horizontal joint.

[0052] A connector 2031 is provided between the discharge module and the material box 203. The connector 2031 includes one or more of the following: locking bolts, positioning pins, buckles, quick-release latches, pressure plates, or limiting blocks. During installation, the connecting boss on the upper part of the discharge module is inserted into or slid into the predetermined position along the mounting groove 2051 at the bottom of the material box 203, and then the discharge module is locked and fixed by the connector 2031. During disassembly, after loosening the connector 2031, the discharge module is pulled out or removed from the mounting groove 2051. Thus, the discharge module can be quickly disassembled, installed, and replaced according to construction needs.

[0053] Furthermore, the bottom of the material box 203 can be provided with multiple independent mounting grooves 2051, each mounting groove 2051 corresponding to one discharge module; alternatively, a continuous mounting groove 2051 can be provided, allowing multiple discharge modules to be sequentially inserted and arranged along the same groove 2051. Limiting surfaces, sealing gaskets, or splicing edges are provided between adjacent discharge modules, so that multiple discharge modules installed side by side form a continuous discharge area, preventing slurry leakage between adjacent modules.

[0054] Different discharge modules can have different discharge cross-sections, discharge widths, discharge heights, and discharge channel shapes. During construction, the appropriate number and specifications of discharge modules can be selected and combined for installation based on the tower plate width, horizontal joint width, designed material thickness, and slurry flowability requirements. When it is necessary to change the material width or discharge rate, adaptation can be achieved by adding, reducing, or replacing discharge modules.

[0055] The discharge module is equipped with an adjustable closure port to control the size of the opening 2052 of the corresponding discharge port, thereby adjusting the discharge volume of slurry per unit time. The adjustable closure port may include one or more of a movable baffle, rotary valve plate, spiral closure plate, electric gate, or retractable throttling plate. The opening adjustment mechanism is connected to a micro-drive unit, which may be a micro servo motor, stepper motor, electric push rod, or electromagnetic actuator. By driving the movable baffle to move, the rotary valve plate to rotate, the spiral closure plate to rotate, or the retractable throttling plate to extend or retract, the effective flow area of ​​the discharge port can be changed, thereby achieving continuous adjustment of the discharge port from closed to partially open to fully open.

[0056] Preferably, the opening of the discharge port can be adjusted within the range of 0% to 100%, where 0% is the closed state, 10% to 40% is the edge limited discharge state, 40% to 70% is the transition discharge state, and 70% to 100% is the central main discharge state. The effective flow area of ​​the discharge port can be 300 mm² to 12000 mm²; when a flat slit discharge port is used, its discharge slit width can be 5 mm to 30 mm, and its discharge slit length can be 30 mm to 200 mm; when a rectangular discharge port is used, its discharge port width can be 20 mm to 150 mm, and its height can be 5 mm to 50 mm; when a circular or oblong discharge port is used, its equivalent diameter or minor axis dimension can be 10 mm to 80 mm. Thus, a single discharge module can form an effective discharge width of 30 mm to 150 mm along the tower wall thickness direction, matching different tower wall thicknesses and the effective material distribution width of horizontal joints.

[0057] Furthermore, when the opening adjustment mechanism uses a movable baffle or an electric gate, the linear adjustment stroke of the movable baffle or electric gate is 5mm to 50mm; when a rotary valve plate or a spiral closing plate is used, the adjustment angle of the rotary valve plate or spiral closing plate is 0° to 90°; when a telescopic throttle plate is used, the telescopic extension amount of the telescopic throttle plate is 5mm to 40mm. The single linear adjustment step of the micro drive unit is 0.1mm to 2mm, or the single angle adjustment step is 1° to 5°, so as to realize the graded or continuous adjustment of the effective flow area of ​​the discharge port.

[0058] Furthermore, the output rate of a single output module can be 0.1L / min to 5.0L / min, and the total output rate of multiple output modules combined can be 0.5L / min to 30L / min. The control module 218 calculates the target output rate required per unit time based on the target fabric width, target fabric thickness, and robot walking speed, and distributes the target output rate to the central main fabric area, transition fabric area, and edge limited fabric area according to the location of each output module. Preferably, the target output rate of the output module corresponding to the central main fabric area is 70% to 100% of the maximum output rate of a single module; the target output rate of the output module corresponding to the transition fabric area is preferably 40% to 70% of the maximum output rate of a single module; and the target output rate of the output module corresponding to the edge limited fabric area is preferably 10% to 40% of the maximum output rate of a single module.

[0059] During construction, the control module 218 uses the deviation between the actual output and the target output detected by the flow sensor 211 as the adjustment basis. When the actual output is lower than the target output, the control module 218 controls the micro-drive unit to increase the opening of the corresponding output module; when the actual output is higher than the target output, the control module 218 controls the micro-drive unit to decrease the opening of the corresponding output module. Preferably, the response time of the opening adjustment mechanism is 0.1 s to 3 s, and the opening control error is no greater than ±5%, to meet the real-time adjustment requirements when the robot continuously walks and lays material along the horizontal joint of the wind turbine tower.

[0060] Therefore, the adjustable closure can not only achieve quantitative control of the output of a single output module, but also cooperate with multiple output modules to form a gradient distribution of main output in the middle and limited output on both sides, so that the output of slurry is matched with the tower wall thickness, the effective width of horizontal joints, the target thickness of slurry and the robot walking speed, thereby reducing the phenomena of insufficient slurry, slurry accumulation and edge overflow.

[0061] The adjustable closure is electrically or communicatively connected to the control module 218 of the automatic fabric-laying robot body 2. The control module 218 has a built-in discharge control software module, which controls the opening degree of each discharge module according to the set fabric parameters and real-time feedback data. The set fabric parameters include the horizontal seam width, target fabric thickness, target fabric cross-section, slurry design amount, and robot target walking speed. The real-time feedback data includes the robot's actual walking speed, slurry balance in the storage tank 202, pressure in the fabric tank 203, detection value of the flow sensor 211, slurry temperature, slurry flowability, and fabric width, fabric continuity, and flatness identified by the visual monitoring device 207.

[0062] During control, the discharge control software module first determines the number of discharge modules to be activated based on the horizontal seam width and the tower section width; then, it calculates the target discharge volume based on the target fabric thickness, target fabric width, and robot walking speed; subsequently, it distributes the target discharge volume to each discharge module and controls the opening of the discharge port of each discharge module. Generally, the discharge module located in the middle of the fabric width has a larger opening, while the opening of the discharge modules on both sides gradually decreases, to form a fabric distribution with a large discharge volume in the middle and a small discharge volume on both sides, avoiding edge overflow and ensuring a full seam cross-section.

[0063] During construction, the flow sensor 211 detects the actual output in real time, and the visual monitoring device 207 identifies in real time any issues such as insufficient slurry, interrupted slurry, slurry accumulation, or poor smoothing in the fabric area. If the actual output is lower than the target value, or if visual identification detects localized insufficient slurry, the control module 218 increases the opening of the corresponding output module or decreases the robot's walking speed. If the actual output is higher than the target value, or if visual identification detects localized slurry accumulation or overflow, the control module 218 decreases the opening of the corresponding output module or increases the robot's walking speed. This achieves closed-loop control between output, walking speed, seam width, and fabric condition.

[0064] Furthermore, the discharge module can be increased, decreased, or shut down according to the width of the tower plate. The bottom of the material distribution box 203 has multiple installation stations along its width, each capable of installing one discharge module. When the tower plate width is large or the horizontal seam material width is wide, the number of discharge modules is increased to expand the total discharge width; when the tower plate width is small or no material distribution is needed in certain areas, the number of discharge modules is reduced, or the discharge port of the corresponding discharge module is closed via software control. Through these methods, different tower plate widths, different horizontal seam widths, and different material distribution requirements can be accommodated.

[0065] The automatic material-laying robot body 2 includes a storage box 202, a material-laying box 203, an inner hole 212, a controllable opening and closing component, an extrusion head, a water sprayer, and a modular discharge port; The storage tank 202 is located in the middle or upper part of the body 201 of the automatic material distribution robot 2, and is used to receive and temporarily store the slurry transported by the mixer truck 1. The material distribution tank 203 is located on the side near the horizontal joint of the tower and is arranged adjacent to the storage tank 202. An inner hole 212 is provided between the storage tank 202 and the material distribution tank 203. The inner hole 212 is located on the side wall of the storage tank 202 near the material distribution tank 203 and communicates with the inner cavity of the material distribution tank 203, so as to allow the slurry in the storage tank 202 to enter the material distribution tank 203.

[0066] A controllable opening and closing component is provided at the inner hole 212. This component can be an electric valve, gate valve, flap valve, rotary valve, or solenoid valve, used to control the flow of slurry between the storage tank 202 and the distribution tank 203. A modular discharge port is provided on the side of the distribution tank 203 near the horizontal joint of the tower. This modular discharge port communicates with the inner cavity of the distribution tank 203, used to discharge the slurry from the distribution tank 203 to the horizontal joint of the tower. Thus, the storage tank 202, inner hole 212, distribution tank 203, and modular discharge port are arranged sequentially along the slurry flow direction, forming a lateral distribution channel from the storage tank 202 to the distribution tank 203, and then from the distribution tank 203 to the horizontal joint of the tower.

[0067] An extrusion head is installed inside the fabric box 203. The extrusion head is located on the side of the fabric box 203 away from the modular discharge port and is arranged towards the modular discharge port. The extrusion head can adopt a push plate 214, piston type, airbag type, or air pressure type structure. When the push plate 214 extrusion head is used, the extrusion head includes a push plate 214 and a drive mechanism. The push plate 214 is disposed in the inner cavity of the fabric box 203 and slides in cooperation with the inner wall of the fabric box 203. The drive mechanism is disposed on the outer side of the fabric box 203 or on the side of the fabric box 203 away from the modular discharge port, and is connected to the push plate 214. It is used to drive the push plate 214 to move towards the modular discharge port, thereby extruding the slurry in the fabric box 203 to the modular discharge port and discharging it.

[0068] A water sprayer is installed inside the extrusion head or on one side near the working surface of the extrusion head. The water sprayer is connected to a water source or water supply device via a water supply pipe. The nozzles of the water sprayer are arranged facing the inner wall of the material distribution box 203, the periphery of the inner hole 212, the working surface of the extrusion head, and the modular discharge port inlet. When construction is completed, material is changed, or blockage occurs, the control module 218 controls the water sprayer to spray water, and simultaneously controls the reciprocating motion of the extrusion head, so that the water flow cooperates with the extrusion head to flush the inner wall of the material distribution box 203, the surface of the extrusion head, the periphery of the inner hole 212, and the modular discharge port inlet, reducing slurry residue and blockage.

[0069] The opening and closing of the inner hole 212 is controlled by the control module 218 based on the remaining slurry in the material box 203, the pressure of the material box 203, the discharge flow rate, and the material feeding conditions. When the robot is in normal discharge mode, the inner hole 212 is closed, so that the material box 203 forms a relatively stable compression space, preventing the storage box 202 from continuing to feed material into the material box 203 and causing pressure fluctuations in the material box 203, thereby ensuring stable discharge. When the remaining slurry in the material box 203 is lower than the set lower limit, or the pressure of the material box 203 is lower than the set value, the control module 218 controls the inner hole 212 to open, allowing the slurry in the storage box 202 to enter the material box 203. When the slurry in the material box 203 reaches the set upper limit, or the pressure of the material box 203 returns to the set range, the control module 218 controls the inner hole 212 to close.

[0070] Thus, the automatic material-laying robot body 2 forms a working mode of "temporary storage in storage box 202 - replenishment in inner hole 212 - pressure stabilization in material-laying box 203 - material pushing by extrusion head - material laying at modular discharge port - cleaning by water sprayer". This structure can not only ensure stable discharge pressure and discharge volume during the material laying process, but also clean and maintain the inner cavity of material-laying box 203 and discharge channel after construction, improving the continuity, uniformity and reliability of material laying at the horizontal joint of the wind power hybrid tower.

[0071] The automatic material-laying robot body 2 is equipped with a camera assembly, which includes a front-view camera 2071 and a top-view camera 2072. The front-view camera 2071 is mounted on a bracket at the front of the vehicle body 201, above the front of the material box 203, or on one side of the vehicle body 201 in the direction of travel, with the lens facing the robot's forward direction. It is used to collect images of the horizontal seam of the tower, the seam boundary, the edge of the tower plate, obstacles, and the front of the already laid area in front of the robot. The overhead camera 2072 is mounted on a bracket above the fabric box 203, above the modular discharge port, or behind the discharge port. The lens is directed toward the modular discharge port and the horizontal joint area nearby, and is used to collect images of the area below the discharge port and the surface of the slurry after discharge in real time.

[0072] Both the front-view camera 2071 and the top-view camera 2072 are electrically or communicatively connected to the control module 218. The control module 218 has a built-in visual recognition unit, which is used to perform edge recognition, seam recognition, fabric width recognition, slurry coverage status recognition, and surface quality judgment on the images captured by the cameras. The front-view camera 2071 is mainly used to identify the positional deviation and travel direction deviation of the robot relative to the center line of the horizontal seam. The top-view camera 2072 is mainly used to identify whether the slurry is continuously covered, and whether there are any deficiencies, breaks, accumulations, overflows, or poor smoothing.

[0073] Specifically, the visual recognition unit first performs grayscale conversion, filtering and noise reduction, brightness equalization, and distortion correction on the image captured by the front-view camera 2071, and then extracts the boundary lines on both sides of the horizontal joint using edge detection, threshold segmentation, or contour extraction methods. Let the expressions for the left and right boundary lines of the horizontal joint in the image coordinate system be: The center line of the horizontal joint can then be represented as: in, and These are the boundary lines on both sides of the joint. Center line of the seam , The slope of the boundary line. , This is the intercept of the boundary line.

[0074] Let the robot's preset driving centerline in the image be: The lateral deviation of the robot relative to the center line of the horizontal seam It can be represented as: in, The horizontal coordinate of the centerline of the horizontal joint at the designated detection section is the image's abscissa. Let x be the horizontal coordinate of the robot's centerline in the image. This is the conversion factor between the image pixel size and the actual size, and the unit can be mm / pixel.

[0075] Angular deviation between the robot's direction of travel and the center line of the horizontal joint It can be represented as: in, The slope of the centerline of the horizontal joint. This represents the robot's current direction of travel. When the lateral deviation... Greater than 5 mm to 20 mm, or angular deviation When the deviation is greater than 1° to 5°, the control module 218 determines that the robot is veering off course and adjusts the speed of the left and right drive wheels according to the following formula: in, and These are the target speeds for the left and right drive wheels, respectively. The robot's baseline walking speed, This is the lateral deviation correction factor. This is the angle deviation correction coefficient. The robot is kept stable along the horizontal joint direction by controlling the differential speed of the left and right drive wheels, or by adjusting the steering angle of the front and rear chassis.

[0076] Furthermore, the visual recognition unit analyzes the images captured by the top-view camera 2072 to identify the slurry boundary, slurry width, slurry continuity, and surface smoothness of the slurry-covered area. Specifically, the visual recognition unit segments the image based on the differences in grayscale, color, texture, or reflectivity between the slurry and the tower concrete surface to obtain the slurry area. The slurry region can be represented as: in, For pixels in the image The grayscale value, color value, or texture feature value, Determine the threshold range for the slurry area.

[0077] In the top-view image, let the identified left and right boundaries of the slurry be respectively... and Then the actual width of the fabric at a certain cross-section for: Average actual fabric width along the detection length range for: in, To detect the number of cross sections, This is the conversion factor between pixel size and actual size.

[0078] Let the target fabric width be Then the fabric width deviation for: When the following formula is met, it is determined that the fabric width is insufficient or there is a risk of insufficient sizing: in, A value of 0.90 to 0.95 is acceptable.

[0079] When the following condition is met, the fabric is considered to be too wide or there is a risk of spillage: in, A value of 1.05 to 1.15 is acceptable.

[0080] Furthermore, the visual recognition unit determines the state of insufficient slurry, interrupted slurry, and slurry accumulation based on the slurry coverage area. Let the target detection area be... The actual slurry coverage area is Slurry coverage for: When the slurry coverage meets the following requirements: or partially uncovered areas A thickness greater than 500 mm² to 5000 mm² is considered insufficient; when the continuous uncovered length along the robot's travel direction... When the grout thickness is greater than 50 mm to 150 mm, it is considered a grout break; when the area of ​​the local grout zone is... When the area exceeds 1.10 to 1.30 times the target area, or when the width of the local slurry suddenly increases by more than 10% to 30% of the target fabric width, it is judged as slurry piling.

[0081] For overflow determination, let the design boundary of the horizontal joint be... The distance by which the outer boundary of the slurry exceeds the design boundary of the joint is Then, if the following conditions are met: If the actual fabric width is 105% to 115% greater than the target fabric width, the visual recognition unit determines it as overflow.

[0082] Furthermore, the visual recognition unit can determine the smoothing quality based on the uniformity of grayscale on the slurry surface and boundary fluctuations. Let the standard deviation of grayscale on the slurry surface within the detection area be... The slurry boundary fluctuation is ,but: in, The first in the slurry area The grayscale value or brightness value of each pixel. The average grayscale value. This represents the number of pixels in the slurry area. Greater than the set grayscale fluctuation threshold, or A difference of more than 5 mm to 20 mm is considered an uneven or poorly smoothed slurry surface. For applications equipped with depth cameras or structured light ranging modules, surface height difference can also be used to determine flatness; let the maximum height difference of the slurry surface be... ,when: If the smoothing effect is not satisfactory, it is determined that the smoothing effect does not meet the requirements.

[0083] When insufficient fabric width, localized lack of sizing, or sizing interruption is detected, the control module 218 controls the corresponding dispensing module 205 to increase its opening or decrease the walking speed of the automatic fabric-laying robot body 2 based on the defect location. The opening correction amount for the corresponding dispensing module can be determined by the following formula: in, For the first Current opening degree of each discharge module The corrected opening. This is the width deviation correction factor. This is the correction factor for coverage area deviation.

[0084] When slurry accumulation, overflow, or excessive discharge is detected, the control module 218 reduces the opening of the corresponding discharge module or increases the trolley's travel speed. The opening correction amount can be determined by the following formula: in, This represents the actual spillover distance. To allow an overflow threshold, This is the spillover distance correction factor. This is the correction factor for excessive fabric width.

[0085] Furthermore, the robot's walking speed can also be adjusted based on the fabric's condition. Let the current walking speed be... The corrected walking speed is ,but: Used to reduce walking speed when there is insufficient slurry or fabric; when slurry accumulates or overflows, the following can be used: This increases walking speed and reduces the amount of grout buildup per unit length of joint.

[0086] When the overhead camera 2072 detects that the smoothing effect does not meet the set requirements, the control module 218 determines the defect image coordinates. Walking distance with robots Convert the defect location into robot path coordinates Let the robot's current position be... The robot then retreats a distance of for: in, To ensure a safe repair distance, a range of 20 mm to 100 mm can be used. Control module 218 controls drive motor 2166 to rotate in the reverse direction, causing the robot to revert to the defective area. Subsequently, it controls the corresponding discharge module to open, the extrusion head to move, and the vibration device 206 to start, performing secondary material replenishment, vibration, and smoothing on the defective area. After repair, the overhead camera 2072 re-captures an image of the area, and the visual recognition unit recalculates the slurry coverage. Actual fabric width Boundary fluctuation and surface height difference If all the above indicators meet the set thresholds, the repair is deemed successful; otherwise, continue the repair process or trigger a manual review prompt.

[0087] Furthermore, the visual recognition unit can determine the number of material output modules to be activated based on the seam width recognition result. Let the effective fabric width of the recognized horizontal seam be... The effective discharge width of a single discharge module is Then the number of discharge modules enabled It can be determined by the following formula: in, This indicates rounding up, and There should be no fewer than three. When a larger horizontal seam width is detected, the control module 218 activates more discharge modules; when a smaller horizontal seam width is detected, the control module 218 deactivates the edge discharge modules or reduces the opening of the edge discharge modules. This ensures that the discharge width at the outlet matches the actual seam width.

[0088] The automatic fabric-laying robot body 2 is also equipped with a data recording module and a communication module; The data recording module is used to record image data, video data, robot walking speed, walking trajectory, material discharge module opening, actual material discharge flow rate, slurry balance in storage box 202, pressure in material distribution box 203, slurry temperature, slurry flowability, defect identification results, and repair records during the construction process. The communication module can use wireless network, Bluetooth, 4G / 5G communication, or on-site local area network communication to upload construction data to the data platform. The data platform is used for archiving and managing the construction process, quality traceability, remote viewing, and anomaly alarms.

[0089] Therefore, the automatic fabric-laying robot body 2 achieves horizontal seam path recognition, walking correction, quantitative fabric laying, defect recognition, automatic repair, process recording, and data upload management through a closed-loop control algorithm of "image acquisition - boundary recognition - centerline fitting - deviation calculation - fabric area segmentation - defect judgment - opening and speed correction - backtracking repair".

[0090] The storage tank 202 of the automatic material distribution robot body 2 is located in the middle or upper part of the vehicle body 201 and is used to receive and temporarily store the slurry transported by the mixer truck 1. The storage bin 202 includes a bin body, a storage area, a pressing device 213, a material monitoring device 210, a vibration device 206, an inner hole 212, a temperature detection device, a flowability detection device, a heating device 209, and a water adding device. The storage area is formed inside the storage tank 202 and is used to contain slurry. The inner hole 212 is located on one side wall or lower side of the storage tank 202 near the distribution box 203 and communicates with the inner cavity of the distribution box 203, allowing the slurry in the storage area to enter the distribution box 203. A controllable opening and closing element is provided at the inner hole 212 to control the flow of slurry between the storage tank 202 and the distribution box 203.

[0091] The extrusion device 213 of the storage tank is located on the side of the storage tank 202 away from the inner hole 212 and is arranged towards the inner hole 212. It is used to push the slurry in the storage area to the inner hole 212. The extrusion device 213 of the storage tank can be an air pressure zone or a push rod device. When an air pressure zone is used, a flexible diaphragm, air bag or partition is set inside the storage tank 202 to divide the inside of the storage tank 202 into a slurry zone and a pressurization zone. The pressurization zone is connected to an air compressor or air pump. By adjusting the air pressure in the pressurization zone, the slurry is pushed towards the inner hole 212. When a push rod device is used, the push rod device includes an electric push rod, a hydraulic push rod, a screw push rod or a cylinder, and a push plate 214 connected to it. The push plate 214 is set in the storage area and slides in cooperation with the inner wall of the storage tank 202. The push rod device drives the push plate 214 to move towards the inner hole 212, thereby extruding the slurry into the inner hole 212.

[0092] The material monitoring device 210 is installed on the top, side wall, or bottom of the storage tank 202 to detect the remaining slurry in the storage area. The material monitoring device 210 can be a level sensor, a weighing sensor, a pressure sensor, an ultrasonic sensor, or a visual inspection device. Preferably, the level sensor is installed on the upper part or side wall of the storage tank 202 to detect the slurry level; the weighing sensor is installed at the bottom of the storage tank 202 or between the storage tank 202 and the vehicle body 201 to detect the weight of the slurry in the storage tank 202; the pressure sensor is installed at the bottom of the storage tank 202 or near the inner hole 212 to assist in determining the remaining slurry and flow resistance. The material monitoring device 210 is communicatively connected to the control module 218 and feeds back the remaining slurry data to the control module 218.

[0093] The vibration device 206 is disposed on the outer wall, bottom wall, or near the inner hole 212 of the storage tank 202. Preferably, the vibration device 206 is disposed on one side wall of the storage tank 202 near the inner hole 212, for applying vibration to the storage tank 202 during slurry storage and transportation to reduce slurry deposition, bridging, segregation, and clogging. The vibration device 206 is electrically connected to the control module 218, which can control the start / stop and vibration intensity of the vibration device 206 according to the slurry flowability, discharge flow rate, and the risk of clogging of the inner hole 212.

[0094] The temperature detection device is located on the inner side wall of the storage tank 202, in the middle of the storage area, or near the inner hole 212, and is used to detect the temperature of the slurry inside the storage tank 202. The flowability detection device is located at the bottom of the storage tank 202, near the inner hole 212, or in a detection branch connected to the storage tank 202, and is used to detect changes in the flowability or consistency of the slurry. The heating device 209 is located on the outer wall, bottom wall, or in the interlayer of the storage tank 202, and is used to keep the slurry warm or heat it. The water supply device is located on the top or upper side wall of the storage tank 202 and is connected to the storage area through a nozzle or water inlet pipe, and is used to replenish a set amount of water to the storage area. The temperature detection device, flowability detection device, heating device 209, water supply device, and vibration device 206 are all connected to the control module 218.

[0095] During control, the control module 218 controls the heating device 209 to operate based on the slurry temperature feedback from the temperature detection device. When the slurry temperature is lower than the set temperature range, the heating device 209 is activated for heat preservation or heating. When the slurry temperature reaches the set range, the heating power is stopped or reduced. The control module 218 controls the vibration device 206, the water supply device, and the extrusion device 204 to operate based on the slurry flowability feedback from the flowability detection device. When the slurry flowability is lower than the set requirements, the control module 218 activates the vibration device 206 and controls the water supply device to replenish the set amount of water. At the same time, it can control the extrusion device 204 to perform low-speed reciprocating motion to improve the uniformity and flowability of the slurry.

[0096] Furthermore, the control module 218 controls the extrusion device 213 of the storage tank in the storage tank 202 to operate based on the remaining slurry in the distribution box 203, the pressure of the distribution box 203, or the discharge flow rate. When the slurry in the distribution box 203 is insufficient, the pressure of the distribution box 203 is lower than the set value, or the discharge flow rate decreases, the control module 218 controls the inner hole 212 to open and drives the extrusion device 213 of the storage tank to extrude the slurry towards the inner hole 212, so that the slurry in the storage tank 202 enters the distribution box 203; when the slurry in the distribution box 203 reaches the set upper limit or the pressure of the distribution box 203 returns to normal, the control module 218 controls the extrusion device 213 of the storage tank to stop and closes the inner hole 212.

[0097] The control module 218 is also communicatively connected to the pump or control console 105 of the mixer truck 1. When the material monitoring device 210 detects that the slurry level in the storage tank 202 is lower than the set lower limit, the control module 218 sends a replenishment signal to the mixer truck 1, controlling the pump of the mixer truck 1 to start and pump slurry into the storage tank 202; when the slurry level in the storage tank 202 reaches the set upper limit, the control module 218 sends a stop or deceleration signal to the mixer truck 1, controlling the pump of the mixer truck 1 to stop or reduce the pumping rate. This achieves automatic linkage control between the slurry level in the storage tank 202 and the material supply from the mixer truck 1.

[0098] Through the above structure, the storage box 202 can realize slurry temporary storage, residual monitoring, state adjustment, vibration anti-blocking, heating and heat preservation, flowability adjustment, and stable material supply to the material distribution box 203, so as to ensure that the automatic material distribution robot body 2 can continuously, uniformly and controllably distribute material during the construction of the horizontal joint of the wind power hybrid tower.

[0099] like Figure 8 As shown, the connecting shaft 2152 is disposed between the front chassis and the rear chassis, so that the front chassis and the rear chassis can rotate or swing relative to each other around the connecting shaft 2152 to adapt to the circumferential curvature change of the wind power hybrid tower plates.

[0100] A first fixing member 2153 and a second fixing member 2154 are respectively provided on the front chassis and the rear chassis, and the first fixing member 2153 and the second fixing member 2154 are connected by a connecting shaft 2152. Preferably, the relative rotation angle between the front chassis and the rear chassis is ±5° to ±45°, more preferably ±10° to ±30°. When the curvature of the tower plate is small, the front and rear wheel track of the robot is short, or the horizontal joint is relatively smooth, the relative rotation angle can be ±5° to ±15°; when the curvature of the tower plate is large, the front and rear wheel track of the robot is long, or there are local misalignments or installation deviations at the edges of the tower plate, the relative rotation angle can be ±15° to ±45°.

[0101] Furthermore, a limiting component, an arc-shaped limiting groove, a limiting pin, or an elastic reset component is provided at the connecting shaft 2152 to limit the maximum relative rotation angle between the front and rear chassis, preventing excessive chassis deflection that could cause the vehicle body 201 to tilt, the storage bin 202 to shake, the discharge port to deviate from the horizontal joint, or unstable movement. The elastic reset component can be a torsion spring, tension spring, compression spring, or elastic damping component, used to drive the front and rear chassis to return to a near-parallel state after the robot passes through the curvature change area. Thus, the front and rear chassis can respectively conform to the curved support surfaces at different positions of the tower plates, improving the robot's adaptability to different tower diameters, different radii of curvature, and local installation errors.

[0102] The wheel assemblies 2161 are respectively disposed on the lower part of the front chassis and the rear chassis. Preferably, at least one set of wheel assemblies 2161 is disposed on the front chassis and the rear chassis, and each set of wheel assemblies 2161 includes a wheel 2161, an axle, a mounting base, and a bearing. The wheel 2161 is mounted on the lower part of the corresponding chassis via the axle and contacts the support surface on the upper surface of the tower plate or near the horizontal joint, for supporting the robot and driving the robot to move along the direction of the horizontal joint of the tower plate. Since the tower plate has curvature, the tangential direction of the contact position between the front and rear parts of the robot and the tower plate may be different. After the front chassis and the rear chassis rotate relative to each other through the connecting shaft 2152, the front and rear wheels 2161 can respectively conform to the curved surface at the corresponding position, thereby avoiding some wheels 2161 from being suspended, slipping, or deviating due to excessive overall rigidity of the chassis.

[0103] The chassis axle 2151 is located on the upper part of the front chassis and / or the rear chassis. The main frame of the vehicle body 201 or the storage tank 202 is connected to the front chassis and the rear chassis via the chassis axle 2151. The chassis axle 2151 can be a vertical rotating shaft, a universal joint, a hinged shaft, or a rotating connection structure with buffer, so that when the front chassis and the rear chassis rotate relative to each other, the main frame of the vehicle body 201 and the storage tank 202 remain relatively stable. Therefore, even if the front chassis and the rear chassis are not completely parallel due to the different curvature of the tower, the storage tank 202 and the material distribution box 203 will not undergo excessive torsion or tilting with the chassis, thereby ensuring the stability of slurry storage, transportation, and distribution.

[0104] like Figure 9 As shown, the elastic fitting component is disposed between the wheel 2161 component and the chassis, or between the outer baffle 2162 and the chassis.

[0105] The elastic bonding assembly includes a guide rod 2164, a spring 2163, an adjusting nut 2165, and a limiting member. One end of the guide rod 2164 is connected to the wheel assembly 2161 or the outer baffle 2162, and the other end passes through a guide hole on the chassis. The spring 2163 is sleeved on the outside of the guide rod and is located between the chassis and the wheel assembly 2161 or the outer baffle 2162. The adjusting nut 2165 is threadedly connected to the guide rod 2164 and is used to adjust the pre-compression of the spring 2163. By tightening or loosening the adjusting nut, the pushing force of the spring 2163 on the wheel assembly 2161 or the outer baffle 2162 can be increased or decreased, thereby adjusting the bonding force between the robot and the tower plate.

[0106] The outer baffle 2162 is disposed on the side of the vehicle body 201 near the side of the tower plate, preferably on the side of the front and rear chassis, and extends along the robot's traveling direction. The outer baffle 2162 is used to fit against the side, outer wall, or positioning surface near the seam edge of the tower plate, serving as a guide and limiting element. When the width of the tower plate changes locally due to manufacturing errors, installation errors, or changes in the seam position, the spring 2163 can elastically expand and contract, keeping the outer baffle 2162 pressed against the side or positioning surface of the tower plate, thereby maintaining the robot's stable position relative to the horizontal seam and preventing the robot from shifting laterally.

[0107] The drive motor 2166 is mounted on the front and / or rear chassis and connected to at least one wheel 2161 via a reducer, gear drive, chain drive, or synchronous belt drive, for driving the wheel 2161 to rotate. The drive motor 2166 is electrically connected to the control module 218, which controls its start / stop, speed, and direction. Based on the seam centerline deviation, robot walking speed, material discharge module opening, and material distribution status identified by the forward-facing camera 2071, the control module 218 controls the drive motor 2166 to output a corresponding speed, enabling the robot to automatically travel along the horizontal seam of the tower. When it is necessary to repair missing slurry or smooth out defective areas, the control module 218 can control the drive motor 2166 to rotate in the opposite direction, causing the robot to reverse back to the repair position.

[0108] Furthermore, the drive motors 2166 on the front and rear chassis can be controlled independently. When the vision recognition system detects that the robot has deviated relative to the horizontal seam, the control module 218 corrects the robot's direction of travel by adjusting the speed difference between the drive wheels of the front and rear chassis, or by adjusting the speed difference between the left and right wheels 2161. Thus, the robot can move stably on the curved surface of the tower plate and maintain its relative position with respect to the horizontal seam.

[0109] With the above structure, the automatic material placing robot body 2 can adapt to the curvature of the tower plates by the relative rotation of the front and rear chassis, maintain the relative stability of the storage box 202 and the material placing box 203 by the chassis shaft 2151, achieve flexible contact between the outer baffle 2162 and the tower plates by the spring 2163 and the adjusting nut, and achieve automatic walking and back repair by the drive motor 2166, thereby improving the robot's adaptability and material placing stability under different tower curvature, different tower width and construction error conditions.

[0110] Overall process: 1. Automatic pulping and pulp condition adjustment in mixer truck 1 During construction, the slurry raw materials are added to the mixing tank 102 of the mixer truck 1 through the feed inlet 101. A flow meter 106 or metering device is installed at the feed inlet 101 to record the amount of water, dry powder, and additives added. The control system controls the operation of the mixing blades 104 according to the set ratio, mixing time, and mixing speed, so that the raw materials are formed in the mixing tank 102 into a slurry that meets the construction requirements of the horizontal joint of the wind power hybrid tower.

[0111] After mixing, the slurry enters the storage tank 103 of the mixer truck 1 through the internal discharge port. The storage tank 103 is equipped with auxiliary stirring blades 104, a heater, a liquid replenishment device, a temperature detection device, and a flowability detection device. The control system controls the heater based on the temperature detection results and controls the auxiliary stirring blades 104 and the liquid replenishment device based on the flowability detection results, ensuring that the slurry maintains a suitable temperature and flowability during waiting and pumping processes, preventing sedimentation, segregation, or decreased flowability.

[0112] 2. Staged material feeding by the mixer truck 1 and the automatic material feeding robot body 2 The storage tank 103 of the mixer truck 1 is connected to the trolley storage box 202 of the automatic material distribution robot body 2 via the first pump. The trolley storage box 202 is equipped with a material monitoring device 210 for detecting the remaining slurry.

[0113] When the slurry level in the trolley's storage tank 202 falls below the set lower limit, the control system sends a replenishment command to the mixer truck 1, and the first pump starts to deliver the slurry to the trolley's storage tank 202. When the slurry level reaches the set upper limit, the control system controls the first pump to stop or reduce its pumping rate. This achieves on-demand feeding, avoiding material shortages or overfeeding to the robot.

[0114] 3. The trolley's storage bin 202 supplies material to the fabric distribution bin 203 under stable pressure. The trolley storage box 202 is arranged side by side with the fabric feeding area, and the two are connected by an inner hole 212. A controllable opening and closing component is provided at the inner hole 212. A pressing device 213 is provided inside the trolley storage box 202. The pressing device 213 can be an air pressure zone, an air bladder, a piston, or a push rod device, and is arranged towards the inner hole 212.

[0115] When the fabric feeding area needs replenishment, the control system opens the inner hole 212 and drives the extrusion device 213 to push the slurry into the fabric feeding area; when the slurry in the fabric feeding area reaches the set amount or the pressure reaches the set range, the control system closes the inner hole 212. This separates the replenishment process from the discharge process, avoids pressure fluctuations in the fabric feeding area caused by continuous feeding, and ensures stable discharge.

[0116] 4. Modular cross-section material output and differentiated opening control An extrusion head is installed in the material feeding area. The extrusion head is located on the side away from the discharge port and moves towards the discharge port. During discharge, the control system closes the inner hole 212 to form a relatively closed pressure-stabilized space in the material feeding area. Then, the extrusion head is controlled to push the slurry towards the discharge module 205, so that the slurry is discharged to the horizontal joint of the wind power hybrid tower.

[0117] The modular discharge port consists of multiple detachable discharge modules, which are arranged along the width of the tower plates. These modules can be added, removed, replaced, or closed according to the width of the tower plates, the seam width, and the designed fabric thickness. Each discharge module has an adjustable closure at the top and is connected to the control system via a micro motor, servo motor, stepper motor, or electric actuator.

[0118] The control system calculates the opening degree of each discharge module based on the joint width, target fabric thickness, trolley travel speed, slurry flowability, and feedback values ​​from the flow sensor 211. Generally, the opening degree of the middle discharge module is larger, while the opening degree of the discharge modules on both sides gradually decreases, so that the slurry forms a fabric cross-section that is full in the middle and transitions on both sides, in order to meet the filling requirements of the horizontal joint of the wind power hybrid tower and reduce edge overflow and local slurry shortage.

[0119] 5. Repairing fabric while removing it and creating a visual closed loop. When the automatic material-laying robot body 2 is laying material, the trolley moves away from the discharge port, so that the discharge port is located behind the trolley's direction of travel or on the working side. The slurry is continuously left in the horizontal joint of the tower during the movement of the trolley, so as to avoid the wheels 2161 from crushing the newly laid slurry.

[0120] The robot is equipped with a front-view camera 2071 and a top-view camera 2072. The front-view camera 2071 is installed at the front of the vehicle body 201 or above the front of the material box 203 to identify the center line of the horizontal joint and the offset of the vehicle; the top-view camera 2072 is installed behind or above the modular discharge port to identify the slurry coverage width, continuity, slurry accumulation, slurry deficiency, and smoothing effect.

[0121] The control system controls the drive motor 2166 based on the recognition results of the forward-looking camera 2071 to achieve automatic correction of the trolley along the horizontal joint; it controls the opening of the discharge module, the pushing speed of the extrusion head, and the traveling speed of the trolley based on the recognition results of the top-looking camera 2072. When a lack of slurry or a break in slurry is detected, the opening of the corresponding discharge module is increased or the traveling speed is decreased; when slurry accumulation or overflow is detected, the opening of the corresponding discharge module is decreased or the traveling speed is increased; when the smoothing effect does not meet the requirements, the trolley is controlled to reverse back to the defective area, and the corresponding discharge module and extrusion head are reopened for replenishment and repair.

[0122] 6. Curvature adaptive travel suitable for horizontal joints of wind turbine hybrid towers. To accommodate the curvature of the tower segments in wind turbine hybrid towers, the automatic material placement robot body 2 is equipped with a front chassis and a rear chassis. The front and rear chassis are connected by a connecting shaft 2152 and can rotate relative to each other, allowing the front and rear wheels 2161 to respectively conform to different curvature positions of the tower segments. The vehicle body 201 or the material storage tank 202 is connected to the chassis via the chassis shaft 2151, ensuring that even when the front and rear chassis are not parallel, the material storage tank 202 and the material placement area remain relatively stable, preventing fluctuations in the slurry caused by the torsion of the vehicle body 201.

[0123] Meanwhile, an outer baffle 2162, a spring 2163, and an adjusting nut are installed on the side of the chassis. The outer baffle 2162 fits against the side or positioning surface of the tower plate, the spring 2163 provides flexible clamping force, and the adjusting nut is used to adjust the preload of the spring 2163. When the width of the tower plate changes due to manufacturing or installation errors, the extension and retraction of the spring 2163 keeps the outer baffle 2162 tightly against the tower plate, ensuring the stability of the relative position between the discharge port and the horizontal joint.

[0124] 7. Construction data recording and platform management The control system records mixing time, slurry temperature, slurry flowability, pumping volume, remaining amount in storage tank 202, opening of discharge module, trolley travel speed, visual recognition results, defect location and repair records, and uploads them to the data platform via the communication module for construction process archiving, quality traceability, remote monitoring and abnormal alarms.

Claims

1. A robot integrating mixing and spreading of materials at the horizontal joint of a wind power hybrid tower, characterized in that, Includes a mixer truck (1) and an automatic material distribution robot body (2); The mixer truck (1) is used to feed, meter, mix, prepare, temporarily store, adjust the state and continuously pump the slurry required for the construction of the horizontal joint of the wind power hybrid tower on the concrete tower (3), and continuously transport the slurry to the automatic material distribution robot body (2). The automatic material-laying robot body (2) is used to receive the slurry delivered by the mixing truck (1) and automatically walk, store, quantitatively discharge, vibrate and lay the material, smooth and repair, and monitor the quality along the horizontal joint of the wind power mixing tower.

2. The integrated robot for mixing and spreading materials at the horizontal joint of a wind power hybrid tower according to claim 1, characterized in that, The mixer truck (1) includes a feed inlet (101), a mixing tank (102), a storage tank (103), mixing blades (104), a control console (105), a flow meter (106), a temperature-flowability detection device (107), a heating device (108), a pumping device (109), and a mixer truck discharge outlet (110). The mixing tank (102) and the storage tank (103) are arranged side by side inside the mixer truck (1) or on the top of the mixer truck (1). The mixing tank (102) is used for the initial mixing and preparation of slurry raw materials, and the storage tank (103) is used for the temporary storage and state maintenance of the slurry after mixing. The mixing tank (102) is provided with a feed inlet (101) at the top, which is connected to the inside of the mixing tank (102) and is used to add dry powder, water, admixtures, premixed slurry, grouting material or other slurry materials suitable for the construction of horizontal joints of wind power towers into the mixing tank (102); the metering device (106) is set at the feed inlet (101) or on the feed pipeline connected to the feed inlet (101) and is used to record the amount of slurry or liquid material added into the mixing tank (102) and transmit the metering data to the control console (105) to prompt the operator or control system to adjust the feed amount; The mixing tank (102) is equipped with a stirring blade (104), which is connected to a stirring motor. The stirring motor is electrically connected to a control console (105). An internal discharge port is provided at the bottom or lower side of the mixing tank (102), which is connected to a storage tank (103) through a connecting pipe. A valve or pumping mechanism is provided at the internal discharge port, which is used to open after the slurry is mixed, so that the slurry in the mixing tank (102) enters the storage tank (103) through the internal discharge port.

3. The integrated robot for mixing and laying materials at the horizontal joint of a wind power hybrid tower according to claim 2, characterized in that, The storage tank (103) is equipped with an auxiliary stirring blade (104), a heater, and a liquid replenishment device. The auxiliary stirring blade (104) is connected to an auxiliary stirring motor and is used to intermittently or continuously stir the slurry in the storage tank (103). The heater is located on the inner wall, bottom, or outer wall of the storage tank (103) and is used to keep the slurry in the storage tank (103) warm or heat it. The liquid replenishment device is connected to the storage tank (103) and is used to replenish a set amount of water, additive solution, or matching adjustment components to the storage tank (103) within the allowable range of the material specification according to the slurry flowability test results, and record the replenishment amount. The storage tank (103) has a discharge port at its bottom or lower side. The discharge port of the storage tank (103) is connected to the feed end of the pumping device (109). The discharge end of the pumping device (109) is connected to the storage box (202) of the automatic material distribution robot body (2) through the conveying pipe (217). Temperature-flowability detection devices (107) are respectively installed in the mixing tank (102) and the storage tank (103). The temperature-flowability detection device (107) is divided into a temperature detection device and a flowability detection device. The temperature detection device is used to detect the temperature of the slurry in the mixing tank (102) and / or the storage tank (103), and the flowability detection device is used to detect the flowability or consistency change of the slurry. The temperature detection device, flow rate detection device, flow meter (106), stirring motor, auxiliary stirring motor, heater, liquid replenishment device, valve and pump are all electrically connected to the control console (105); the control console (105) controls the stirring blade (104) to stir, the heating device (108) to heat, the liquid replenishment device to replenish the adjustment components within the allowable range, the opening and closing of the internal discharge port and the pumping device (109) to pump according to the data fed back by the temperature detection device, flow rate detection device and metering device (106).

4. The integrated robot for mixing and laying materials at the horizontal joint of a wind power hybrid tower according to claim 3, characterized in that, The pump is located inside the mixer truck (1), below the storage tank (103) or on one side of the discharge port of the storage tank (103). The pump's inlet end is connected to the storage tank (103), and the pump's outlet end is connected to the automatic material distribution robot body (2) through a conveying pipe (217). The automatic material distribution robot body (2) is equipped with a material monitoring device (210) to detect the remaining amount of slurry in the storage tank (202). The material monitoring device (210) is communicatively connected to the control console (105). The mixer truck (1) is equipped with a control console (105) on its outside. The control console (105) is used to display the amount of slurry added, the mixing status, the remaining amount in the storage tank (103), the slurry temperature, the slurry fluidity, the pumping status and fault information, and is used to set the mixing speed, mixing time, heating temperature, water replenishment and pumping rate. The mixer truck (1) is equipped with wheels at the bottom; the mixer truck (1) is equipped with a discharge port on the side, which is connected to the discharge end of the pump and is used to connect to the external conveying pipe (217) and convey slurry to the automatic material distribution robot body (2); The lower part of the material box (203) is provided with a discharge module (205) and is located on the side close to the horizontal joint of the wind power hybrid tower; The discharge module (205) is arranged along the width direction of the horizontal joint of the material box (203), that is, the direction of the tower wall thickness, and is composed of multiple detachable discharge modules arranged in parallel; multiple installation stations are provided on the bottom wall of the material box (203), and each installation station corresponds to the installation of a discharge module; multiple discharge modules are arranged sequentially along the width direction of the tower plate, so that the overall discharge range can cover the width of the material required for the horizontal joint; An adjustable closure port is provided on the upper part of the discharge module. The adjustable closure port (2052) is located between the feed end of the discharge module and the inner cavity of the material box (203) and is used to adjust the flow area of ​​the slurry entering the corresponding discharge module. The adjustable closure port adopts a spiral opening and closing structure, including a fixed orifice plate, a rotating closing plate and a driving unit. The fixed orifice plate is set at the feed end of the discharge module, and the rotating closing plate is set above or below the fixed orifice plate and can rotate relative to the fixed orifice plate. The drive unit uses a micro motor, servo motor, stepper motor or electromagnetic actuator and is communicatively connected to the robot control module (218); the drive unit is electrically connected to the control module (218) via cable, or connected to the control module (218) via Bluetooth, wireless communication module or other short-range communication methods; The control module (218) controls the adjustable opening of each discharge module based on the design cross section of the horizontal joint, the target fabric thickness, the target fabric width, the robot walking speed, the slurry flowability, and the feedback data from the flow sensor (211).

5. The integrated robot for mixing and spreading materials at the horizontal joint of a wind power hybrid tower according to claim 4, characterized in that, Specifically, the control module (218) pre-stores discharge control parameters corresponding to different tower plate widths, horizontal joint widths, designed fabric thicknesses and slurry types; Before construction, the control module (218) determines the number of output modules to be activated based on the input target fabric width and target fabric thickness, and calculates the target output amount required per unit time based on the robot's set walking speed. During construction, the control module (218) distributes the target output amount to each output module and controls the corresponding drive unit of each output module to make the adjustable closing port at the corresponding opening. During construction, the control module (218) also dynamically corrects the opening based on the feedback results from the flow sensor (211), the slurry flowability detection device and the visual monitoring device (207); When the thickness of the fabric in the middle area is insufficient or there is a lack of slurry, the control module (218) increases the opening of the corresponding discharge module in the middle main fabric area; When overflow, slurry accumulation, or fabric width exceeding the set range is detected in the edge area, the control module (218) reduces the opening of the corresponding discharge module of the edge limited fabric area, or closes the outermost discharge module.

6. The integrated robot for mixing and spreading materials at the horizontal joint of a wind power hybrid tower according to claim 5, characterized in that, The discharge module has a discharge cross-section with different shapes and sizes, including circular, rectangular, oblong, flat slot, trapezoidal, and irregular cross-sections that match the horizontal joints of the wind power hybrid tower. The effective discharge width of a single discharge module along the tower wall thickness direction is 30 mm to 150 mm. Multiple discharge modules are arranged sequentially along the tower wall thickness direction to form a combined discharge area, and the number of discharge modules is not less than 3. Each discharge module is arranged sequentially along the length of the bottom of the material box (203) and is detachably connected to the bottom wall of the material box (203); the bottom wall of the material box (203) is provided with continuous or spaced mounting grooves (2051) along its length, and the mounting grooves (2051) are dovetail grooves, T-shaped grooves, rectangular sliding grooves or stepped slots; the upper part of the discharge module is provided with a connecting boss that matches the mounting groove (2051), and the connecting boss can be inserted into or slid into the mounting groove (2051) so that the discharge module is initially positioned at the bottom of the material box (203); The discharge module is a hollow block structure with an inlet at the upper end that communicates with the inner cavity of the cloth box (203) and an outlet at the lower end that discharges slurry to the horizontal joint. The material discharge module is rectangular, trapezoidal, or wedge-shaped; a vertical or inclined material discharge channel is formed inside the material discharge module, the upper end of the material discharge channel is connected to the inner cavity of the material box (203), and the lower end is connected to the material discharge port; the cross-section of the material discharge port is set as circular, rectangular, oblong, flat slit, trapezoidal, or an irregular cross-section that matches the cross-section of the horizontal joint. A connector (2031) is provided between the discharge module and the fabric box (203); Each mounting groove (2051) corresponds to one discharge module; or a continuous mounting groove (2051) is set so that multiple discharge modules are inserted and arranged in sequence along the same groove (2051); limiting surfaces, sealing gaskets or splicing edges are set between adjacent discharge modules so that multiple discharge modules are installed side by side to form a continuous discharge area and avoid leakage between adjacent modules.

7. The integrated robot for mixing and spreading materials at the horizontal joint of a wind power hybrid tower according to claim 1, characterized in that, The automatic material-laying robot body (2) includes a storage box (202), a material-laying box (203), an inner hole (212), a controllable opening and closing component, an extrusion head, a water sprayer, and a modular discharge port; The storage tank (202) is located in the middle or upper part of the vehicle body (201) and is used to receive and temporarily store the slurry transported by the mixer truck (1); the distribution tank (203) is located on the side near the horizontal joint of the tower and is arranged adjacent to the storage tank (202); an inner hole (212) is provided between the storage tank (202) and the distribution tank (203). The inner hole (212) is located on the side wall of the storage tank (202) near the distribution tank (203) and communicates with the inner cavity of the distribution tank (203) to allow the slurry in the storage tank (202) to enter the distribution tank (203). A controllable opening and closing component is provided at the inner hole (212). The controllable opening and closing component is an electric valve, gate valve, flap valve, rotary valve or solenoid valve, used to control the flow of slurry between the storage box (202) and the distribution box (203). The material distribution box (203) is provided with a modular discharge port on the side near the horizontal joint of the tower. The modular discharge port is connected to the inner cavity of the material distribution box (203) and is used to discharge the slurry in the material distribution box (203) to the horizontal joint of the tower. The storage box (202), inner hole (212), distribution box (203) and modular discharge port are arranged in sequence along the slurry flow direction to form a lateral material distribution channel from the storage box (202) to the distribution box (203) and then from the distribution box (203) to the horizontal joint of the tower. The extrusion head is provided inside the fabric box (203). The extrusion head is located on the side of the fabric box (203) away from the modular discharge port and is arranged towards the modular discharge port. The extrusion head adopts a push plate type, piston type, air bag type or diaphragm pneumatic type structure. When the pneumatic drive method is used, the gas is isolated from the slurry through the air bag or flexible diaphragm to avoid the gas from directly entering the slurry. When a push-plate extrusion head is used, the extrusion head includes a push plate and a drive mechanism. The push plate is set in the inner cavity of the fabric box (203) and slides in cooperation with the inner wall of the fabric box (203). The drive mechanism is set on the outside of the fabric box (203) or on the side of the fabric box (203) away from the modular discharge port, and is connected to the push plate. It is used to drive the push plate to move toward the modular discharge port, thereby extruding the slurry in the fabric box (203) to the modular discharge port and discharging it. A water sprayer is provided inside the extrusion head or on one side near the working surface of the extrusion head. The water sprayer is connected to a water source or water supply device through a water supply pipe. The nozzle of the water sprayer is arranged facing the inner wall of the material box (203), the periphery of the inner hole (212), the working surface of the extrusion head, and the modular discharge port inlet. The opening and closing of the inner hole (212) is controlled by the control module (218) based on the remaining amount of slurry in the material box (203), the pressure of the material box (203), the discharge flow rate, and the material feeding conditions.

8. The integrated robot for mixing and laying materials at the horizontal joint of a wind power hybrid tower according to claim 7, characterized in that, The automatic fabric-laying robot body (2) is equipped with a visual monitoring device (207). The visual monitoring device (207) includes a camera assembly and a visual recognition unit. The camera assembly includes a front-view camera (2071), a top-view camera (2072), and a depth camera or a structured light ranging module. The front-view camera (2071) is mounted on a bracket at the front of the vehicle body (201), above the front of the fabric box (203), or on the side of the vehicle body (201) in the direction of travel. The lens faces the direction of the robot's movement and is used to collect images of the horizontal seam of the tower, the seam boundary, the edge of the tower plate, obstacles, and the front of the fabricated area in front of the robot. The overhead camera (2072) is mounted on a bracket above the fabric box (203), above the modular discharge port, or behind the discharge port. The lens faces the modular discharge port and the horizontal joint area nearby, and is used to collect images of the area below the discharge port and the surface of the slurry after discharge in real time. Both the front-view camera (2071) and the top-view camera (2072) are electrically or communicatively connected to the control module (218). The control module (218) has a built-in visual recognition unit, which is used to perform edge recognition, seam recognition, fabric width recognition, slurry coverage status recognition, and surface quality judgment on the images captured by the camera. The front-view camera (2071) is used to identify the positional deviation and travel direction deviation of the robot relative to the center line of the horizontal seam. The top-view camera (2072) is used to identify whether the slurry is continuously covered and whether there are any deficiencies, breaks, piles, overflows, or poor smoothing.

9. The integrated robot for mixing and laying materials at the horizontal joint of a wind power hybrid tower according to claim 8, characterized in that, The visual recognition unit first performs grayscale conversion, filtering and noise reduction, brightness equalization, and distortion correction on the image captured by the front-view camera (2071), and then extracts the boundary lines on both sides of the horizontal joint through edge detection, threshold segmentation, or contour extraction methods; let the expressions of the left and right boundary lines of the horizontal joint in the image coordinate system be as follows: The center line of the horizontal joint is then represented as: in, and These are the boundary lines on both sides of the joint. Center line of the seam , The slope of the boundary line. , The boundary intercept; Let the robot's preset driving centerline in the image be: The lateral deviation of the robot relative to the center line of the horizontal seam Represented as: in, The horizontal coordinate of the centerline of the horizontal joint at the designated detection section is the image's abscissa. Let x be the horizontal coordinate of the robot's centerline in the image. This is the conversion factor between the image pixel size and the actual size, with the unit being mm / pixel; Angular deviation between the robot's direction of travel and the center line of the horizontal joint Represented as: in, The slope of the centerline of the horizontal joint. This is the robot's current direction of travel angle; when the lateral deviation... Greater than 5 mm to 20 mm, or angular deviation When the deviation is greater than 1° to 5°, the control module 218 determines that the robot is veering off course and adjusts the speed of the left and right drive wheels according to the following formula: in, and These are the target speeds for the left and right drive wheels, respectively. The robot's baseline walking speed, This is the lateral deviation correction factor. This is the angle deviation correction coefficient. The robot is kept stable along the horizontal joint direction by controlling the differential speed of the left and right drive wheels, or by adjusting the steering angle of the front and rear chassis. The visual recognition unit analyzes the images captured by the top-view camera (2072) to identify the slurry boundary, slurry width, slurry continuity and surface flatness of the slurry area; The visual recognition unit segments the image based on differences in grayscale, color, texture, or reflectivity between the slurry and the concrete surface of the tower, thus obtaining the slurry area. The slurry area is represented as: in, For pixels in the image The grayscale value, color value, or texture feature value, Determine the threshold range for the slurry area; In the top-view image, let the identified left and right boundaries of the slurry be respectively... and Then the actual width of the fabric at a certain cross-section for: Average actual fabric width along the detection length range for: in, To detect the number of cross sections, This is the conversion factor between pixel size and actual size; Let the target fabric width be Then the fabric width deviation for: When the following formula is met, it is determined that the fabric width is insufficient or there is a risk of insufficient sizing: When the following condition is met, the fabric is considered to be too wide or there is a risk of spillage: The visual recognition unit determines the state of insufficient slurry, interrupted slurry, and slurry accumulation based on the slurry coverage area; let the target detection area be... The actual slurry coverage area is Slurry coverage for: When the slurry coverage meets the following requirements: or partially uncovered areas A thickness greater than 500 mm² to 5000 mm² is considered insufficient; when the continuous uncovered length along the robot's travel direction... When the grout thickness is greater than 50 mm to 150 mm, it is considered a grout break; when the area of ​​the local grout zone is... When the area exceeds 1.10 to 1.30 times the target area, or when the width of the local slurry suddenly increases by more than 10% to 30% of the target fabric width, it is judged as slurry piling. For overflow determination, let the design boundary of the horizontal joint be... The distance by which the outer boundary of the slurry exceeds the design boundary of the joint is Then, if the following conditions are met: If the actual fabric width is 105% to 115% greater than the target fabric width, the visual recognition unit determines it as overflow; The visual recognition unit judges the smoothing quality based on the uniformity of grayscale on the slurry surface and boundary fluctuations; let the standard deviation of grayscale on the slurry surface within the detection area be . The slurry boundary fluctuation is ,but: in, The first in the slurry area The grayscale value or brightness value of each pixel. The average grayscale value. This represents the number of pixels in the slurry area. when Greater than the set grayscale fluctuation threshold, or If the thickness is greater than 5 mm to 20 mm, it is judged as uneven surface of slurry or poor smoothing. For systems equipped with depth cameras or structured light ranging modules, flatness is determined by the surface height difference; let the maximum height difference of the slurry surface be... ,when: If the smoothing effect is not satisfactory, it is determined that the smoothing effect does not meet the requirements. When insufficient fabric width, localized lack of slurry, or interruption of slurry is detected, the control module (218) controls the corresponding dispensing module (205) to increase its opening or decrease the walking speed of the automatic fabric-laying robot body (2) based on the location of the defect. The opening correction amount of the corresponding dispensing module is determined by the following formula: in, For the first Current opening degree of each discharge module The corrected opening. This is the width deviation correction factor. This is the correction factor for coverage area deviation; When slurry accumulation, overflow, or excessive discharge is detected, the control module (218) reduces the opening of the corresponding discharge module or increases the trolley travel speed. The opening correction amount is determined by the following formula: in, This represents the actual spillover distance. To allow an overflow threshold, This is the spillover distance correction factor. This is a correction factor for fabric width exceeding the limit; The robot's walking speed is adjusted according to the fabric condition. Let the current walking speed be... The corrected walking speed is ,but: Used to reduce walking speed when there is insufficient slurry or fabric; used when slurry accumulates or overflows. When the overhead camera (2072) detects that the smoothing effect does not meet the set requirements, the control module (218) determines the defect image coordinates. Walking distance with robots Convert the defect location into robot path coordinates Let the robot's current position be... The robot then retreats a distance of for: in, To repair the safety distance, the control module (218) controls the drive motor (2166) to rotate in the opposite direction, so that the robot moves back to the defect area; then it controls the corresponding discharge module to open, the extrusion head to move and the vibration device (206) to start, so as to perform secondary material replenishment, vibration and smoothing on the defect area; After the repair is completed, the overhead camera (2072) re-captures images of the area, and the visual recognition unit recalculates the slurry coverage. Actual fabric width Boundary fluctuation and surface height difference ; If all of the above indicators meet the set threshold, the repair is deemed successful; otherwise, continue the repair process or trigger a manual review prompt. The visual recognition unit determines the number of material output modules to be activated based on the seam width recognition result. Let the effective fabric width of the recognized horizontal seam be... The effective discharge width of a single discharge module is Then the number of discharge modules enabled It can be determined by the following formula: in, This indicates rounding up, and No fewer than 3; When the width of the horizontal joint is detected to be large, the control module (218) opens more discharge modules; when the width of the horizontal joint is detected to be small, the control module (218) closes the edge discharge module or reduces the opening of the edge discharge module; thereby, the discharge width of the discharge port matches the actual joint width.

10. The integrated robot for mixing and spreading materials at the horizontal joint of a wind power hybrid tower according to claim 9, characterized in that, The automatic fabric-laying robot body (2) is also equipped with a data recording module and a communication module; The data recording module is used to record image data, video data, robot walking speed, walking trajectory, opening degree of discharge module, actual discharge flow rate, slurry balance in storage box (202), pressure in distribution box (203), slurry temperature, slurry flowability, defect identification results and repair records during the construction process; The communication module uses wireless network, Bluetooth, 4G / 5G communication or on-site local area network communication to upload construction data to the data platform; the data platform is used for archiving and managing the construction process, quality traceability, remote viewing and abnormal alarms; The bottom of the vehicle body (201) is provided with a walking chassis (215), and the walking chassis (215) is provided with wall-mounted wheel sets (216) on both sides. The walking chassis (215) and the wall-mounted wheel sets (216) are used to enable the automatic material-laying robot body (2) to walk stably along the horizontal joint of the tower and adapt to different tower curvature and width changes. The walking chassis (215) includes a front chassis, a rear chassis, a connecting shaft (2152), and a chassis shaft (2151). The connecting shaft 2152 is located between the front chassis and the rear chassis, allowing the front chassis and the rear chassis to rotate or swing relative to each other around the connecting shaft (2152) to adapt to the circumferential curvature change of the wind power hybrid tower plate. The relative rotation angle between the front chassis and the rear chassis is ±5° to ±45°. The wall-mounted wheel assembly (216) includes a wheel (2161), an outer baffle (2162), a spring (2163), and a drive motor (2166). The wheels (2161) are respectively located on the lower part of the front chassis and the rear chassis. The wheels (2161) are installed on the lower part of the corresponding chassis through the wheel axle and contact the support surface on the upper surface of the tower plate or near the horizontal joint, so as to support the robot and drive the robot to move along the direction of the horizontal joint of the tower. The chassis axle (2151) is located on the upper part of the front chassis and / or the rear chassis, and the main frame of the vehicle body (201) or the storage box (202) is connected to the front chassis and the rear chassis through the chassis axle (2151); The elastic fitting assembly is disposed between the wheel (2161) and the chassis, or between the outer baffle (2162) and the chassis; the elastic fitting assembly includes a guide rod (2164), a spring (2163), an adjusting nut (2165) and a limiting member; One end of the guide rod (2164) is connected to the wheel (2161) or the outer baffle (2162), and the other end passes through the guide hole on the chassis; the spring (2163) is sleeved on the outside of the guide rod (2164) and located between the chassis and the wheel (2161) or the outer baffle (2162); the adjusting nut (2165) is threadedly connected to the guide rod (2164) and is used to adjust the pre-compression of the spring (2163); The outer baffle (2162) is disposed on the side of the vehicle body (201) near the side of the tower plate. The outer baffle (2162) is used to fit against the positioning surface near the side, outer wall or seam edge of the tower plate, and plays a guiding and limiting role. The drive motor (2166) is mounted on the front chassis and / or the rear chassis and is connected to at least one wheel (2161) via a reducer, gear drive, chain drive or synchronous belt drive for driving the wheel (2161) to rotate; the drive motor (2166) is electrically connected to the control module (218).

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