Gantry walking device of a trailing edge beam automatic cloth laying device

Abstract

The utility model discloses a gantry walking device of automatic cloth paving device of rear edge beam, including first gantry and a plurality of first walking mechanism, the first walking mechanism includes X axle walking subassembly, Y axle walking subassembly, Z axle walking subassembly and R axle walking subassembly, the X axle walking subassembly includes first walking frame and first drive motor, the upper end of first gantry is equipped with first guide rail, the lower extreme of first walking frame is equipped with first sliding block, first sliding block with first guide rail one -to -one correspondence, first drive motor sets up in the right -hand end of first walking frame, the lower extreme of first drive motor is equipped with first gear, the upper end of first gantry is equipped with first rack, first gear and first rack are matched. The utility model provides a gantry walking device of automatic cloth paving device of rear edge beam, and it can realize the function of moving left and right, front and back and up and down, and realizes rotation function, realizes reciprocating and can work, improves the efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of fabric laying technology, specifically relating to a gantry walking device for an automatic fabric laying device for a rear edge beam. Background Technology

[0002] Wind turbine blades are the main structure of wind turbine generators. A wind turbine blade includes a shell forming the basic airfoil, a main beam and trailing edge beam sandwiched within the shell, and a web supporting the main beam. The trailing edge beam, together with the main beam, constitutes the main load-bearing structure of the blade, providing it with bending and torsional resistance. The trailing edge beam is located near the trailing edge of the blade and has a relatively complex shape, with a certain curvature in both the spanwise and chordal directions. The trailing edge beam uses unidirectional fabric as its main material to bear the load in the blade's yaw direction. It is composed of multiple layers of unidirectional fabric of the same width stacked and laid. However, current technology still requires manual fabric laying, which not only requires a large amount of manual labor but is also physically demanding and inefficient. The fabric laying process is particularly arduous. To automate the fabric laying operation, a gantry-type traveling device for the automatic trailing edge beam fabric laying system needs to be designed to ensure the movement and laying of the fabric roll. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides a gantry traveling device for an automatic rear edge beam laying device.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A gantry traveling device for an automatic rear edge beam laying apparatus, the gantry traveling device comprising a first gantry frame and a plurality of first traveling mechanisms, the first traveling mechanism comprising an X-axis traveling assembly, a Y-axis traveling assembly, a Z-axis traveling assembly and an R-axis traveling assembly, the X-axis traveling assembly comprising a first traveling frame and a first drive motor, the upper end of the first gantry frame being provided with a first guide rail, the lower end of the first traveling frame being provided with a first slider, the first slider corresponding one-to-one with the first guide rail, the first drive motor being disposed at the right end of the first traveling frame, the lower end of the first drive motor being provided with a first gear, the upper end of the first gantry frame being provided with a first rack, the first gear and the first rack being matched.

[0005] Furthermore, the Y-axis traveling assembly includes a first support column, a first mounting bracket, and a second drive motor. The lower end of the first support column is provided with a second guide rail, and the lower end of the first traveling bracket is provided with a second slider. The second slider matches the second guide rail. The first mounting bracket is located at the left end of the first traveling bracket, and the second drive motor is located at the left end of the first mounting bracket. The right end of the second drive motor is provided with a second gear, and the left end of the first support column is provided with a second rack. The second gear and the second rack match.

[0006] Furthermore, the Z-axis traveling assembly includes a first mounting plate, a first lifting column, and a third drive motor. The first mounting plate is disposed at the rear end of the first support column, and a third slider is provided at the rear end of the first mounting plate. Third guide rails are provided at both ends of the first lifting column, and the third slider matches the third guide rails. The third drive motor is disposed at the rear end of the first support column, and a third gear is provided at the rear end of the third drive motor. A third rack is provided at the front end of the first lifting column, and the third gear matches the third rack.

[0007] Furthermore, the R-axis traveling assembly includes a second mounting plate, a first mounting cylinder, a first rotating flange, and a fourth drive motor. The second mounting plate is disposed at the lower end of the first lifting column, the first mounting cylinder is disposed at the lower end of the second mounting plate, the first rotating flange is disposed at the lower end of the first mounting cylinder via a bearing, and the fourth drive motor is disposed at the upper end of the second mounting plate and is connected to the first rotating flange.

[0008] Furthermore, each end of the first guide rail, the second guide rail, and the third guide rail is provided with a first limit switch.

[0009] The gantry traveling device of the automatic fabric laying device for the rear edge beam disclosed in this utility model has the following advantages compared with the prior art: it can drive the fabric suction and pressing device and the fabric laying and cutting device to move left and right, forward and backward, and up and down through the X-axis traveling component, Y-axis traveling component, and Z-axis traveling component, and can drive the fabric suction and pressing device and the fabric laying and cutting device to rotate through the R-axis traveling component, so that it can operate in both reciprocating and reciprocating modes, thereby improving efficiency. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the automatic fabric laying device for the rear edge beam provided by this utility model.

[0011] Figure 2 This is a schematic diagram of the first gantry frame provided by this utility model.

[0012] Figure 3 This is a first-view schematic diagram of the gantry walking device provided by this utility model.

[0013] Figure 4 This is a schematic diagram from a second perspective of the gantry walking device provided by this utility model.

[0014] Figure 5 This is a schematic diagram of the first traveling frame provided by this utility model.

[0015] Figure 6 This is a schematic diagram of the first support column provided by this utility model.

[0016] Figure 7 This is a schematic diagram of the cloth suction and pressing device provided by this utility model.

[0017] Figure 8 This is a schematic diagram of the first guide rod provided by this utility model.

[0018] Figure 9 This is a schematic diagram from a first-view perspective of the fabric laying and cutting device provided by this utility model.

[0019] Figure 10 This is a schematic diagram from a second perspective of the fabric laying and cutting device provided by this utility model.

[0020] Figure 11 This is a schematic diagram from a third-person perspective of the fabric laying and cutting device provided by this utility model.

[0021] Figure 12 This is a schematic diagram of the first clamping component provided by this utility model.

[0022] Figure 13 This is a schematic diagram of the first fabric-flipping component provided by this utility model.

[0023] Figure 14 This is a schematic diagram of the first gel coat assembly provided by this utility model.

[0024] Figure 15 This is a schematic diagram of the first rod and cloth assembly provided by this utility model.

[0025] Figure 16 This is a schematic diagram of the first encoder assembly provided by this utility model.

[0026] The reference numerals in the attached drawings include: 1000, first gantry frame; 1110, first rack; 1120, first guide rail; 1200, first traveling frame; 1210, first slider; 1220, first drive motor; 1221, first gear; 1230, second slider; 1240, second drive motor; 1241, second gear; 1300, first support column; 1310, second guide rail; 1320, second rack; 1330, first mounting plate; 1331, third slider; 1340, third drive motor; 1341, third gear; 1400, first lifting column; 1410, third guide rail; 1420, second mounting plate. ; 1430, Fourth drive motor; 1440, Third rack; 1500, First rotating flange; 1600, Fabric roll; 2100, First fixed seat; 2110, Fifth drive motor; 2200, First rotating seat; 2210, Second fixed seat; 2220, Sixth drive motor; 2230, First vacuum tank; 2300, Second rotating seat; 2310, First fixed frame; 2320, First guide rod; 2330, First connecting nozzle; 2340, First suction cup; 3100, Third fixed seat; 3110, Sixth drive motor; 3200, Third rotating seat; 3300, First fixed column; 3310, Fourth guide rail 3320, Seventh drive motor; 3400, First clamping frame; 3410, Fourth slider; 3420, First threaded block; 3430, First lifting plate; 3431, Fifth guide rail; 3440, Fifth slider; 3450, First cylinder; 3460, First air chuck; 3470, Eighth drive motor; 3480, First flip connecting plate; 3490, Second flip connecting plate; 3500, First flip frame; 3510, Second cylinder; 3520, First gel coat can; 3521, First push rod; 3530, First mounting bracket; 3540, Third cylinder; 3541, First pressing nozzle; 3550, Fourth... Cylinder; 3551, First scissor pressure block; 3552, First fabric cutter; 3560, First baffle; 3600, Second flipping frame; 3610, First telescopic sleeve; 3620, First telescopic shaft; 3630, First PVB board brush; 3700, Second mounting bracket; 3710, First rotating rod; 3720, First hanging rod; 3730, First support plate; 3740, First tension spring; 3750, First traveling wheel; 3760, First encoder; 3770, First conveyor belt; 3800, Third mounting bracket; 3810, First laser sensor; 3900, Fourth mounting bracket; 3910, First detection camera. Detailed Implementation

[0027] This utility model discloses an automatic fabric laying device and method for a rear edge beam. The specific implementation of this utility model will be further described below with reference to preferred embodiments.

[0028] See attached diagram. Figure 1-16 , Figure 1 This is a schematic diagram provided by this utility model. Figure 2 This is a schematic diagram of the first gantry frame provided by this utility model. Figure 3 This is a first-view schematic diagram of the gantry walking device provided by this utility model. Figure 4 This is a schematic diagram from a second perspective of the gantry walking device provided by this utility model. Figure 5 This is a schematic diagram of the first traveling frame provided by this utility model. Figure 6 This is a schematic diagram of the first support column provided by this utility model. Figure 7 This is a schematic diagram of the fabric suction and pressing device provided by this utility model. Figure 8 This is a schematic diagram of the first guide rod provided by this utility model. Figure 9 This is a first-view schematic diagram of the fabric laying and cutting device provided by this utility model. Figure 10 This is a schematic diagram from a second perspective of the fabric laying and cutting device provided by this utility model. Figure 11 This is a third-view schematic diagram of the fabric laying and cutting device provided by this utility model. Figure 12 This is a schematic diagram of the first clamping component provided by this utility model. Figure 13 This is a schematic diagram of the first fabric-flipping component provided by this utility model. Figure 14 This is a schematic diagram of the first gel coat assembly provided by this utility model. Figure 15 This is a schematic diagram of the first rod and cloth assembly provided by this utility model. Figure 16 This is a schematic diagram of the first encoder assembly provided by this utility model.

[0029] Preferred embodiment.

[0030] This embodiment provides an automatic fabric laying device for a rear edge beam, including a gantry traveling device, a fabric suction and pressing device, and a fabric laying and cutting device. The gantry traveling device includes a first gantry frame 1000 and several first traveling mechanisms. Each first traveling mechanism includes an X-axis traveling assembly, a Y-axis traveling assembly, a Z-axis traveling assembly, and an R-axis traveling assembly. The X-axis traveling assembly includes a first traveling frame 1200 and a first drive motor 1220. The upper end of the first gantry frame 1000 is provided with a first guide rail 1120, and the lower end of the first traveling frame 1200 is provided with a first slider 1210. The first slider 1210 interacts with the... The first guide rails 1120 are one-to-one. The first drive motor 1220 is located at the right end of the first traveling frame 1200. The lower end of the first drive motor 1220 is provided with a first gear 1221. The upper end of the first gantry frame 1000 is provided with a first rack 1110. The first gear 1221 and the first rack 1110 are matched. The Y-axis traveling assembly includes a first support column 1300, a first mounting bracket, and a second drive motor 1240. The lower end of the first support column 1300 is provided with a second guide rail 1310. The lower end of the first traveling frame 1200 is provided with a second slider 1340. 230, the second slider 1230 matches the second guide rail 1310, the first mounting bracket is disposed at the left end of the first traveling frame 1200, the second drive motor 1240 is disposed at the left end of the first mounting bracket, the right end of the second drive motor 1240 is provided with a second gear 1241, the left end of the first support column 1300 is provided with a second rack 1320, the second gear 1241 and the second rack 1320 match; the Z-axis traveling assembly includes a first mounting plate 1330, a first lifting column 1400 and a third drive motor 1340, the first mounting... A mounting plate 1330 is disposed at the rear end of the first support column 1300. A third slider 1331 is provided at the rear end of the first mounting plate 1330. A third guide rail 1410 is provided at both ends of the first lifting column 1400. The third slider 1331 is matched with the third guide rail 1410. A third drive motor 1340 is disposed at the rear end of the first support column 1300. A third gear 1341 is provided at the rear end of the third drive motor 1340. A third rack 1440 is provided at the front end of the first lifting column 1400. The third gear 1341 and the third rack 1440 are matched.The R-axis traveling assembly includes a second mounting plate 1420, a first mounting cylinder, a first rotating flange 1500, and a fourth drive motor 1430. The second mounting plate 1420 is located at the lower end of the first lifting column 1400, the first mounting cylinder is located at the lower end of the second mounting plate 1420, the first rotating flange 1500 is mounted at the lower end of the first mounting cylinder via a bearing, and the fourth drive motor 1430 is located at the upper end of the second mounting plate 1420 and is connected to the first rotating flange 1500. The fabric suction and pressing device and the fabric laying and cutting device are both matched with the first rotating flange 1500, and the fabric suction and pressing device is located on both sides of the fabric laying and cutting device.

[0031] Furthermore, each end of the first guide rail 1120, the second guide rail 1310 and the third guide rail 1410 is provided with a first limit switch. The first limit switch is used for limit control to prevent the X-axis travel assembly, the Y-axis travel assembly and the Z-axis travel assembly from traveling excessively.

[0032] Further, the fabric suction and pressing device includes a first rotating mechanism, a second rotating mechanism, and a first suction cup 2340 mechanism. The first rotating mechanism includes a first fixed base 2100, a first rotating base 2200, and a fifth drive motor 2110. The first fixed base 2100 is disposed at the lower end of the first rotating flange 1500, and the first rotating base 2200 is rotatably disposed at the lower end of the first fixed base 2100. The fifth drive motor 2110 is disposed at the left end of the first fixed base 2100 and is drivenly connected to the first rotating base 2200. The second rotating mechanism includes a second fixed base 2210, a second rotating base 2300, and a sixth drive motor 2220. The second fixed base 2210 is disposed at the lower end of the first rotating base 2200, and the second rotating base 2300 rotates... The sixth drive motor 2220 is located at the lower end of the second fixed base 2210 and at the front end of the second fixed base 2210. The sixth drive motor 2220 is drivenly connected to the second rotating base 2300. The first suction cup 2340 mechanism includes a first fixed frame 2310, a first vacuum tank 2230 and a first guide rod 2320. The first fixed frame 2310 is located at the lower end of the second rotating base 2300. The first guide rod 2320 is evenly distributed on the first fixed frame 2310. The left end of the first guide rod 2320 is provided with a first connecting nozzle 2330. The first vacuum tank 2230 is located at both ends of the second fixed base 2210. The first connecting nozzle 2330 is connected to the first vacuum tank 2230. The right end of the first guide rod 2320 is provided with a first suction cup 2340.

[0033] Furthermore, the first fabric picking mechanism includes a first fabric flipping assembly, which includes a first flipping frame 3500, a first flipping connecting plate 3480, and a tenth drive motor. The first flipping connecting plate 3480 is disposed at the right end of the first clamping frame 3400, and the first flipping frame 3500 is rotatably disposed at the lower end of the first flipping connecting plate 3480. The tenth drive motor is disposed at the rear end of the first flipping connecting plate 3480 and is drivenly connected to the first flipping frame 3500. The left end of the first flipping frame 3500 is provided with a first baffle 3560, which matches the first suction cup 2340.

[0034] Furthermore, the fabric laying and cutting device includes a third rotating mechanism, a first fabric picking mechanism, and a first fabric cutting mechanism. The third rotating mechanism includes a third fixed base 3100, a third rotating base 3200, and a seventh drive motor 3320. The third fixed base 3100 is disposed at the lower end of the first rotating flange 1500, the third rotating base 3200 is rotatably disposed at the lower end of the third fixed base 3100, and the seventh drive motor 3320 is disposed at the right end of the third fixed base 3100. The seventh drive motor 3320 is drivenly connected to the third rotating base 3200. The first fabric picking mechanism includes a first fixed post 3300, a first lead screw, an eighth drive motor 3470, and a first clamping assembly. The first fixed post 3300 is disposed at the lower end of the third rotating seat 3200, the first lead screw is disposed at the lower end of the first fixed post 3300, and the eighth drive motor 3470 is disposed at the rear end of the first fixed post 3300. The eighth drive motor 3470 is drivenly connected to the first lead screw. The first clamping assembly is symmetrically disposed at both ends of the first fixed post 3300. The first clamping assembly includes a first clamping frame 3400. The upper end of the first clamping frame 3400 is provided with a fourth slider 3410, and the lower end of the first fixed post 3300 is provided with a fourth guide rail 3310. The fourth slider 3410 matches the fourth guide rail 3310. The upper end of the first clamping frame 3400 is provided with a first threaded block 3420, which matches the first lead screw. The two ends of the first lead screw have opposite thread directions. The first clamping assembly includes a ninth drive motor, a first cylinder 3450, a first lifting plate 3430, and a first air-expanding chuck 3460. The first lifting plate 3430 has a fifth guide rail 3431 at one end near the first clamping frame 3400, and the first clamping frame 3400 has a fifth slider 3440 at one end near the first lifting plate 3430. The fifth slider 3440 matches the fifth guide rail 3431. The first cylinder 3450 is located at the end of the first clamping frame 3400 away from the first lead screw, and its lower end is connected to the first lifting plate 3430. The first air-expanding chuck 3460 is located at the end of the first lifting plate 3430 away from the first cylinder 3450. The ninth drive motor is located at the end of the first lifting plate 3430 away from the first air-expanding chuck 3460, and is drively connected to the first air-expanding chuck 3460.

[0035] Further, the first fabric cutting mechanism includes a first gelcoat spray assembly and a first cutting knife assembly. Both the first gelcoat spray assembly and the first cutting knife assembly are located at the lower end of the first flipping frame 3500. The first gelcoat spray assembly includes a second cylinder 3510, a first mounting bracket 3530, a first gelcoat canister 3520, and a third cylinder 3540. The second cylinder 3510 is located at the right end of the first flipping frame 3500, the first mounting bracket 3530 is located at the lower end of the second cylinder 3510, the first gelcoat canister 3520 is located at the rear end of the first mounting bracket 3530, and the third cylinder 3540 is located at the lower end of the first cylinder 3510. At the front end of a mounting bracket 3530, a first push rod 3521 is provided at the rear end of the third cylinder 3540, and a first pressing nozzle 3541 is provided at the front end of the first gel coat can 3520. The first push rod 3521 is matched with the first pressing nozzle 3541. The first cutting knife assembly includes a fourth cylinder 3550, a first scissor block 3551, and a first fabric cutting knife 3552. The fourth cylinder 3550 is located at the left end of the first flipping frame 3500, the first scissor block 3551 is located at the lower end of the fourth cylinder 3550, and the first fabric cutting knife 3552 is located at the left end of the first scissor block 3551.

[0036] Further, the first fabric picking mechanism includes a first encoder 3760 assembly, which includes a second mounting bracket 3700, a first support plate 3730, the first encoder 3760, and a first traveling wheel 3750. The second mounting bracket 3700 is disposed at the lower end of the clamping frame, and a first rotating rod 3710 is provided at the lower end of the second mounting bracket 3700. The first support plate 3730 is rotatably disposed on the first rotating rod 3710, and the first encoder 3760 is disposed on the first support plate 3730. At the upper end of the first mounting bracket 3700, the first traveling wheel 3750 is disposed at the lower end of the first support plate 3730. The end of the first traveling wheel 3750 is provided with a first transmission wheel, and the end of the first encoder 3760 is provided with a second transmission wheel. The first transmission wheel and the second transmission wheel are connected by a first conveyor belt 3770. The left end of the second mounting bracket 3700 is provided with a first hanging rod 3720. The first hanging rod 3720 is provided with a first tension spring 3740, and the other end of the first tension spring 3740 is connected to the first support plate 3730.

[0037] Furthermore, the first fabric picking mechanism includes a first laser assembly, which includes a third mounting bracket 3800 and a first laser sensor 3810. The third mounting bracket 3800 is disposed on the first clamping frame 3400, and the first laser sensor 3810 is disposed on the third mounting bracket 3800. The first fabric picking mechanism also includes a first camera assembly, which includes a fourth mounting bracket 3900 and a first detection camera 3910. The fourth mounting bracket 3900 is disposed on the left end of the first fixing column 3300, and the first detection camera 3910 is disposed on the left end of the fourth mounting bracket 3900.

[0038] Furthermore, the first fabric picking mechanism includes a first fabric rod assembly, which includes a second flipping frame 3600, a second flipping connecting plate 3490, an eleventh drive motor, and a first PVB board brush 3630. The second flipping connecting plate 3490 is disposed at the left end of the first clamping frame 3400, and the second flipping frame 3600 is rotatably connected to the second flipping connecting plate 3490. The eleventh drive motor is disposed at the rear end of the second flipping connecting plate 3490 and is drivenly connected to the second flipping frame 3600. The lower end of the second flipping frame 3600 is provided with a second support plate, and the second support plate is provided with a plurality of first telescopic sleeves 3610. The first telescopic sleeves 3610 are provided with a first telescopic shaft 3620. The first PVB board brush 3630 is disposed at the lower end of the first telescopic shaft 3620. The second flipping frame 3600 is provided with a first laser pointer.

[0039] An automatic fabric laying method for a trailing edge beam includes the following steps: Step S1: After pushing the fabric roll 1600 trolley to the positioning point, the eighth drive motor 3470 drives the first lead screw to rotate, causing the first clamping frames 3400 on both sides to unfold to both sides. The first cylinder 3450 pushes the first lifting plate 3430 down to both ends of the fabric roll 1600. The eighth drive motor 3470 drives the first clamping frames 3400 to move towards the fabric roll 1600 and uses the first air-expanding chuck 3460 to clamp the fabric roll 1600. Step S2: The tenth drive motor drives the first flipping frame 3500 to flip and place the fabric to the fabric suction position. The gantry walking device drives the first fixed frame 2310 to approach the first baffle 3560. The first suction cup 2340 uses the first baffle 3560 to suck up the fabric. After the first suction cup 2340 sucks up the fabric roll 1600, it flips and presses it onto the rear edge beam mold. Step S3: The gantry traveling device drives the fabric laying and cutting device to move. The first laser pointer marks a line that is flush with the edge of the fabric being laid. The first detection camera 3910 detects the distance from the laser line to the edge of the mold to determine the position of the fabric being laid. The fabric laying and cutting device is adjusted in real time while it is moving. Step S4: After the fabric is laid to the specified length, the fourth cylinder 3550 drives the first cutting blade 3552 to move and cut the fabric roll 1600. After cutting the fabric, the fabric laying and cutting device is rotated and docked with the fabric suction and pressing device on the other side. The fabric is then laid in the opposite direction and repeated until the fabric laying is completed.

[0040] Further, step S3 includes the following steps: Step S3.1: While the gantry traveling device drives the fabric laying and cutting device to move, the second cylinder 3510 drives the first mounting bracket 3530 to move, and at the same time the third cylinder 3540 controls the first gel coat can 3520 to spray gel coat onto the rear edge beam mold. Step S3.2: The eleventh drive motor drives the second flipping frame 3600 to rotate, so that the first PVB board brush 3630 abuts against the fabric roll 1600 and moves with the fabric laying and cutting device to automatically raise the fabric.

[0041] Working principle: First, the first drive motor 1220 drives the first gear 1221, which, in conjunction with the first rack 1110, causes the first traveling frame 1200 to move left and right. The second drive motor 1240 drives the second gear 1241, which, in conjunction with the second rack 1320, causes the first support column 1300 to move back and forth. The third drive motor 1340 drives the third gear 1341, which, in conjunction with the third rack 1440, causes the first lifting column 1400 to move up and down. Finally, the fourth drive motor 1430 drives the first rotating flange 1500 to rotate, which in turn rotates the fabric suction and pressing device and the fabric laying and cutting device. This allows for reverse fabric laying, making it more efficient.

[0042] Then, the fabric roll 1600 trolley is pushed to the positioning point. The eighth drive motor 3470 drives the first lead screw to rotate, which, through cooperation with the first threaded block 3420, causes the first clamping frames 3400 on both sides to unfold outwards, making room for the fabric roll 1600. The first cylinder 3450 pushes the first lifting plate 3430 down, so that the first air-expanding chuck 3460 aligns with both sides of the fabric roll 1600. Then, the eighth drive motor 3470 drives the first clamping frame 3400 to retract and clamp the fabric roll 1600. The first fixed seat 2100 is used to connect with the first rotating flange 1500. The fifth drive motor 2110 drives the first rotating seat 2200 to rotate, and the sixth drive motor 2220 drives the second rotating seat 2300 to rotate, ensuring that the first suction cup 2340 mechanism can cooperate with the surface of the rear edge beam. Simultaneously, the tenth drive motor drives the first flipping frame 3500 to rotate, causing the first baffle 3560 to lift the fabric roll 1600, and the first suction cup 2340 to press against the first baffle 3560 through the fabric roll 1600. The first vacuum tank 2230 draws air through the first connecting air nozzle 2330, and the first suction cup 2340 can adsorb the fabric roll 1600, placing and pressing the fabric roll 1600 onto the rear edge beam mold.

[0043] Then, the gantry traveling device drives the fabric laying and cutting device to move. The first laser pointer marks a line on the rear edge beam to show the edge of the fabric. The first detection camera 3910 detects the distance from the optical fiber to the edge of the mold to determine the actual position of the fabric. When there is a deviation from the set fabric laying path, the position of the fabric can be adjusted in time.

[0044] During the movement of the gantry traveling device, the third cylinder 3540 pushes the first push rod 3521 backward, causing the first push rod 3521 to squeeze the first pressing nozzle 3541, thus spraying gel coat downward from the first gel coat can 3520. At the same time, the second cylinder 3510 pushes the first mounting bracket 3530 to move back and forth, which can spray gel coat evenly. Furthermore, the eleventh drive motor drives the second flipping frame 3600 to rotate, causing the first PVB board brush 3630 to press against the fabric roll 1600. As the fabric laying and cutting device moves, the first PVB board brush 3630 can automatically lift the fabric, allowing the fabric roll 1600 to be laid on the rear edge beam through the adhesion of the gel coat.

[0045] Finally, the first tension spring 3740 can hold the first support plate 3730, ensuring that the first traveling wheel 3750 remains in contact with the fabric roll. This allows the first encoder 3760 to obtain the real-time fabric laying length through the cooperation of the first conveyor belt 3770, the first conveyor wheel, and the second conveyor wheel. After the fabric is laid to the specified length, the fourth cylinder 3550 drives the first scissor block 3551 to move, which cuts the fabric roll 1600 using the first cutting blade 3552. Then, the fourth drive motor 1430 drives the fabric suction and pressing device and the fabric laying and cutting device to rotate, allowing the fabric laying operation to be repeated in the reverse direction until the fabric is completely laid.

[0046] It is worth noting that the first laser sensor 3810 is positioned directly opposite the fabric roll 1600 to detect changes in the thickness of the fabric roll 1600, that is, to detect the excess fabric roll 1600 so that the fabric roll 1600 can be replaced in a timely manner.

[0047] It is worth mentioning that the technical features of the first laser pen, the first laser sensor 3810 and the first detection camera 3910 involved in this utility model patent application should be regarded as prior art. The specific structure, working principle and possible control method and spatial arrangement of these technical features can be adopted by conventional choices in the field, and should not be regarded as the utility model point of this utility model patent. This utility model patent will not be further elaborated in detail.

[0048] For those skilled in the art, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A gantry traveling device for an automatic rear edge beam laying device, characterized in that, The gantry traveling device includes a first gantry frame (1000) and several first traveling mechanisms. The first traveling mechanism includes an X-axis traveling assembly, a Y-axis traveling assembly, a Z-axis traveling assembly, and an R-axis traveling assembly. The X-axis traveling assembly includes a first traveling frame (1200) and a first drive motor (1220). The upper end of the first gantry frame (1000) is provided with a first guide rail (1120), and the lower end of the first traveling frame (1200) is provided with a first slider (1210). The first slider (1210) corresponds one-to-one with the first guide rail (1120). The first drive motor (1220) is located at the right end of the first traveling frame (1200). The lower end of the first drive motor (1220) is provided with a first gear (1221), and the upper end of the first gantry frame (1000) is provided with a first rack (1110). The first gear (1221) and the first rack (1110) are matched.

2. The gantry traveling device of the automatic rear edge beam laying device according to claim 1, characterized in that, The Y-axis traveling assembly includes a first support column (1300), a first mounting bracket, and a second drive motor (1240). The lower end of the first support column (1300) is provided with a second guide rail (1310), and the lower end of the first traveling frame (1200) is provided with a second slider (1230). The second slider (1230) matches the second guide rail (1310). The first mounting bracket is located at the left end of the first traveling frame (1200), and the second drive motor (1240) is located at the left end of the first mounting bracket. The right end of the second drive motor (1240) is provided with a second gear (1241), and the left end of the first support column (1300) is provided with a second rack (1320). The second gear (1241) and the second rack (1320) match.

3. The gantry traveling device of the automatic rear edge beam laying device according to claim 2, characterized in that, The Z-axis traveling assembly includes a first mounting plate (1330), a first lifting column (1400), and a third drive motor (1340). The first mounting plate (1330) is located at the rear end of the first support column (1300). A third slider (1331) is provided at the rear end of the first mounting plate (1330). A third guide rail (1410) is provided at both ends of the first lifting column (1400). The third slider (1331) matches the third guide rail (1410). The third drive motor (1340) is located at the rear end of the first support column (1300). A third gear (1341) is provided at the rear end of the third drive motor (1340). A third rack (1440) is provided at the front end of the first lifting column (1400). The third gear (1341) matches the third rack (1440).

4. The gantry traveling device of the automatic rear edge beam laying device according to claim 3, characterized in that, The R-axis traveling assembly includes a second mounting plate (1420), a first mounting cylinder, a first rotating flange (1500), and a fourth drive motor (1430). The second mounting plate (1420) is located at the lower end of the first lifting column (1400), the first mounting cylinder is located at the lower end of the second mounting plate (1420), the first rotating flange (1500) is located at the lower end of the first mounting cylinder via a bearing, and the fourth drive motor (1430) is located at the upper end of the second mounting plate (1420). The fourth drive motor (1430) is connected to the first rotating flange (1500).

5. The gantry traveling device of the automatic rear edge beam laying device according to claim 4, characterized in that, The first guide rail (1120), the second guide rail (1310) and the third guide rail (1410) are each provided with a first limit switch at both ends.

Images