A chopped fiber placement robot and method based on dual-arm collaboration

Abstract

This invention discloses a dual-arm collaborative chopped fiber placement robot and method, including an attitude-adjusting robotic arm, a fiber chopped device, a pickup robotic arm, and a pickup and placement device installed at the end of the pickup robotic arm. The pickup and placement device includes a pickup base, a telescopic device, and a pickup head with heating function. During fiber placement, this invention first models and meshes the mandrel, and plans the fiber placement path and control points based on the mesh, with each control point corresponding to a fiber sheet. The attitude-adjusting robotic arm adjusts the mandrel's pose so that each control point to be placed is in the same pose. The pickup robotic arm drives the pickup and placement device to pick up the fiber sheets chopped by the fiber chopped device and place them on the control points. This invention adjusts the mandrel's pose in real time, greatly simplifying the movement path of the pickup robotic arm and improving fiber placement efficiency and quality.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a chopped fiber material laying robot, specifically a chopped fiber laying robot and laying method based on dual-arm cooperation. Background Technology

[0002] In recent years, robots have seen rapid development in fields such as medicine and aerospace, especially composite material placement robots, which are widely used in the manufacturing of aerospace composite material structures. Currently, efficient composite material placement robots mainly take the form of automated tape placement robots and automated filament placement robots. Automated tape placement robots have been widely adopted due to their high forming rate and high placement efficiency, but their application is limited to manufacturing relatively simple parts due to bandwidth and mandrel curvature restrictions. Automated filament placement robots can achieve individual control and placement of filament bundles and lay them up in complex environments, but they are still powerless when dealing with small-sized, high-curvature components. Summary of the Invention

[0003] The purpose of this invention is to provide a chopped fiber placement robot and method based on dual-arm collaboration, which can perform placement operations on components of different sizes and curvatures. It utilizes a picking robotic arm to control a picking and placement device to pick up chopped fibers, and an attitude-adjusting robotic arm to adjust the mandrel's posture. The picking and placement device is replaceable. Leveraging the reliable operation, high controllability, and flexible movement of the collaborative robotic arm, the dual-arm collaborative chopped fiber placement robot of this invention features high forming rate, high degree of automation, controllable quality, and strong adaptability to curvature changes, making it of great application value in the field of composite material placement.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A short fiber placement robot based on dual-arm collaboration includes:

[0006] An attitude-adjusting robotic arm is used to support the core mold and adjust its posture in real time as needed.

[0007] A fiber chopped section device is used to cut prepreg tape into fiber sheets;

[0008] A robotic arm is equipped with a picking and laying device at its end effector. The robotic arm drives the picking and laying device to pick up the chopped fiber sheets and then lay them on the core mold according to a set path.

[0009] Furthermore, the fiber shaving device includes a shaving platform and a fiber roll, a refeeding device, a pressing device, and a shearing device arranged sequentially along the unfolding path of the fiber prepreg tape. The fiber roll has the fiber prepreg tape wound on it. The refeeding device is used to unfold and convey the fiber prepreg tape on the fiber roll to the fiber picking area at the required speed. The shearing device is used to cut the fiber prepreg tape into sheets.

[0010] Furthermore, the chopped fiber laying robot also includes a controller, specifically an industrial computer, for controlling the posture-adjusting robotic arm, the fiber chopping device, the picking robotic arm, and the picking and laying device.

[0011] Furthermore, the chopped fiber laying robot also includes a work platform, the attitude adjustment robotic arm is mounted on the work platform via an attitude adjustment robotic arm base; the picking robotic arm is mounted on a column via a picking robotic arm base, and the column is fixed on the work platform.

[0012] Furthermore, a quality inspection device for detecting the quality of the fiber sheet is provided after the shearing device.

[0013] Furthermore, the type of quality inspection device is not limited. It can be a quality inspection device, a size measuring instrument, an ultrasonic device for detecting defects, etc., selected according to the actual processing situation. For example, for high-quality fiber prepreg tape, it is only necessary to check whether the size meets the requirements. The size can be detected by using a visual recognition device for area recognition, or by using a length measuring instrument for length measurement, or by using a quality measuring device for indirect measurement. The specific method is not limited. The purpose is to ensure the uniformity of the size of the cut fiber sheets in order to improve the fiber laying quality.

[0014] Furthermore, a fiber conveying device is provided after the shearing device to transport the chopped fiber sheets to the fiber picking area for picking up by the picking and laying device.

[0015] The fiber conveying device can be a conveyor belt set at the edge of the slitting platform. During slitting, most of the fiber sheets are already on the conveyor belt. After slitting, the cut fiber sheets are directly sent to the fiber picking area along with the conveyor belt.

[0016] Furthermore, the pickup and placement device includes a pickup base, a telescopic device mounted on the pickup base, and a pickup head with a heating function mounted on the telescopic end of the telescopic device. The pickup head picks up the fiber sheet by generating an adhesive force through heating. The corresponding core mold to be placed is coated with an adhesive or bonding agent for fixing the fiber sheet.

[0017] Furthermore, the pickup head includes a pickup substrate, a heating plate, and an elastic block disposed between the two. The pickup substrate is fixed on the telescopic end of the telescopic device, and the pickup substrate is also provided with a force sensor for detecting the contact force between the heating plate and the fiber sheet or core mold.

[0018] A method for laying chopped fiber based on dual-arm collaboration, using the aforementioned chopped fiber laying robot, includes the following steps:

[0019] Step 1: Set up a chopped fiber placement robot;

[0020] Step 2: Establish the coordinate transformation relationship between the posture adjustment robot arm, the fiber shaving device and the picking robot arm, so as to obtain the relative pose relationship between the picking and laying device, the core mold surface and the chopped fiber sheet at any time.

[0021] Step 3: Model the core mold using 3D software, mesh the core mold, plan the fiber placement path based on the mesh on the core mold surface, plan several control points on the fiber placement path, and place a fiber sheet at each control point.

[0022] Step 4: Apply adhesive or bonding agent to the surface of the core mold to fix the fiber sheet;

[0023] Step 5: The picking and laying device is controlled by the picking robotic arm to pick up the chopped fiber sheets and lay the fibers on the mandrel according to the fiber laying path.

[0024] Furthermore, in step 3, the normal vector of each control point is recorded, and a fiber placement point and a fiber placement point normal vector are defined; when fiber placement is performed in step 5, the pose of the mandrel is adjusted by the posture adjustment robot arm so that the control points on the mandrel arrive at the fiber placement point in sequence according to the fiber placement path, and the normal vector of the current control point located at the fiber placement point coincides with the normal vector of the fiber placement point.

[0025] Furthermore, the setting of the fiber placement point normal vector is based on the placement of the picking robot arm. That is, when the picking robot arm carrying the picking and placement device picks up the fiber sheet from the fiber picking area and reaches the fiber placement point through the shortest path, the vector that coincides with the axis of the end of the picking robot arm or the perpendicular bisector of the picked fiber sheet (generally, a unit vector is used to simplify the calculation) is defined as the fiber placement point normal vector. This can achieve the highest fiber placement efficiency and the best fiber placement quality under the same hardware equipment environment.

[0026] Furthermore, the method for generating the fiber placement path in step 3 is as follows:

[0027] The geodesic is obtained by solving the mesh on the core mold surface as the reference for the laying path. The geodesic is then translated along the core mold surface to densify the laying path, thus obtaining the wire laying path.

[0028] Furthermore, during the fiber placement process in step 5, the point cloud data on the core mold surface is monitored in real time using a depth camera, and the fiber placement path is corrected based on the point cloud data.

[0029] The beneficial effects of this invention are:

[0030] 1. This invention uses two robotic arms to build an automated short fiber laying robot system. Taking advantage of the good production stability and strong adaptability to curvature changes of robotic arms, the two robotic arms perform core mold posture adjustment and fiber block laying respectively. It makes full use of the time when the picking robotic arm carries the picking and laying device to pick up the short fiber sheets, and adjusts the core mold posture by adjusting the posture of the posture adjustment robotic arm, thereby reducing the complexity of the picking robotic arm's actions and achieving high efficiency and stability in composite material laying operations.

[0031] 2. This invention utilizes a robotic arm-attached pick-up and layup device to pick up block-shaped short-cut fibers for composite material layup. The pick-up and layup device is made of flexible rubber blocks that can undergo uniform curvature deformation with the curvature of the core mold, enabling the system to achieve core mold layup operations with small size and high curvature.

[0032] 3. This invention uses a multi-degree-of-freedom robotic arm to move the fiber to be laid to a designated position. The posture adjustment robotic arm can flexibly adjust the mandrel posture to meet the laying operations of different complexity, making the composite material laying process more flexible and forming a closed-loop control of the laying process.

[0033] 4. In the process of picking up and laying fibers, the robotic arm of the present invention grids the mandrel, solves the geodesic, and densifies the laying trajectory according to the geodesic. The densified laying trajectory is then segmented according to the size of the cut fibers. The posture adjustment robotic arm adjusts the mandrel's position and posture. By having two robotic arms work simultaneously, the accuracy and continuity of the laying operation are improved. Attached Figure Description

[0034] Figure 1 This is an overall platform diagram of the short fiber placement robot based on dual-arm collaboration described in this invention;

[0035] Figure 2 This is a schematic diagram of the pre-processing flow of the short fiber placement robot based on dual-arm collaboration described in this invention;

[0036] Figure 3 This is a schematic diagram of the pick-up and placement device of the short fiber placement robot based on dual-arm cooperation described in this invention;

[0037] Figure 4 This is a flowchart of the chopped fiber placement robot based on dual-arm collaboration described in this invention.

[0038] Figure 5 This is the control framework of the short fiber laying robot based on dual-arm cooperation described in this invention.

[0039] Among them, 1-industrial control computer, 2-display, 3-attitude adjustment robotic arm, 4-attitude adjustment robotic arm base, 5-core mold, 6-pickup robotic arm, 7-column, 8-pickup robotic arm base, 9-fiber sheet to be laid, 10-fiber conveying device, 11-short cutting platform, 12-fiber short cutting device, 13-pickup and laying device, 14-telescopic device, 15-force sensor, 16-elastic block, 17-heating plate, 18-depth camera, 19-fiber roll, 20-re-feeding device, 21-pressing device, 22-shearing device, 23-quality inspection device, 24-pickup substrate, 25-working platform, 26-pickup base. Detailed Implementation

[0040] To make the technical problems and solutions to be solved by the present invention clearer, the following detailed description of the short fiber laying robot based on dual-arm cooperation provided by the present invention is given in conjunction with the accompanying drawings and embodiments. The description is for the purpose of explaining the present invention and not limiting it.

[0041] like Figures 1 to 5 As shown, a short fiber placement robot based on dual-arm cooperation includes:

[0042] The attitude adjustment robotic arm 3 is used to support the core mold 5 and adjust the attitude of the core mold 5 in real time as needed;

[0043] Fiber chopping device 12 is used to cut fiber prepreg tape into fiber sheets;

[0044] The robotic arm 6 has a pickup and placement device 13 installed at its end. The robotic arm 6 drives the pickup and placement device 13 to pick up the chopped fiber sheet 9 to be placed, and then places it on the core mold 5 installed on the attitude adjustment robotic arm 3 according to the set path.

[0045] Although not the focus of this invention, as a basic technical requirement for fiber placement, the chopped fiber placement robot also includes a controller, specifically an industrial computer 1, for controlling the posture adjustment robotic arm 3, the fiber chopped device 12, the picking robotic arm 6, and the picking and placement device 13, and establishing a real-time communication mechanism between them.

[0046] As a specific embodiment, the chopped fiber laying robot also includes a work platform 25, the posture adjustment robotic arm 3 is mounted on the work platform 25 via a posture adjustment robotic arm base 4; the picking robotic arm 6 is mounted on a column 7 via a picking robotic arm base 8, and the column 7 is fixed on the work platform 25.

[0047] As one specific embodiment, the chopped fiber placement robot also includes a display 2, on which the mandrel 5, the fiber placement path, and the fiber sheets that have been placed can be displayed.

[0048] like Figure 4 and Figure 5 As shown, the method for laying chopped fibers using the aforementioned chopped fiber placement robot is as follows:

[0049] Step 1: Set up a chopped fiber placement robot;

[0050] Step 2: Establish the coordinate transformation relationship between the posture adjustment robot arm 3, the fiber shaving device 12 and the picking robot arm 6, so as to obtain the relative pose relationship between the picking and laying device 13 and the surface of the core mold 5 and the shaving fiber sheet at any time.

[0051] Step 3: Model the core mold 5 using 3D software, mesh the core mold 5, plan the fiber laying path based on the mesh on the surface of the core mold 5, plan several control points on the fiber laying path, and lay a fiber sheet at each control point.

[0052] Step 4: Apply adhesive or bonding agent to the surface of the core mold 5 to fix the fiber sheet;

[0053] Step 5: The picking and laying device 13 is controlled by the picking robotic arm 6 to pick up the chopped fiber sheets and lay the fibers on the core mold 5 according to the fiber laying path.

[0054] As a preferred embodiment, such as Figure 2 As shown, the fiber chopped device 12 includes a chopped platform and a fiber roll 19, a reloading device 20, a pressing device 21, and a shearing device 22 arranged sequentially along the fiber prepreg tape unfolding path on the chopped platform. The fiber roll 19 has a fiber prepreg tape wound on it. The reloading device 20 unfolds and conveys the fiber prepreg tape on the fiber roll 19 to the fiber pickup area at a required speed. The shearing device 22 cuts the fiber prepreg tape into sheets. The reloading device 20, pressing device 21, and shearing device 22 can all be commonly used devices in the prior art, and their specific forms are not limited, as long as they are installed in the order described in this invention. For example, the reloading device 20 can be a friction conveyor using friction wheels for conveying; the pressing device 21 can be a common pressing wheel or pressing block; and the shearing device 22 can be a cutter mounted on a telescopic cylinder. A drive motor can also be configured on the fiber roll 19 to cooperate with the reloading device 20 for unfolding and conveying the fiber prepreg tape.

[0055] It should be noted that the fiber prepreg tape of the present invention is an existing product, which is a strip of fiber 19 impregnated with resin. When heated, the resin on the fiber prepreg tape softens and has a certain adhesive force.

[0056] In a preferred embodiment, a quality inspection device 23 for detecting the quality of the fiber sheet is provided after the shearing device 22.

[0057] As a preferred embodiment, the type of the quality inspection device 23 is not limited. It can be a quality inspection device, a size measuring instrument, an ultrasonic device for detecting defects, etc., selected according to the actual processing situation. For example, for fiber prepreg tape of very high quality, it is only necessary to check whether the size meets the requirements. The size can be detected by using a visual recognition device for area recognition, or by using a length measuring instrument for length measurement, or by using a quality measuring device for indirect size measurement. The specific method is not limited. The purpose is to ensure the uniformity of the size of the cut fiber sheets to improve the fiber laying quality.

[0058] In a preferred embodiment, a fiber conveying device 10 is provided after the shearing device 22 to convey the chopped fiber sheets to the fiber picking area to be picked up by the picking and laying device 13.

[0059] like Figure 2 As shown, the fiber conveying device 10 can be a conveyor belt set at the edge of the scissoring platform. During scissoring, most of the fiber sheets are already on the conveyor belt. After scissoring, the cut fiber sheets are directly sent to the fiber picking area along with the conveyor belt.

[0060] As a preferred embodiment, such as Figure 3 As shown, the pickup and placement device 13 includes a pickup base 26, a telescopic device 14 (which can be a cylinder) mounted on the pickup base 26, and a pickup head with a heating function mounted on the telescopic end of the telescopic device 14. The pickup head picks up the fiber sheet by heating it up to generate an adhesive force. When heated, the pickup head heats up, causing the resin on the fiber sheet to soften and generate an adhesive force, thereby adsorbing the fiber sheet. At the same time, the flatness of the fiber sheet is improved by the squeezing action of the pickup head. Correspondingly, the core mold 5 to be placed is coated with adhesive or bonding agent for fixing the fiber sheet. When the fiber sheet moves to the surface of the core mold 5 with the pickup robotic arm 6, it adheres to the core mold 5 under a certain contact force. At the same time, the pickup head cools down (the heating is stopped during the transfer process), so that the fiber sheet is transferred to the surface of the core mold 5.

[0061] As a preferred embodiment, such as Figure 3As shown, the pickup head includes a pickup base plate 24, a heating plate 17, and an elastic block 16 disposed between the two. The pickup base plate 24 is fixed on the telescopic end of the telescopic device 14, and the pickup base plate 24 is also provided with a force sensor 15 for detecting the contact force between the heating plate 17 and the fiber sheet or the core mold 5. The elastic block 16 can ensure that the heating plate 17 has a certain degree of flexibility to prevent rigid contact with the fiber sheet or the core mold 5 from causing damage to the core mold 5 or the fiber sheet. At the same time, the elastic block 16 enables the heating plate 17 to have a certain degree of posture deformation capability, so that when picking up the fiber sheet, the heating plate 17 and the fiber sheet can have the maximum contact area, ensuring pickup efficiency. In this embodiment, the force sensor 15 can be installed in various positions. It can be installed between the pickup substrate 24 and the telescopic end, or between the pickup substrate 24 and the elastic block 16. It can be a common force sensor 15 or a three-dimensional force sensor 15. The force sensor 15 can detect the contact force on the heating plate 17, which can detect whether the heating plate 17 is in contact with the fiber sheet and the core mold 5, and prevent damage caused by excessive contact force.

[0062] In this embodiment, the heating plate 17 is not limited in specific material, such as an alumina heating element. The heating method is not limited, and can be electric heating or electromagnetic heating (not shown in the heating module diagram). The elastic block 16 is not limited in specific material, and can be a rubber block, an elastic foam block, or multiple carbonized blocks for functional substitution.

[0063] As a preferred embodiment, such as Figure 3 As shown, a depth camera 18 is also provided on the picking base 26. During the fiber placement process, the depth camera 18 monitors the point cloud data of the mandrel 5 surface in real time and corrects the fiber placement path based on the point cloud data. After collecting the surface information of the mandrel 5, the depth camera 18 generates a position point cloud and sends it to the industrial control computer. The point cloud information carries a system timestamp. After calibrating the depth camera 18, the coordinates and normal vectors of the discrete sampling points on the surface of the mandrel 5 in the coordinate system of the picking robot arm 6 can be obtained from the depth point cloud data collected by the camera.

[0064] In a preferred embodiment, the positional relationship between the attitude adjustment robotic arm base 4 and the pickup robotic arm base 8 can be determined by installing conical parts at the ends of the two robotic arms, dragging the two robotic arms until the tips of the conical parts coincide at a certain point in space, and calculating the relative positional relationship between the base coordinate systems of the two robotic arms based on the joint angles of the robotic arms at this time, combined with the kinematic equations and calibration algorithms of the two robotic arms, thus completing the initial position calibration of the dual robotic arms. Based on the relative pose relationship of the two base coordinate systems and combined with the coordinate transformation process, the industrial control computer can solve for the target point of the pickup and placement device 13 at any given time, that is, the relative pose relationship between the pickup and placement device 13 and the surface of the core mold 5 and the fiber sheet 9 to be placed.

[0065] It should be noted that a world coordinate system can also be established, in which the coordinates of the end effectors of the picking robot arm 6 and the attitude adjustment robot arm 3 are expressed, thus unifying the coordinate system and improving computational efficiency.

[0066] In a preferred embodiment, in step 3, the control machine processes the mesh based on the STL file of the mandrel 5, solves for the geodesic line as the reference for the layup path, and translates the geodesic line along the surface of the mandrel 5 to densify the layup path, thus obtaining the fiber layup path. Based on the densified path, each path is further refined into segment layup paths, and the size of the cut fiber sheet corresponds to each segment layup path. Alternatively, the coordinates of the center point of the segment layup path can be defined as control points, and the center point of the fiber sheet coincides with the control point, so that the fiber sheet and the segment layup path are completely fitted and laid.

[0067] In a preferred embodiment, in step 3, the normal vector of each control point is recorded, and a fiber placement point and its normal vector are defined. In step 5, during fiber placement, the pose of the mandrel 5 is adjusted by the attitude adjustment robot arm 3, so that the control points on the mandrel 5 sequentially reach the fiber placement point according to the fiber placement path, and the normal vector of the current control point at the fiber placement point coincides with the normal vector of the fiber placement point. Thus, each time fiber is placed, the picking robot arm 6 only needs to move the fiber sheet 9 picked up by the picking and placement device 13 to a fixed position (e.g., placement position P) in a uniform posture. The picking robot arm 6 picks up the fiber sheet 9 at the designated position Pm(t0) each time it reaches the designated placement position Pm(ti), which greatly simplifies the motion path and makes full use of the time that the picking robot arm 6 spends picking up the fiber sheet to adjust the position of the core mold 5, thus greatly improving the placement efficiency. Furthermore, by adjusting the position of the core mold 5, it can be ensured that the picking and placement device 13 is approximately perpendicular to the surface of the core mold 5 at the placement point each time it is placed, so that the fiber sheet is subjected to uniform contact pressure during placement, which greatly improves the placement quality.

[0068] As a preferred embodiment, the surface of the core mold 5 can be laid with multiple layers of fiber sheets, that is, by laying one layer and then applying an adhesive to lay the next layer; for example, the fiber sheets on the upper and lower sides are staggered, which can improve the product quality after fiber thermoforming.

[0069] In a preferred embodiment, both the picking robotic arm 6 and the attitude adjustment robotic arm 3 are serial robotic arms, each having six or more rotation axes, and the end working surface of the robotic arm has six degrees of freedom.

[0070] As a preferred embodiment, different sizes of fiber sheets are selected according to the curvature of different core molds 5. For core molds 5 with small curvature and relatively gentle changes in surface size, larger fiber sheets can be used, and a larger pick-up head of heating plate 17 can be selected. For core molds 5 with large curvature and large changes in surface shape, smaller fiber sheets can be used, and a smaller pick-up head of heating plate 17 can be selected accordingly.

[0071] The above embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Although the invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the invention do not depart from the spirit and scope of the invention and should be covered within the scope of the claims of the invention.

Claims

1. A method for laying chopped fiber based on dual-arm collaboration, wherein the chopped fiber laying robot includes: An attitude-adjusting robotic arm is used to support the core mold and adjust its posture in real time as needed. A fiber chopped section device is used to cut prepreg tape into fiber sheets; as well as A robotic arm is equipped with a picking and laying device at its end effector. The robotic arm drives the picking and laying device to pick up the chopped fiber sheets and then lay them on the core mold according to a set path. The method for laying chopped fibers is characterized by comprising the following steps: Step 1: Set up a chopped fiber placement robot; Step 2: Establish the coordinate transformation relationship between the posture adjustment robot arm, the fiber shaving device and the picking robot arm, so as to obtain the relative pose relationship between the picking and laying device, the core mold surface and the chopped fiber sheet at any time. Step 3: Model the core mold using 3D software, mesh the core mold, plan the fiber placement path based on the mesh on the core mold surface, plan several control points on the fiber placement path, place a fiber sheet at each control point, record the normal vector of each control point, and define a fiber placement point and a fiber placement point normal vector. Step 4: Apply adhesive or bonding agent to the surface of the core mold to fix the fiber sheet; Step 5: The picking and placing device is controlled by the picking robotic arm to pick up the chopped fiber sheets and place the fibers on the mandrel according to the fiber placement path. When placing the fibers, the mandrel is adjusted by the posture adjustment robotic arm so that the control points on the mandrel reach the fiber placement point in sequence according to the fiber placement path, and the normal vector of the current control point at the fiber placement point coincides with the normal vector of the fiber placement point.

2. The method for laying short-cut fibers based on dual-arm cooperation according to claim 1, characterized in that: The fiber shaving device includes a shaving platform and a fiber roll, a refeeding device, a pressing device, and a shearing device arranged sequentially along the unfolding path of the fiber prepreg tape. The fiber roll has the fiber prepreg tape wound on it. The refeeding device is used to unfold and convey the fiber prepreg tape on the fiber roll to the fiber picking area at the required speed. The shearing device is used to cut the fiber prepreg tape into sheets.

3. The method for laying short-cut fibers based on dual-arm cooperation according to claim 2, characterized in that: A quality control device for detecting the quality of fiber sheets is also provided after the shearing device.

4. The method for laying up short-cut fibers based on dual-arm cooperation according to claim 3, characterized in that: A fiber conveying device is provided after the shearing device to transport the chopped fiber sheets to the fiber picking area where they are picked up by the picking and laying device.

5. The method for laying chopped fibers based on dual-arm cooperation according to claim 2, characterized in that: The pickup and placement device includes a pickup base, a telescopic device mounted on the pickup base, and a pickup head with a heating function mounted on the telescopic end of the telescopic device. The pickup head picks up the fiber sheet by heating and generating an adhesive force. The corresponding core mold to be placed is coated with adhesive or bonding agent for fixing the fiber sheet.

6. The method for laying chopped fibers based on dual-arm cooperation according to claim 5, characterized in that: The pickup head includes a pickup substrate, a heating plate, and an elastic block disposed between the two. The pickup substrate is fixed to the telescopic end of the telescopic device, and the pickup substrate is also provided with a force sensor for detecting the contact force between the heating plate and the fiber sheet or core mold.

7. The method for laying up short-cut fibers based on dual-arm cooperation according to claim 1, characterized in that: The method for generating the fiber placement path in step 3 is as follows: The geodesic is obtained by solving the mesh on the core mold surface as the reference for the laying path. The geodesic is then translated along the core mold surface to densify the laying path, thus obtaining the wire laying path.

8. The method for laying chopped fibers based on dual-arm cooperation according to claim 1, characterized in that: In step 5, during the fiber placement process, the point cloud data on the core mold surface is monitored in real time using a depth camera, and the fiber placement path is corrected based on the point cloud data.

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