A Rotary Opening and Closing System and Method for Automated Manufacturing of Composite Stringers

Abstract

The present invention discloses a rotary opening and closing device and method for the automated manufacturing of composite stringers, including a rotary opening and closing device, an automatic placement device, a continuous roll pressing device, and a rotary opening and closing mold; the rotary opening and closing mold is installed on the rotary opening and closing device, and the composite prepreg is laid on the rotary opening and closing mold in the closed state, and continuous roll pressing forming operation is carried out under the cooperation of the rotary opening and closing device, so that the prepreg ply adheres to the continuous roll pressing forming mold. After the rotary opening and closing device drives the rotary opening and closing mold to close to form an integral cavity, it can also apply an overall pressure to the stringer blank formed by continuous roll pressing, and finally realize the manufacturing of composite special-shaped stringers. The present invention combines the automatic placement technology, continuous roll pressing technology, and integral molding technology in the same station, and the automatic placement, continuous roll pressing, and integral molding of the composite prepreg are carried out alternately, which not only reduces the overall floor area of the equipment, but also simplifies the process flow and realizes high-efficiency automated manufacturing.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated manufacturing of resin-based fiber-reinforced composites, and particularly relates to a rotary opening and closing system and method for automated manufacturing of composite stringers. Background Art

[0002] Advanced composites represented by carbon fiber-reinforced resin-based composites have advantages such as high specific modulus and high strength, and are widely used in fields such as aerospace, and show an increasingly important position. With the rapid development and application of high-end aerospace equipment, the usage of advanced composites is continuously increasing, and their applications have gradually expanded from secondary load-bearing components to primary load-bearing components. Traditional metal components have gradually been replaced by advanced composite components.

[0003] Composites have a large number of applications in aerospace vehicles. Among them, stringers, as longitudinal components of the fuselage structure, are mainly used to withstand the axial force caused by the bending of the fuselage in the fuselage. Stringers support the skin, and they increase the critical stress of the skin under compression and shear instability; secondly, they bear part of the aerodynamic force acting on the fuselage skin and transmit it to main load-bearing components such as frames. According to relevant information, in a commercial aircraft, the total length of stringer components can reach 6000 - 8000 meters.

[0004] Stringers are slender components, and their maximum length can reach dozens of meters. Common stringer cross-sectional shapes include T-shaped, I-shaped, C-shaped, and hat-shaped (Ω-shaped) and other structural forms. In order to adapt to the aerodynamic shape of the fuselage, stringers are mostly designed with variable curvature in the length dimension. Therefore, composite stringers have the characteristics of a large length-to-diameter ratio, complex cross-sectional shape, and high processing accuracy requirements, and the manufacturing process is very difficult. At present, the manufacturing process of stringer components is mainly manual laying, with high labor intensity, poor quality stability, and low production efficiency, which cannot meet the rapid development needs of the aerospace field. At present, using automated manufacturing technology to manufacture composite stringers with high efficiency and high quality has become a research hotspot in advanced composite manufacturing technology at home and abroad. However, problems such as the complex forming process, low laying efficiency, and high cost of directly laying special-shaped stringers using automatic placement technology due to the slender structure and easy deformation limit the application of automated technology in the manufacturing process of composite stringers. Summary of the Invention

[0005] In order to solve the problems of difficult manufacturing, unstable quality, and low efficiency of composite stringers, the purpose of the present invention is to provide a rotary opening and closing system and method for automated manufacturing of composite stringers. This method combines composite automatic fiber placement technology, continuous fiber automatic roller compaction technology, and molding technology to achieve high-efficiency automated manufacturing of composite stringers.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A rotary opening and closing system for the automated manufacturing of composite stringers, the rotary opening and closing device, the automatic placement device, the continuous roll pressing device, and the rotary opening and closing die; wherein, the rotary opening and closing device is arranged on one side of the automatic placement device and the continuous roll pressing device, the rotary opening and closing die is installed on the rotary opening and closing device, the composite prepreg is automatically placed on the rotary opening and closing die, and continuous roll pressing forming operation is carried out through the continuous roll pressing device in cooperation with the rotary opening and closing device to realize the manufacturing of composite special-shaped stringers.

[0008] Further, the rotary opening and closing device includes a rotary device and an opening and closing system, and the opening and closing system is located on both sides of the rotary device; the rotary device includes a rotary device headstock, a connecting and positioning support device, a headstock servo motor, a tailstock servo motor, a tailstock moving guide rail, and a rotary device tailstock capable of moving on the tailstock moving guide rail;

[0009] The headstock servo motor is installed on the rotary device headstock, the headstock servo motor is connected to the rotary opening and closing die through the connecting and positioning support device, the tailstock servo motor is arranged on the rotary device tailstock, the tailstock servo motor is connected to the rotary opening and closing die, and the tailstock servo motor and the headstock servo motor drive the rotary opening and closing die synchronously.

[0010] Further, the opening and closing system includes a first die horizontal moving device, a first die lifting device, a second die horizontal moving device, a second die lifting device, and a die lifting auxiliary support device for supporting the rotary opening and closing die;

[0011] The first die horizontal moving device is arranged on the first die lifting device, the rotary opening and closing die is arranged on the first die horizontal moving device, and the first die horizontal moving device and the first die lifting device can realize the horizontal movement and lifting movement of the rotary opening and closing die; the second die horizontal moving device is arranged on the second die lifting device, the die horizontal moving device is arranged on the second die horizontal moving device, and the second die horizontal moving device and the second die lifting device realize the horizontal movement and lifting movement of the rotary opening and closing die.

[0012] Further, the first die horizontal moving device is vertically arranged with the first die lifting device; the second die horizontal moving device is vertically arranged with the second die lifting device.

[0013] Further, the connecting and positioning support device includes a headstock fixing device, a tailstock fixing device, an auxiliary support device, and an elastic floating element; one end of the rotary opening and closing die is installed on the rotary device headstock through the headstock fixing device, and the other end is installed on the rotary device tailstock through the tailstock fixing device; the headstock fixing device is connected to the headstock servo motor; the elastic floating element is arranged on the auxiliary support device.

[0014] Further, the rotary opening and closing die includes a first stringer opening and closing die, a second stringer opening and closing die, a stringer intermediate forming die, a die connection structure, through holes in the first hat-section stringer opening and closing die and the second hat-section stringer opening and closing die; the first stringer opening and closing die is arranged on a first die horizontal moving device through the die connection structure, the second stringer opening and closing die is arranged on a second die horizontal moving device through the die connection structure, and the stringer intermediate forming die is installed on a rotating system; one end of the stringer intermediate forming die is connected to a headstock servo motor, and the other end is connected to a tailstock servo motor.

[0015] Further, the first stringer opening and closing die is fixed on the first die horizontal moving device, and the second stringer opening and closing die is fixed on the die horizontal moving device;

[0016] The guiding and connecting device includes a positioning taper pin and a tapered hole matching the positioning taper pin, which are respectively arranged on the first stringer opening and closing die, the second stringer opening and closing die and the stringer intermediate forming die. When the first stringer opening and closing die and the second stringer opening and closing die are closed, the positions can be determined. Through the cooperation of the first stringer opening and closing die, the second stringer opening and closing die and the stringer intermediate forming die, the carbon fiber preform is pressed twice, so that the first stringer opening and closing die, the second stringer opening and closing die and the stringer intermediate forming die are closed to form a flat automatic placement workbench plane.

[0017] Further, the first stringer opening and closing die is the first hat-section stringer opening and closing die, the second stringer opening and closing die is the second hat-section stringer opening and closing die, and the stringer intermediate forming die is the hat-section stringer intermediate forming die.

[0018] Further, the automatic placement device includes an automatic placement head and an automatic placement robot connected to the automatic placement head. The automatic placement robot drives the automatic placement head to lay the prepreg tow on the rotary opening and closing die to form a prepreg layer; the continuous roll pressing device includes a continuous roll pressing device and a continuous roll pressing robot connected to the continuous roll pressing device.

[0019] A method for the automated manufacturing of composite material stringers based on the above-described device includes the following steps:

[0020] Step 1: The rotary opening and closing device is closed to form a workbench plane. The automatic placement device is used to lay a carbon fiber prepreg layer on the closed rotary opening and closing die; meanwhile, the closed rotary opening and closing die applies an overall pressure to the prepreg layer that has completed continuous roll pressing.

[0021] Step 2: After the automatic placement device finishes laying and exits the working area, the continuous roll pressing device enters the working area and starts working.

[0022] Step 3: When the continuous rolling device contacts and compresses the carbon fiber prepreg ply, the rotary opening and closing device gradually unfolds as the continuous rolling device applies pressure, and the carbon fiber prepreg ply is attached to the stringer intermediate forming die through the continuous rolling device;

[0023] Step 4: Driven by the continuous rolling robot, the continuous rolling device completes the rolling forming operation of the laid carbon fiber prepreg ply within the entire length range of the die;

[0024] Step 5: Repeat Steps 1 to 4 until the automatic laying, continuous rolling, and overall pressure application of all designed plies are completed to manufacture a composite stringer preform blank;

[0025] Step 6: Inspect and cut the composite stringer preform blank to obtain the composite stringer.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] The present invention adopts an automated rotary opening and closing device, combined with an automatic laying machine device and a continuous rolling machine device, to realize the automated manufacturing of composite stringers and improve the manufacturing efficiency. Through the rotary opening and closing device, the automatic laying technology, continuous rolling technology, and integral molding technology are combined in the same station. The automatic laying, continuous rolling, and integral molding of the composite prepreg are carried out alternately. On the one hand, the compactness of the manufacturing equipment is improved, the overall floor area of the equipment is reduced, especially the occupation of the space in the high-standard purification room is reduced, and the equipment operation cost is lowered. On the other hand, the laid prepreg ply does not require intermediate operations such as grasping, transferring, and positioning, solving the problems of "scattering, cracking, and deformation" during the grasping process, as well as the problems of inaccurate positioning and wrinkling deformation of the flexible ply during the transfer process, simplifying the process flow, reducing the difficulty of equipment design and manufacturing, and improving the process stability and reliability. Brief Description of the Drawings

[0028] Figure 1 is a schematic structural diagram of the automated equipment for manufacturing stringers using a rotary opening and closing device.

[0029] Figure 2 is a top view of the schematic structural diagram of the automated equipment for manufacturing stringers using a rotary opening and closing device.

[0030] Figure 3 is the front view of the schematic structural diagram of the rotary opening and closing device.

[0031] Figure 4 is the top view of the schematic structural diagram of the rotary opening and closing device.

[0032] Figure 5 is the schematic structural diagram of the rotary opening and closing device in the closed state.

[0033] Figure 6 It is a schematic structural diagram of the rotary opening and closing device in the deployed state.

[0034] Figure 7 It is a schematic structural diagram of the rotary opening and closing device in a state where part is closed and part is deployed.

[0035] Figure 8 It is a schematic diagram of manufacturing a stringer with a hat-shaped (Ω-shaped) cross-section using a rotary opening and closing device.

[0036] Figure 9 It is a schematic structural diagram of the connection, positioning, and support device in the rotary device.

[0037] Figure 10 It is a process flow diagram of manufacturing a stringer component using a rotary opening and closing device.

[0038] Description of the numbers in the figure:

[0039] 1 is the rotary opening and closing device, 2 is the automatic fiber placement device, 3 is the continuous roll pressing device, and 4 is the rotary opening and closing mold.

[0040] 1-1 is the headstock of the rotary device, 1-2 is the connection, positioning, and support device, 1-3 is the headstock servo motor, 1-4 is the tailstock of the rotary device, 1-5 is the tailstock servo motor, 1-6 is the tailstock moving guide rail, 1-7 is the first mold horizontal moving device, 1-8 is the first mold lifting device, 1-9 is the second mold horizontal moving device, 1-10 is the second mold lifting device, and 1-11 is the mold lifting auxiliary support device.

[0041] 1-2-1 is the flexible coupling, 1-2-2 is the headstock fixing device, 1-2-3 is the tailstock fixing device, 1-2-4 is the auxiliary support device, and 1-2-5 is the elastic floating element;

[0042] 2-1 is the automatic fiber placement head, and 2-2 is the automatic fiber placement robot.

[0043] 3-1 is the continuous roll pressing device, and 3-2 is the continuous roll pressing robot.

[0044] 4-1 is the first stringer opening and closing mold, 4-2 is the second stringer opening and closing mold, 4-3 is the stringer intermediate forming mold, 4-4 is the carbon fiber prepreg layer, 4-5 is the mold connection structure, 4-6 is the through hole, 4-7 is the guiding connection device, 4-8 is the first hat-shaped cross-section stringer opening and closing mold, 4-9 is the second hat-shaped cross-section stringer opening and closing mold, and 4-10 is the hat-shaped cross-section stringer intermediate forming mold. Detailed implementation mode

[0045] The present invention will be described in detail below with reference to the accompanying drawings.

[0046] SeeFigures 1 - 9 , a rotary opening and closing system for the automated manufacturing of composite stringers, comprising a manufacturing system which consists of a rotary opening and closing device 1, an automatic placement device 2, a continuous roll pressing device 3 and a rotary opening and closing die 4; wherein, the rotary opening and closing device 1 is arranged on one side of the automatic placement device 2 and the continuous roll pressing device 3, the rotary opening and closing die 4 is installed on the driving device of the rotary opening and closing device 1, the composite prepreg is laid on the rotary opening and closing die 4 in the closed state, and further undergoes a continuous roll pressing forming operation through the continuous roll pressing device 3 with the cooperation of the rotary opening and closing device 1. The rotary opening and closing device can also apply an overall pressure to the stringer blank formed by continuous roll pressing, ultimately realizing the high-efficiency in-situ single-station manufacturing of composite special-shaped stringers.

[0047] See Figure 3 , Figure 4 and Figure 7 , the rotary opening and closing device 1 includes a rotary device and an opening and closing system. The rotary device includes a rotary device headstock 1-1, a connecting positioning support device 1-2, a headstock servo motor 1-3, a rotary device tailstock 1-4, a tailstock servo motor 1-5 and a tailstock moving guide rail 1-6; the opening and closing system includes a first die horizontal moving device (left side) 1-7, a first die lifting device (left side) 1-8, a second die horizontal moving device (right side) 1-9, a second die lifting device (right side) 1-10 and a die upgrading auxiliary support device 1-11. The power devices of the rotary opening and closing device 1 are the headstock servo motor 1-3 and the tailstock servo motor 1-5, which realize the synchronous dual-drive function and reduce the torsional deformation of the slender die. The composite prepreg is laid on the rotary opening and closing die 4 in the closed state through the second die lifting device.

[0048] See Figure 3 , in the rotary device, the headstock servo motor 1-3 is installed on the rotary device headstock 1-1, the headstock servo motor 1-3 is connected to the rotary opening and closing die 4 through the connecting positioning support device 1-2, the tailstock servo motor 1-5 is arranged on the rotary device tailstock 1-4, the tailstock servo motor 1-5 is connected to the rotary opening and closing die 4, the tailstock servo motor 1-5 and the headstock servo motor 1-3 drive the rotary opening and closing die 4 synchronously, and the rotary device tailstock 1-4 can move on the tailstock moving guide rail 1-6. The rotary opening and closing die realizes accurate positioning and combination through the positioning and guiding structure.

[0049] See Figure 4 and Figure 7, the opening and closing system is located on both sides of the rotation axis of the rotating device. Among them, the first die horizontal moving device 1-7 is arranged on the first die lifting device 1-8. The first die horizontal moving device 1-7 and the first die lifting device 1-8 are perpendicular to each other. The rotating opening and closing die 4 is arranged on the first die horizontal moving device 1-7. The first die horizontal moving device 1-7 and the first die lifting device 1-8 realize the horizontal movement and lifting movement of the rotating opening and closing die 4. The second die horizontal moving device 1-9 is arranged on the second die lifting device 1-10, and the two are perpendicular to each other. The rotating opening and closing die 4 is arranged on the die horizontal moving device 1-9. The second die horizontal moving device 1-9 and the second die lifting device 1-10 realize the horizontal movement and lifting movement of the rotating opening and closing die 4. The die lifting auxiliary support device 1-11 realizes the auxiliary support function for the two stringer opening and closing dies, improving the stability and docking accuracy of the lifting of the two stringer opening and closing dies.

[0050] The described opening and closing system is divided into several groups of the first die horizontal moving device 1-7 and the first die lifting device 1-8 according to the change of the die length, and is respectively arranged on both sides of the rotating device. Each group includes at least one die horizontal moving device and one die lifting device. Through the combination of multiple groups of opening and closing systems, the opening and closing function of the long stringer die with a large length is realized.

[0051] See Figure 9 , the connection positioning support device 1-2 in the described rotating device includes a flexible coupling 1-2-1, a headstock fixing device 1-2-2, a tailstock fixing device 1-2-3, an intermediate die auxiliary support device 1-2-4 and an elastic floating element 1-2-5. One end of the rotating opening and closing die 4 is installed on the rotating device headstock 1-1 through the headstock fixing device 1-2-2, and the other end is installed on the rotating device tailstock 1-4 through the tailstock fixing device 1-2-3. The headstock fixing device 1-2-2 is driven by the headstock servo motor 1-3 through the flexible coupling 1-2-1 to move, so that it remains horizontal or at a certain angle with the ground. The elastic floating element 1-2-5 is arranged on the long stringer intermediate forming die auxiliary support device 1-2-4 to realize the auxiliary support for the rotating opening and closing die 4, that is, the long stringer die, reduce deformation and improve the forming quality.

[0052] See Figure 5 , Figure 6 , Figure 7 and Figure 8, the rotary opening and closing mold 4 includes a first stringer opening and closing mold (left side) 4-1, a second stringer opening and closing mold (right side) 4-2, a stringer intermediate forming mold 4-3, a carbon fiber prepreg layer 4-4, a mold connection structure 4-5, a guiding connection device 4-7, a first hat-section stringer opening and closing mold 4-8, and a through hole 4-6 in the second hat-section stringer opening and closing mold 4-9; the first stringer opening and closing mold 4-1 is arranged on the first mold horizontal moving device 1-7 through the mold connection structure 4-5, the second stringer opening and closing mold 4-2 is arranged on the second mold horizontal moving device 1-9 through the mold connection structure 4-5, and the stringer intermediate forming mold 4-3 is installed on a rotating system; the through hole 4-6 is used to access a vacuum adsorption element to keep the carbon fiber prepreg layer 4-4 in contact with the stringer intermediate forming mold 4-3 and have a certain tension; or the through hole 4-6 is used to access cold air to produce a cooling effect, so that the contact parts of the carbon fiber prepreg layer 4-4 and the first stringer opening and closing mold 4-1 and the second stringer opening and closing mold 4-2 can reduce the temperature, reduce the viscosity of the prepreg, and can be separated smoothly. The headstock servo motor 1-3 is connected to the stringer intermediate forming mold 4-3 of the rotary opening and closing mold 4 through the connecting positioning support device 1-2, and the tailstock servo motor 1-5 is connected to the stringer intermediate forming mold 4-3 of the rotary opening and closing mold 4, that is, one end of the stringer intermediate forming mold 4-3 is connected to the headstock servo motor 1-3, and the other end is connected to the tailstock servo motor 1-5. The tailstock servo motor 1-5 and the headstock servo motor 1-3 synchronously drive the stringer intermediate forming mold 4-3. The first stringer opening and closing mold 4-1 is fixed on the first mold horizontal moving device (left side) 1-7, and the first mold horizontal moving device 1-7 and the first mold lifting device (left side) 1-8 realize the horizontal movement and lifting movement of the first stringer opening and closing mold 4-1; the second stringer opening and closing mold 4-2 is fixed on the mold horizontal moving device (right side) 1-9, and the mold horizontal moving device 1-9 and the second mold lifting device (right side) 1-10 realize the horizontal movement and lifting movement of the second stringer opening and closing mold 4-2; the mold lifting auxiliary support device 1-11 realizes the auxiliary support function for the two stringer opening and closing molds, the first stringer opening and closing mold 4-1 and the second stringer opening and closing mold 4-2, and improves the smoothness and docking accuracy of the lifting of the two stringer opening and closing molds. The stringer intermediate forming mold 4-3 is installed on the headstock and the tailstock through the headstock stringer intermediate forming mold positioning and fixing device 1-2-2 and the tailstock stringer intermediate forming mold positioning and fixing device 1-2-3.

[0053] The guiding connection device 4-7 includes a positioning taper pin and a tapered hole that matches the positioning taper pin. The tapered holes are respectively arranged on the first stringer opening and closing die 4-1, the second stringer opening and closing die 4-2, and the stringer intermediate forming die 4-3. When the first stringer opening and closing die 4-1 and the second stringer opening and closing die 4-2 on both sides are closed, the position can be accurately determined. Through the cooperation of the first stringer opening and closing die 4-1, the second stringer opening and closing die 4-2, and the stringer intermediate forming die 4-3, the carbon fiber preform is pressurized twice to reduce forming defects. At the same time, auxiliary support is provided to ensure that the first stringer opening and closing die 4-1 and the second stringer opening and closing die 4-2 on both sides and the stringer intermediate forming die 4-3 in the middle are accurately closed, forming a flat automatic placement workbench plane.

[0054] Preferably, the first stringer opening and closing die 4-1 is a first hat-shaped (Ω-shaped) cross-section stringer opening and closing die, and the second stringer opening and closing die 4-2 is a second hat-shaped (Ω-shaped) cross-section stringer opening and closing die. The stringer intermediate forming die 4-3 is a hat-shaped (Ω-shaped) cross-section stringer intermediate forming die 4-10.

[0055] See Figure 1 and Figure 2 As shown in and, the automatic placement device 2 includes an automatic placement head 2-1 and an automatic placement robot 2-2 connected to the automatic placement head 2-1. The automatic placement robot 2-2 drives the automatic placement head 2-1 to lay the prepreg tow on the rotating opening and closing die 4, forming a prepreg layer 4-4. The continuous roll pressing device 3 includes a continuous roll pressing equipment 3-1 and a continuous roll pressing robot 3-2 connected to the continuous roll pressing equipment 3-1.

[0056] See Figure 10 As shown in, a method for the automated manufacturing of composite material stringers based on the above device includes the following steps:

[0057] Step 1: The rotating opening and closing device 1 is closed to form a workbench plane. The automatic placement robot 2-2 is used to lay out the designed carbon fiber prepreg layer 4-4 on the closed rotating opening and closing die.

[0058] Step 2: After the automatic placement robot of the automatic placement device 2 finishes laying and exits the working area, the continuous roll pressing robot 3-2 of the continuous roll pressing device 3 enters the working area and starts working.

[0059] Step 3: When the continuous roll pressing device 3 contacts and presses the carbon fiber prepreg layer 4-4, the rotating opening and closing device 1 gradually unfolds as the continuous roll pressing device 3 applies pressure. Through the continuous roll pressing device 3, the carbon fiber prepreg layer is attached to the stringer intermediate forming die 4-3.

[0060] Step 4: Driven by the continuous rolling robot 3-2, the continuous rolling device 3 performs the rolling forming operation on the laid carbon fiber prepreg layer within the entire die length range.

[0061] Step 5: Repeat Steps 1 to 4 until the automatic laying and continuous rolling of all designed layers are completed, and a composite stringer preform blank is manufactured.

[0062] Step 6: Inspect and cut the composite stringer preform blank to obtain a composite stringer.

[0063] In the present invention, through the rotary opening and closing device, the automatic laying technology, continuous rolling technology, and integral molding technology are combined at the same station. The automatic laying, continuous rolling, and integral molding of the composite prepreg are carried out alternately. On the one hand, the compactness of the manufacturing equipment is improved, the overall floor area of the equipment is reduced, especially the occupation of the space in the high-standard purification room is reduced, and the equipment operation cost is lowered. The problem of local pressure application in the continuous rolling technology and the problem of improving the local support strength and stiffness caused by local pressure application are solved.

[0064] The rotary opening and closing device of the present invention can be used as the pressure application device for continuous molding. After closing, a closed cavity is formed to perform secondary pressure application on the formed layer, thereby further reducing molding defects and improving quality.

Claims

1. A rotary opening and closing system for the automated manufacturing of composite stringers, characterized in that The rotary opening and closing system includes a rotary opening and closing device (1), an automatic placement device (2), a continuous roll pressing device (3), and a rotary opening and closing die (4); wherein, the rotary opening and closing device (1) is arranged on one side of the automatic placement device (2) and the continuous roll pressing device (3), and the rotary opening and closing die (4) is installed on the rotary opening and closing device (1). The composite material prepreg is automatically placed on the rotary opening and closing die (4), and continuous roll pressing forming operation is carried out through the continuous roll pressing device (3) under the cooperation of the rotary opening and closing device (1) to realize the manufacturing of composite material special-shaped stringers. The rotary opening and closing device (1) includes a rotary device and an opening and closing system, and the opening and closing system is located on both sides of the rotary device; the rotary device includes a rotary device headstock (1-1), a connecting and positioning support device (1-2), a headstock servo motor (1-3), a tailstock servo motor (1-5), a tailstock moving guide rail (1-6), and a rotary device tailstock (1-4) capable of moving on the tailstock moving guide rail (1-6). The headstock servo motor (1-3) is installed on the rotary device headstock (1-1), the headstock servo motor (1-3) is connected to the rotary opening and closing die (4) through the connecting and positioning support device (1-2), the tailstock servo motor (1-5) is arranged on the rotary device tailstock (1-4), the tailstock servo motor (1-5) is connected to the rotary opening and closing die (4), and the tailstock servo motor (1-5) and the headstock servo motor (1-3) drive the rotary opening and closing die (4) synchronously. The opening and closing system includes a first die horizontal moving device (1-7), a first die lifting device (1-8), a second die horizontal moving device (1-9), a second die lifting device (1-10), and a die lifting auxiliary support device (1-11) for supporting the rotary opening and closing die (4). The first die horizontal moving device (1-7) is arranged on the first die lifting device (1-8), the rotary opening and closing die (4) is arranged on the first die horizontal moving device (1-7), and the first die horizontal moving device (1-7) and the first die lifting device (1-8) can realize the horizontal movement and lifting movement of the rotary opening and closing die (4); the second die horizontal moving device (1-9) is arranged on the second die lifting device (1-10), the rotary opening and closing die (4) is arranged on the second die horizontal moving device (1-9), and the second die horizontal moving device (1-9) and the second die lifting device (1-10) realize the horizontal movement and lifting movement of the rotary opening and closing die (4).

2. The rotary opening and closing system for the automated manufacturing of composite stringers according to claim 1, characterized in that, The first die horizontal moving device (1-7) is vertically arranged with the first die lifting device (1-8); the second die horizontal moving device (1-9) is vertically arranged with the second die lifting device (1-10).

3. The rotary opening and closing system for automated manufacturing of composite stringers according to claim 2, characterized in that The connecting and positioning support device (1-2) includes a headstock fixing device (1-2-2), a tailstock fixing device (1-2-3), an auxiliary support device (1-2-4), and an elastic floating element (1-2-5); one end of the rotary opening and closing die (4) is installed on the rotary device headstock (1-1) through the headstock fixing device (1-2-2), and the other end is installed on the rotary device tailstock (1-4) through the tailstock fixing device (1-2-3); the headstock fixing device (1-2-2) is connected to the headstock servo motor (1-3); the elastic floating element (1-2-5) is arranged on the auxiliary support device (1-2-4).

4. The rotary opening and closing system for automated manufacturing of composite stringers according to claim 3, characterized in that, The rotary opening and closing die (4) includes a first stringer opening and closing die (4-1), a second stringer opening and closing die (4-2), a stringer intermediate forming die (4-3), a die connection structure (4-5), a first hat-section stringer opening and closing die (4-8), and a through hole (4-6) in the second hat-section stringer opening and closing die (4-9); the first stringer opening and closing die (4-1) is arranged on the first die horizontal moving device (1-7) through the die connection structure (4-5), the second stringer opening and closing die (4-2) is arranged on the second die horizontal moving device (1-9) through the die connection structure (4-5), and the stringer intermediate forming die (4-3) is installed on the rotary system; one end of the stringer intermediate forming die (4-3) is connected to the headstock servo motor (1-3), and the other end is connected to the tailstock servo motor (1-5).

5. The rotary opening and closing system for automated manufacturing of composite stringers according to claim 4, characterized in that, The first stringer opening and closing die (4-1) is fixed on the first die horizontal moving device (1-7), and the second stringer opening and closing die (4-2) is fixed on the second die horizontal moving device (1-9). The guiding and connecting device (4-7) includes a positioning taper pin and a tapered hole matching the positioning taper pin, which are respectively arranged on the first stringer opening and closing die (4-1), the second stringer opening and closing die (4-2), and the stringer intermediate forming die (4-3). When the first stringer opening and closing die (4-1) and the second stringer opening and closing die (4-2) are closed, the position can be determined. Through the cooperation of the first stringer opening and closing die (4-1), the second stringer opening and closing die (4-2), and the stringer intermediate forming die (4-3), the carbon fiber preform is pressed integrally for the second time, so that the first stringer opening and closing die (4-1), the second stringer opening and closing die (4-2), and the stringer intermediate forming die (4-3) are closed to form a flat automatic placement workbench plane.

6. The rotary opening and closing system for the automated manufacturing of composite stringers according to claim 5, wherein The first stringer opening and closing die (4-1) is a first hat-section stringer opening and closing die, the second stringer opening and closing die (4-2) is a second hat-section stringer opening and closing die, and the stringer intermediate forming die (4-3) is a hat-section stringer intermediate forming die (4-10).

7. The rotary opening and closing system for automated manufacturing of composite stringers according to claim 6, characterized in that, The automatic placement device (2) includes an automatic placement head (2-1) and an automatic placement robot (2-2) connected to the automatic placement head (2-1). The automatic placement robot (2-2) drives the automatic placement head (2-1) to place the prepreg tow on the rotary opening and closing mold (4) to form a prepreg layer (4-4); the continuous roll pressing device (3) includes a continuous roll pressing equipment (3-1) and a continuous roll pressing robot (3-2) connected to the continuous roll pressing equipment (3-1).

8. A method for automated manufacturing of composite stringers based on the system described in claim 7, characterized in that, It includes the following steps: Step 1: The rotary opening and closing device (1) closes to form a workbench plane. The automatic placement device (2) is used to place a carbon fiber prepreg layer (4-4) on the closed rotary opening and closing mold (4); meanwhile, the closed rotary opening and closing mold (4) applies an overall pressure to the prepreg layer that has completed continuous roll pressing. Step 2: After the automatic placement device (2) finishes placement and withdraws from the working area, the continuous roll pressing equipment (3-1) enters the working area and starts working. Step 3: When the continuous roll pressing device (3) contacts and presses the carbon fiber prepreg layer (4-4), the rotary opening and closing device (1) gradually unfolds along with the pressure applied by the continuous roll pressing device (3), and the carbon fiber prepreg layer is attached to the stringer intermediate forming mold (4-3) through the continuous roll pressing device (3). Step 4: Driven by the continuous roll pressing robot (3-2), the continuous roll pressing device (3) completes the roll forming operation of the laid carbon fiber prepreg layer within the entire mold length range. Step 5: Repeat Step 1 to Step 4 until the automatic placement, continuous roll pressing, and overall pressure application of all designed layers are completed, and a composite stringer preform blank is manufactured. Step 6: The composite stringer preform blank is inspected and cut to obtain a composite stringer.

Images