An automatic tape layer special-shaped section ultrasonic cutting device

Abstract

The application discloses an automatic profiled cross-section ultrasonic cutting device of a tape layer, and belongs to the field of composite material processing. The main equipment of the application comprises a transverse linear module system, a double-ultrasonic vibration cutter system, a pneumatic lifting system, a cutter rotary driving system and a central control system. The central control system determines the cutting mode of the double-ultrasonic vibration cutter system according to cutting information, controls the pneumatic lifting system to push the double-ultrasonic vibration cutter system, so that the double-ultrasonic vibration cutter system reaches the cutting depth, and the cutting shape can be analyzed by a function. According to the analysis result, the function of the device for position adjustment of the double-ultrasonic vibration cutter system in the cutting process is constructed, and the function of the cutter rotary driving system for angle adjustment of the double-ultrasonic vibration cutter system is constructed. The central control system controls the second servo motor group and the cutter rotary driving system to work according to the constructed functions, so that the device can meet the cutting requirements.

Description

Technical Field

[0001] This invention relates to the field of composite material processing, and in particular to an ultrasonic cutting device for irregular cross-sections of an automatic tape laying machine. Background Technology

[0002] In existing additive manufacturing processes for composite materials, tape layers are required for tape placement. During automated tape laying, the prepreg tape needs to be cut frequently. Automated tape layers offer two cutting modes for prepreg tape: a separation shearing mode, where the prepreg tape is cut and then re-laminated with the backing paper; and a precision cutting mode, which uses a rotary blade to cut without damaging the backing paper. The separation shearing mode struggles to guarantee the quality of the re-laminated backing paper and the cut prepreg tape, while the rotary blade mode suffers from severe dust and noise pollution, low cutting accuracy, and difficulty in cutting fold lines, significantly impacting tape laying efficiency and failing to guarantee both cutting quality and efficiency.

[0003] Chinese Patent Publication No. CN112894925A discloses a prepreg layer cutting device, relating to the field of prepreg manufacturing technology. It includes a molding die for laying prepreg and a cutting tool. The cutting tool includes a slider with several blades fixed on it for layer cutting the prepreg allowance. A guide block is provided at the bottom of the slider, and a groove cooperating with the guide block is provided on the molding die. Therefore, by using several blades to layer-cut the prepreg allowance, this invention reduces the resistance encountered by each blade when cutting the prepreg allowance, avoiding the problem of excessive resistance for a single blade that could lift the prepreg edge. Furthermore, the cooperating groove and guide block limit the groove and slider, ultimately limiting the cutting direction of the blades, making the cutting process simpler, ensuring accuracy, reducing the difficulty for workers, and improving cutting efficiency.

[0004] The above devices are not equipped with a micrometer, a central control system, a first servo motor group, and a second servo motor group, which makes it impossible to cut prepreg tape into irregular high-order curves. This results in a limited range of applications for the devices and makes them unable to meet the current requirements for composite material processing. Summary of the Invention

[0005] To address this issue, the present invention provides an ultrasonic cutting device for irregular cross-sections of an automatic tape laying machine, which overcomes the problem that the prior art cannot cut prepreg tape into irregular high-order curves, resulting in a limited range of applications and failing to meet the current requirements for composite material processing.

[0006] To achieve the above objectives, the present invention provides an ultrasonic cutting device for irregular cross-sections of an automatic tape laying machine, comprising:

[0007] A transverse linear module system, including:

[0008] The first servo motor unit is used to provide power for the lateral movement of the ultrasonic cutting device for irregular cross-sections of the automatic tape laying machine;

[0009] A horizontal linear module, which is connected to the first servo motor group via a coupling, is used to provide a track for the device to move laterally.

[0010] The module slider is capable of sliding relative to the transverse linear module;

[0011] Module bracket, used to fix the horizontal linear module;

[0012] The second servo motor unit is fixed on the tape laying machine and connected to the module bracket, and is used to provide power for the vertical movement of the ultrasonic cutting device for irregular cross-section of the automatic tape laying machine;

[0013] Dual ultrasonic vibration cutting system for ultrasonic cutting of prepreg tape;

[0014] A pneumatic lifting system is used to move the dual ultrasonic vibration cutter system in the vertical direction;

[0015] A rotary drive system for the cutter is used to adjust the cutting angle of the device;

[0016] The central control system is connected to the first servo motor group, the transverse linear module, the second servo motor group, the dual ultrasonic vibration cutter system, the pneumatic lifting system, and the cutter rotation drive system via data transmission lines. The central control system receives cutting information from the tape laying machine regarding the cutting of the prepreg tape. Based on this information, it determines the cutting mode of the dual ultrasonic vibration cutter system and controls the pneumatic lifting system to push the dual ultrasonic vibration cutter system to reach the cutting depth. The central control system performs function analysis on the cutting shape and, based on the analysis results, constructs a function for adjusting the position of the dual ultrasonic vibration cutter system by the second servo motor group during the cutting process, and a function for adjusting the angle of the dual ultrasonic vibration cutter system by the cutter rotation drive system. The central control system controls the second servo motor group and the cutter rotation drive system according to the constructed functions, thereby enabling the device to meet the cutting requirements.

[0017] Furthermore, the pneumatic lifting system includes,

[0018] An ultrasonic cutting head bracket, which is fixed on the module slider, is used to fix the components of the pneumatic lifting system;

[0019] A linear cylinder assembly, comprising four linear cylinders, is fixed on the ultrasonic cutting head bracket and is used to provide power for the vertical movement of the dual ultrasonic vibration cutting system.

[0020] The ultrasonic cutting head slider is connected to the cylinder rod in the linear cylinder assembly by a thread and is guided by a linear bearing to perform linear reciprocating motion in the vertical direction.

[0021] A micrometer is installed at the lower end of the ultrasonic cutting head slider to detect the cutting depth of the device and send the detection information to the central control system, so that the central control system can calculate the position of the dual ultrasonic vibration cutting blade system in the vertical direction.

[0022] Furthermore, the dual ultrasonic vibration cutting system includes,

[0023] An ultrasonic cutting blade assembly includes a first ultrasonic cutting blade and a second ultrasonic cutting blade, which are used to ultrasonically cut a prepreg tape.

[0024] A vibrator sleeve is used to fix an ultrasonic vibrator, which is used to provide cutting ultrasonic energy to the ultrasonic cutting blade assembly;

[0025] The cutter rotation drive system includes,

[0026] The third servo motor group includes two servo motors, which are mounted on the ultrasonic cutting head bracket and are used to provide power for adjusting the angle between the first ultrasonic cutting blade and the second ultrasonic cutting blade.

[0027] The timing pulley is fixed to the vibrator sleeve by screws, which is used to drive the vibrator sleeve;

[0028] The main synchronous pulley is located at the lower end of the servo motor in the third servo motor group. The main synchronous pulley drives the slave synchronous pulley to rotate through a high-precision synchronous belt.

[0029] Furthermore, when the device cuts the prepreg tape, the prepreg tape passes through the cutting anvil in the tape laying head. The central control system sets the linear velocity direction of the tape laying head rotation to the -U direction, takes the center line of the cutting anvil as the U-axis position, and sets the direction perpendicular to the U-axis as the W-axis direction. Thus, the positive direction of the U-axis is the opposite direction to the linear velocity direction of the tape laying head rotation, and the positive direction of the W-axis is from left to right.

[0030] The left and right edges of the prepreg tape located on the cutting board intersect the W-axis perpendicularly, and the central control system sets the two intersection points as the minimum and maximum values ​​of the prepreg tape on the W-axis, respectively.

[0031] The central control system controls the operation of the first servo motor group to make the first ultrasonic cutting blade and the second ultrasonic cutting blade move in the W-axis direction, and can also control the operation of the second servo motor group to make the first ultrasonic cutting blade and the second ultrasonic cutting blade move in the U-axis direction.

[0032] The central control system can calculate the distance between the positions of the first ultrasonic cutting blade and the second ultrasonic cutting blade in the non-working state and the positions of the first ultrasonic cutting blade and the second ultrasonic cutting blade when cutting the uppermost prepreg tape, based on the consumption of prepreg tape during the tape laying process and the data information measured by the spiral micrometer. This distance is set as the cutting distance, wherein the cutting distance gradually increases with the consumption of prepreg tape.

[0033] The central control system controls the cutting distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade by controlling the linear cylinder assembly.

[0034] Furthermore, the central control system receives cutting information from the tape laying machine for cutting the prepreg tape, wherein the cutting information includes a cutting shape function and a cutting position.

[0035] Among them, the cutting shape function is the data basis for the cutting shape, the image of the cutting shape function is the cutting shape, and the domain of the cutting shape function is determined based on the minimum and maximum values ​​of the prepreg tape on the W axis;

[0036] The cutting position is the position information of the cutting shape in the U-axis direction of the prepreg tape. The central control system analyzes the cutting shape function and the cutting position to enable the device to meet all the conditions required for cutting the prepreg tape.

[0037] The central control system stores the cutting modes of the dual ultrasonic vibration cutting system, including single-blade cutting mode and dual-blade cutting mode;

[0038] The central control system analyzes the cutting shape function to determine the cutting mode adopted by the dual ultrasonic vibration cutting system.

[0039] If the monotonicity of the cutting shape function remains unchanged throughout the entire domain or the value of the cutting shape function is always constant, the central control system determines that the dual ultrasonic vibration cutter system adopts the single-blade cutting mode.

[0040] If the monotonicity of the cutting shape function changes throughout the entire domain, the central control system determines that the dual ultrasonic vibration cutting system adopts a dual-blade cutting mode, and sets the coordinate point where the monotonicity of the cutting shape function changes as the cutting quadrant division point of the cutting shape function.

[0041] Furthermore, the central control system can determine the cutting position. During the tape laying process, the preset cutting position moves along the negative direction of the U-axis to the W-axis as the prepreg tape moves. The central control system observes the minimum point of the cutting shape function. When the minimum point of the cutting shape function contacts the W-axis, the central control system sets this time point as the cutting start time and takes the minimum point of the cutting shape function as the cutting start position.

[0042] When the central control system controls the dual ultrasonic vibration cutter system to use the single-blade cutting mode, it extracts the minimum coordinate point of the cutting shape function as the cutting entry point of the first ultrasonic cutter, and extracts the maximum coordinate point of the cutting shape function as the cutting exit point of the first ultrasonic cutter.

[0043] When the central control system controls the dual ultrasonic vibration cutting system to adopt the dual-blade cutting mode, it determines whether the cutting quadrant segmentation point is the maximum value point of the cutting shape function in the entire domain.

[0044] If the cutting quadrant segmentation point is the maximum value point, the central control system takes the intersection of the cutting function image and the left edge of the prepreg as the cutting entry point of the first ultrasonic cutting knife, and sets the position of the cutting quadrant segmentation point as the cutting exit point of the first ultrasonic cutting knife, thereby taking the cutting quadrant segmentation point as the entry point of the second ultrasonic cutting knife, and taking the intersection of the cutting function image and the right edge of the prepreg as the exit point of the second ultrasonic cutting knife;

[0045] If the cutting quadrant segmentation point is not the maximum value point, the central control system sets the cutting quadrant segmentation point position as the cutting entry point of the first ultrasonic cutter, and sets the intersection of the cleavage function image and the left edge of the prepreg as the exit point of the first ultrasonic cutter, thereby setting the cutting quadrant segmentation point as the cutting entry point of the second ultrasonic cutter, and setting the intersection of the cleavage function image and the right edge of the prepreg as the exit point of the second ultrasonic cutter.

[0046] Furthermore, the central control system controls the first servo motor group and the second servo motor group to align the first ultrasonic cutting blade with the cutting entry point of the first ultrasonic cutting blade on the W axis, based on the cutting entry point of the first ultrasonic cutting blade.

[0047] The central control system can receive the linear velocity of the prepreg tape in the tape laying head and store the lifting speed of the linear cylinder group.

[0048] The central control system calculates the cutting preparation distance of the first ultrasonic cutting blade and the cutting preparation distance of the second ultrasonic cutting blade based on the measurement information of the spiral micrometer, the linear velocity of the prepreg in the tape laying head, and the lifting speed of the linear cylinder group.

[0049] The central control system calculates the distance between the positions of the first ultrasonic cutting blade and the second ultrasonic cutting blade and their entry point in the U-axis direction based on the cutting position information sent by the tape laying machine. The central control system performs a comprehensive calculation with the cutting preparation distance of the first ultrasonic cutting blade, the cutting preparation distance of the second ultrasonic cutting blade, the linear velocity of the prepreg tape, and the lifting speed of the linear cylinder group. The calculation results are compared and judged to determine whether the pneumatic lifting system should push the first ultrasonic cutting blade and the second ultrasonic cutting blade down.

[0050] When the central control system determines that the first ultrasonic cutting blade has reached the exit point, it controls the pneumatic lifting system to raise the first ultrasonic cutting blade to a non-working position. When the central control system determines that the second ultrasonic cutting blade has reached the exit point, it controls the pneumatic lifting system to raise the second ultrasonic cutting blade to a non-working position.

[0051] Furthermore, the central control system stores the maximum speed value of the dual ultrasonic vibration cutter system driven by the first servo motor group to move in the W-axis direction;

[0052] The central control system stores the distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction;

[0053] When the dual ultrasonic vibration cutting system adopts the dual-blade cutting mode, the central control system calculates the distance that the first ultrasonic cutting blade cuts the prepreg tape in the U-axis direction during the cutting process of the first ultrasonic cutting blade, and calculates the distance between the exit point of the first ultrasonic cutting blade and the entry point of the second ultrasonic cutting blade in the W-axis direction.

[0054] The central control system calculates the time between the first ultrasonic cutting blade reaching the exit point and the second ultrasonic cutting blade reaching the entry point when blade switching is required in the dual-blade cutting mode based on the distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction, the cutting distance of the first ultrasonic cutting blade on the prepreg tape in the U-axis direction, and the linear velocity of the prepreg tape in the tape laying head. It also calculates the expected positioning speed required for the first servo motor group to move and position the distance within this time length.

[0055] The central control system compares the predicted positioning speed with the maximum speed value of the first servo motor group.

[0056] If the expected positioning speed is less than or equal to the maximum speed of the first servo motor group, the central control system controls the first servo motor group to cut and position the second ultrasonic cutting blade at the expected positioning speed.

[0057] If the expected positioning speed is greater than the maximum speed of the first servo motor group, the central control system controls the first servo motor group to cut and position the second ultrasonic cutting knife at the maximum speed. The central control system controls the second servo motor group to move the dual ultrasonic vibration cutting knife system in the negative U-axis direction using the linear speed of the prepreg tape in the tape laying head as the working speed. The system also calculates the working time for the second servo motor group to execute the command and restores the original set working state of the second servo motor group after the working time ends.

[0058] Furthermore, when the dual ultrasonic vibration cutter system cuts the prepreg tape, the first servo motor group moves the dual ultrasonic vibration cutter system along the W axis at a constant speed;

[0059] The central control system is equipped with an initial cutting speed ratio. The central control system calculates the derivative function of the cutting shape function and compares the absolute value of the derivative function at each point on the cutting shape function with the initial cutting speed ratio. Based on the comparison result, the system calculates the speed and direction of the second servo motor group moving the dual ultrasonic vibration cutter system at each point in the cutting shape function.

[0060] The central control system uses the speed at which the second servo motor group moves the dual ultrasonic vibration cutter system in the U-axis direction at each point to construct a function for adjusting the position of the dual ultrasonic vibration cutter system by the second servo motor group.

[0061] Furthermore, the central control system can control the cutting angle between the first ultrasonic cutting blade and the second ultrasonic cutting blade;

[0062] The central control system sets the cutting angle between the first ultrasonic cutting blade and the second ultrasonic cutting blade as a function of the cutting angle with respect to the upward coordinate of the W axis, based on the derivative function of the cutting shape function.

[0063] The central control system controls the cutting angle of the first ultrasonic cutting blade and the second ultrasonic cutting blade according to the cutting angle function.

[0064] Compared with the prior art, the beneficial effects of the present invention are as follows: The central control system determines the cutting mode of the dual ultrasonic vibration cutter system by analyzing the cutting information, and controls the pneumatic lifting system to push the dual ultrasonic vibration cutter system, thereby enabling the dual ultrasonic vibration cutter system to reach the cutting depth. The central control system can perform function analysis on the cutting shape, construct a function for adjusting the position of the second servo motor group on the dual ultrasonic vibration cutter system based on the analysis results, and construct a function for adjusting the angle of the cutter rotation drive system on the dual ultrasonic vibration cutter system. The central control system controls the second servo motor group and the cutter rotation drive system to work according to the constructed functions, thereby enabling the device to meet the cutting requirements.

[0065] The central control system establishes a coordinate system on the cutting anvil, enabling the device to control and ensure that the cutting shape meets the cutting requirements when cutting the prepreg tape through the cutting anvil, thus improving the accuracy of the cutting process.

[0066] By installing a micrometer screw gauge in the device, when the central control system controls the linear cylinder group to push the first ultrasonic cutting blade and the second ultrasonic cutting blade downward, it can effectively and accurately calculate the distance that the linear cylinder group pushes the first ultrasonic cutting blade and the second ultrasonic cutting blade. This ensures that the backing paper and the lower prepreg tape are not cut, while ensuring that the cutting depth of the uppermost prepreg tape can be accurately controlled, thus improving the quality of the device in cutting the prepreg tape.

[0067] The central control system analyzes the monotonicity of the cutting shape function to determine a suitable cutting mode. As a result, when the device cuts a cutting shape function with changing monotonicity, it can meet the cutting shape requirements without stopping or reversing the tape laying head, thus improving tape laying efficiency and the degree of automation in cutting.

[0068] By selecting an appropriate cutting entry point, the central control system enables the device to reduce the stroke of adjusting the device on the U-axis using the second servo motor group when cutting the prepreg tape. Instead, the movement of the prepreg tape provides the movement component for cutting on the U-axis, which simplifies the control process and saves energy consumption.

[0069] The central control system analyzes the cutting preparation distance to ensure the device's cutting time, thereby improving the device's reliability and avoiding inaccurate cutting positions.

[0070] The central control system determines whether the second servo motor needs to be controlled to adjust the position of the device during tool changing by comparing the maximum speed of the first servo motor group moving in the W-axis direction with the distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction. This ensures that the cutting quadrant segmentation point can be precisely coupled during tool changing, thus improving the accuracy of the device.

[0071] The central control system analyzes the derivative of the cutting shape function to construct a function of the speed of the second servo motor group moving the dual ultrasonic vibration cutter system in the U-axis direction with respect to the coordinates of each point in the W-axis direction, so that the cutting shape can be cut out by controlling the motion.

[0072] The central control system controls and adjusts the cutting angle so that the cutting angle of the first ultrasonic cutter and the second ultrasonic cutter is the same as the tangent direction of the motion trajectory, thereby improving the cut quality. Attached Figure Description

[0073] Figure 1 This is a schematic diagram of the structure of the ultrasonic cutting device for irregular cross-section of the automatic tape laying machine in an embodiment of the present invention;

[0074] Figure 2 This is a schematic diagram of the cutter rotation drive system and the dual ultrasonic vibration cutter system in an embodiment of the present invention;

[0075] Figure 3 This is a schematic diagram of the pneumatic lifting system in an embodiment of the present invention;

[0076] Figure 4 This is a schematic diagram of the cutting process in an embodiment of the present invention. Detailed Implementation

[0077] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0078] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0079] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0080] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0081] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, Figure 1 This is a schematic diagram of the structure of the ultrasonic cutting device for irregular cross-section of the automatic tape laying machine in an embodiment of the present invention; Figure 2 This is a schematic diagram of the cutter rotation drive system and the dual ultrasonic vibration cutter system in an embodiment of the present invention; Figure 3 This is a schematic diagram of the pneumatic lifting system in an embodiment of the present invention; Figure 4 This is a schematic diagram of the cutting process in an embodiment of the present invention.

[0082] This invention provides an ultrasonic cutting device for irregular cross-sections of an automatic tape laying machine, comprising:

[0083] A transverse linear module system, including:

[0084] The first servo motor group 1 is used to provide power for the lateral movement of the ultrasonic cutting device for irregular cross-section of the automatic tape laying machine;

[0085] The horizontal linear module 3, which is connected to the first servo motor group 1 via a coupling, is used to provide a track for the device to move laterally.

[0086] The module slider 2 is capable of sliding relative to the transverse linear module 3;

[0087] Module bracket 4 is used to fix the transverse linear module 3;

[0088] The second servo motor unit is fixed on the tape laying machine and connected to the module bracket 4, and is used to provide power for the vertical movement of the ultrasonic cutting device for irregular cross-section of the automatic tape laying machine;

[0089] Dual ultrasonic vibration cutting system for ultrasonic cutting of prepreg tape;

[0090] A pneumatic lifting system is used to move the dual ultrasonic vibration cutter system in the vertical direction;

[0091] A rotary drive system for the cutter is used to adjust the cutting angle of the device;

[0092] The central control system 12 is connected to the first servo motor group 1, the transverse linear module 3, the second servo motor group, the dual ultrasonic vibration cutter system, the pneumatic lifting system, and the cutter rotation drive system via data transmission lines. The central control system 12 can receive cutting information sent by the tape laying machine for cutting the prepreg tape, determine the cutting mode of the dual ultrasonic vibration cutter system based on the cutting information, and control the pneumatic lifting system to push the dual ultrasonic vibration cutter system, thereby enabling the dual ultrasonic vibration cutter system to reach the cutting depth. The central control system 12 can perform function analysis on the cutting shape, construct a function for adjusting the position of the dual ultrasonic vibration cutter system by the second servo motor group during the cutting process based on the analysis results, and construct a function for adjusting the angle of the dual ultrasonic vibration cutter system by the cutter rotation drive system. The central control system 12 controls the second servo motor group and the cutter rotation drive system to work according to the constructed functions, thereby enabling the device to meet the cutting requirements.

[0093] Furthermore, the pneumatic lifting system includes,

[0094] The ultrasonic cutting head bracket 11 is fixed on the module slider 2 and is used to fix the components of the pneumatic lifting system.

[0095] The linear cylinder assembly 5 includes four linear cylinders, which are fixed on the ultrasonic cutting head bracket 11 and are used to provide power for the vertical movement of the dual ultrasonic vibration cutting system.

[0096] The ultrasonic cutting head slider 6 is connected to the cylinder rod in the linear cylinder group 5 by a thread and is guided by the linear bearing 7 to perform linear reciprocating motion in the vertical direction.

[0097] The spiral micrometer 8 is located at the lower end of the ultrasonic cutting head slider 6. It is used to detect the cutting depth of the device and send the detection information to the central control system 12, so that the central control system 12 can calculate the position of the dual ultrasonic vibration cutting system in the vertical direction.

[0098] Furthermore, the dual ultrasonic vibration cutting system includes,

[0099] The ultrasonic cutting blade assembly 9 includes a first ultrasonic cutting blade and a second ultrasonic cutting blade, which are used to ultrasonically cut the prepreg tape.

[0100] The vibrator sleeve 91 is used to fix the ultrasonic vibrator 92, which is used to provide cutting ultrasonic energy to the ultrasonic cutting blade assembly 9.

[0101] The cutter rotation drive system 10 includes,

[0102] The third servo motor group 101 includes two servo motors, which are mounted on the ultrasonic cutting head bracket 11 and are used to provide power for adjusting the angle between the first ultrasonic cutting blade and the second ultrasonic cutting blade.

[0103] The synchronous pulley 102 is fixed to the vibrator sleeve 91 by screws and is used to drive the vibrator sleeve 91.

[0104] The main synchronous pulley 103 is located at the lower end of the servo motor in the third servo motor group 101. The main synchronous pulley 103 drives the slave synchronous pulley 102 to rotate through the high-precision synchronous belt 104.

[0105] Furthermore, the cutting anvil on the tape laying head is used to provide a cutting area for the cutting device. When the device cuts the prepreg tape, the prepreg tape passes through the cutting anvil in the tape laying head. The central control system 12 sets the linear velocity direction of the tape laying head rotation to the -U direction, takes the center line of the cutting anvil as the U-axis position, and sets the direction perpendicular to the U-axis as the W-axis direction. Thus, the positive direction of the U-axis is the opposite direction to the linear velocity direction of the tape laying head rotation, and the positive direction of the W-axis is from left to right.

[0106] The left edge of the prepreg strip located in the cutting board intersects the W-axis perpendicularly, with the focus being q(wmin,0), and the right edge of the prepreg strip intersects the W-axis perpendicularly, with the focus being p(wmax,0), where wmin and wmax are the minimum and maximum values ​​of the left and right edges of the prepreg strip on the W-axis, respectively.

[0107] The central control system 12 controls the operation of the first servo motor group 1 to make the first ultrasonic cutting blade and the second ultrasonic cutting blade move in the W-axis direction, and can also control the operation of the second servo motor group to make the first ultrasonic cutting blade and the second ultrasonic cutting blade move in the U-axis direction.

[0108] The central control system 12 establishes a coordinate system on the cutting anvil, thereby enabling the device to control and ensure that the cutting shape meets the cutting requirements when cutting the prepreg tape passing through the cutting anvil, thus improving the accuracy of the cutting process.

[0109] The central control system 12 can calculate the distance between the positions of the first ultrasonic cutting blade and the second ultrasonic cutting blade in the non-working state and the positions of the first ultrasonic cutting blade and the second ultrasonic cutting blade when cutting the uppermost prepreg tape, based on the consumption of prepreg tape during the tape laying process and the data information measured by the spiral micrometer 8, and set this distance as the cutting distance, wherein the cutting distance gradually increases with the consumption of prepreg tape.

[0110] The central control system 12 controls the cutting distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade by controlling the linear cylinder group 5.

[0111] If the micrometer 8 is not installed in the device, the central control system 12 cannot calculate the pushing distance when controlling the linear cylinder group 5 to push the first and second ultrasonic cutting blades downwards. This results in the backing paper and the lower layer of prepreg tape being cut or the cutting depth of the uppermost layer of prepreg tape being insufficient, which seriously affects the cutting quality. By installing the micrometer 8 in the device, the central control system 12 can effectively and accurately calculate the pushing distance of the linear cylinder group 5 to push the first and second ultrasonic cutting blades downwards. This ensures that the backing paper and the lower layer of prepreg tape are not cut, and at the same time ensures that the cutting depth of the uppermost layer of prepreg tape can be accurately controlled, thus improving the cutting quality of the prepreg tape by the device.

[0112] Furthermore, the central control system 12 receives cutting information from the tape laying machine for cutting the prepreg tape, wherein the cutting information includes the cutting shape function u(w) and the cutting position.

[0113] Among them, the cutting shape function is the data basis for the cutting shape, and the cutting position is the position information of the cutting shape in the U-axis direction of the prepreg tape. The central control system 12 analyzes the cutting shape function and the cutting position to enable the device to meet all the conditions for cutting the prepreg tape.

[0114] The central control system 12 stores the cutting modes of the dual ultrasonic vibration cutting system, including single-blade cutting mode and dual-blade cutting mode.

[0115] The central control system 12 analyzes the cutting shape function u(w) to determine the cutting mode adopted by the dual ultrasonic vibration cutting system.

[0116] If the monotonicity of u(w) remains unchanged or the value of u(w) is always constant in w∈(wmin,wmax), the central control system 12 determines that the dual ultrasonic vibration cutter system adopts the single-blade cutting mode.

[0117] If the monotonicity of u(w) changes in w∈(wmin,wmax), the central control system 12 determines that the dual ultrasonic vibration cutter system adopts the dual-blade cutting mode, and sets the coordinate point M(wm,u(wm)) where the monotonicity of u(w) changes as the cutting quadrant division point of the cutting shape function u(w).

[0118] If the central control system 12 does not analyze the monotonicity of the cutting shape function, it cannot determine the cutting mode. Consequently, when the device cuts a cutting shape function with changing monotonicity, it cannot meet the cutting shape requirements. The device can only complete the cutting shape part with changing monotonicity by stopping or reversing the tape laying head, which seriously reduces the tape laying efficiency. By analyzing the monotonicity of the cutting shape function, the central control system 12 can determine a suitable cutting mode. As a result, when the device cuts a cutting shape function with changing monotonicity, it can meet the cutting shape requirements without stopping or reversing the tape laying head, thus improving tape laying efficiency and the degree of automation in cutting.

[0119] Furthermore, the central control system 12 can receive the cutting shape function and cutting position from the cutting information sent by the tape laying machine, and determine the cutting position;

[0120] During the tape laying process, the preset cutting position moves along the negative direction of the U axis toward the W axis as the prepreg tape moves. The central control system 12 observes the minimum point of the cutting shape function u(w). When the minimum point of u(w) comes into contact with the W axis, the central control system 12 sets this time point as the cutting start time and takes the minimum point of u(w) as the cutting start position.

[0121] When the central control system 12 controls the dual ultrasonic vibration cutter system to adopt the single-blade cutting mode, it extracts the minimum coordinate point of the cutting shape function u(w) as the cutting entry point of the first ultrasonic cutter, and extracts the maximum coordinate point of the cutting shape function u(w) as the cutting exit point of the first ultrasonic cutter.

[0122] When the central control system 12 controls the dual ultrasonic vibration cutting system to adopt the dual-blade cutting mode, it determines whether the cutting quadrant segmentation point M is the maximum value point of u(w) in w∈(wmin,wmax);

[0123] If M is the maximum value point, the central control system 12 takes the intersection point u(wmin) of the cutting function image and the left edge of the prepreg as the cutting entry point of the first ultrasonic cutting knife, and sets the position of the cutting quadrant segmentation point M as the cutting exit point of the first ultrasonic cutting knife, so that point M is taken as the entry point of the second ultrasonic cutting knife, and the intersection point u(wmax) of the cutting function image and the right edge of the prepreg as the exit point of the second ultrasonic cutting knife;

[0124] If M is not the maximum value point, the central control system 12 sets the position of the cutting quadrant segmentation point M as the cutting entry point of the first ultrasonic cutting blade, and sets the intersection point u(wmin) of the cleavage function image and the left edge of the prepreg as the exit point of the first ultrasonic cutting blade, thereby setting the cutting quadrant segmentation point M as the cutting entry point of the second ultrasonic cutting blade, and setting the intersection point u(wmax) of the cleavage function image and the right edge of the prepreg as the exit point of the second ultrasonic cutting blade.

[0125] By selecting a suitable cutting entry point, the central control system 12 enables the device to reduce the stroke of adjusting the device on the U-axis using the second servo motor group when cutting the prepreg tape. Instead, it provides the movement component of the device on the U-axis for cutting by moving the prepreg tape, which simplifies the control process of the device and saves energy consumption.

[0126] Furthermore, the central control system 12 controls the first servo motor group 1 and the second servo motor group to align the first ultrasonic cutting blade with the cutting entry point of the first ultrasonic cutting blade on the W axis, based on the cutting entry point of the first ultrasonic cutting blade.

[0127] The central control system 12 can receive the linear velocity Vc of the prepreg tape in the tape laying head and store the lifting speed Vd of the linear cylinder group 5.

[0128] The central control system 12 calculates the cutting preparation distance Ld1 of the first ultrasonic cutting knife and the cutting preparation distance Ld2 of the second ultrasonic cutting knife based on the measurement information of the spiral micrometer 8, the linear velocity of the prepreg in the tape laying head, and the lifting speed of the linear cylinder group 5.

[0129] The central control system 12 calculates the current moment, the vertical distance L01 between the cutting start position and the W axis based on the cutting position in the cutting information sent by the tape laying machine, and calculates the cutting distance h1 of the first ultrasonic cutting blade at the current moment. It sets Ld = h1 × Vc / Vd, compares L01 with the cutting preparation distance Ld1, and determines whether to control the pneumatic lifting system to push the first ultrasonic cutting blade based on the comparison result.

[0130] If L01 > Ld1, the central control system 12 will temporarily not control the pneumatic lifting system to start;

[0131] If L01 = Ld1, the pneumatic lifting system pushes the first ultrasonic cutting blade down a distance of h1, thereby putting the first ultrasonic cutting blade into the cutting working state;

[0132] When the central control system 12 determines that the first ultrasonic cutting blade has reached the cutting point, it controls the pneumatic lifting system to lift the first ultrasonic cutting blade to a position where it is not in operation.

[0133] The central control system 12 calculates the downward cutting distance h2 of the second ultrasonic cutting blade, and calculates the distance L02 between the entry point of the second ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction. It also calculates the downward cutting distance h2 of the second ultrasonic cutting blade at the current moment. Setting Ld2 = h2 × Vc / Vd, the central control system 12 compares L02 with the cutting preparation distance Ld2, and determines whether to control the pneumatic lifting system to push the second ultrasonic cutting blade based on the comparison result.

[0134] If L02 > Ld2, the central control system 12 will temporarily not control the pneumatic lifting system to start;

[0135] If L02 = Ld2, the pneumatic lifting system pushes the second ultrasonic cutting blade down a distance of h2, thereby putting the second ultrasonic cutting blade into the cutting working state;

[0136] When the central control system 12 determines that the second ultrasonic cutting blade has reached the cutting point, it controls the pneumatic lifting system to lift the second ultrasonic cutting blade to a position where it is not in operation.

[0137] The central control system 12 analyzes the cutting preparation distance to ensure the device's cutting time, thereby improving the device's reliability and avoiding inaccurate cutting positions.

[0138] Furthermore, the central control system 12 stores the maximum speed value Vwmax of the dual ultrasonic vibration cutting system driven by the first servo motor group 1 in the W-axis direction.

[0139] The central control system 12 stores the distance R between the first ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction;

[0140] When the dual ultrasonic vibration cutting system adopts the dual-blade cutting mode, the central control system 12 calculates the distance U1x that the first ultrasonic cutting blade cuts the prepreg tape in the U-axis direction during the cutting process of the first ultrasonic cutting blade, and calculates the distance Wx between the exit point of the first ultrasonic cutting blade and the entry point of the second ultrasonic cutting blade in the W-axis direction.

[0141] The central control system 12 calculates the time length tr between the first ultrasonic cutting blade reaching the exit point and the second ultrasonic cutting blade reaching the entry point when blade switching is required in the dual-blade cutting mode, where tr = (R-U1x) ÷ Vc.

[0142] When the first ultrasonic cutting blade reaches the exit point, the central control system 12 controls the first servo motor group 1 to move, so that the second ultrasonic cutting blade is aligned with the position of its entry point on the W axis. The central control system 12 calculates the positioning distance Wx of the first servo motor group 1 for moving and positioning the second ultrasonic cutting blade, and calculates the expected positioning speed Vwx required for the first servo motor group 1 to move and position the positioning distance Wx within the time tr, and sets Vwx = Wx / tr.

[0143] The central control system 12 compares the expected positioning speed Vwx with the maximum moving speed Vwmax of the first servo motor group 1.

[0144] If Vwx ≤ Vwmax, the central control system 12 controls the first servo motor group 1 to position the cutting of the second ultrasonic cutting knife at a moving speed of Vwx;

[0145] If Vwx > Vwmax, the central control system 12 controls the first servo motor group 1 to position the cutting of the second ultrasonic cutting knife at a moving speed of Vwmax, controls the second servo motor group to move in the negative direction of the U axis at a speed of Vc, and keeps the movement for a duration of tl. The duration of tl is set to (Vwx × tr) ÷ Vwmax, and when the duration of tl ends, the original working state of the second servo motor group is restored.

[0146] The central control system 12 determines whether the second servo motor group needs to be controlled to adjust the position of the device during tool changing by measuring the maximum speed value of the first servo motor group 1 moving in the W-axis direction and the distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction. This ensures that the cutting quadrant segmentation point can achieve precise coupling during the tool changing process, thereby improving the accuracy of the device.

[0147] Furthermore, when the dual ultrasonic vibration cutter system cuts the prepreg tape, the first servo motor group 1 moves the dual ultrasonic vibration cutter system along the W axis at a constant speed of Vw.

[0148] The central control system 12 is equipped with an initial cutting speed ratio K, which is set to K = |Vc / Vw|.

[0149] The central control system 12 controls the second servo motor group to make fine adjustments to the movement of the dual ultrasonic vibration cutter system in the U-axis direction according to the cutting shape function u(w). The central control system 12 calculates the derivative function u'(w) of the cutting shape function u(w).

[0150] When the first ultrasonic cutting blade or the second ultrasonic cutting blade moves to A(a, u(a)) on the cutting shape function, the central control system 12 compares the derivative value u'(a) at point A with the initial cutting speed ratio K.

[0151] If |u'(a)|=K, the central control system 12 controls the second servo motor group to move the dual ultrasonic vibration cutter system in the negative direction of the U axis at a speed of Vu(a), and sets Vu(a)=0;

[0152] If |u'(a)| < K, the central control system 12 controls the second servo motor group to move the dual ultrasonic vibration cutter system in the negative direction of the U axis at a speed of Vu(a), and sets Vu(a) = [K - |u'(a)|] × |Vc|;

[0153] If |u'(a)|>K, the central control system 12 controls the second servo motor group to move the dual ultrasonic vibration cutter system in the positive direction of the U axis at a speed of Vu(a), and sets Vu(a)=[|u'(a)|-K]×|Vc|;

[0154] The central control system 12 compares the values ​​of the derivative function u'(w) at each point in w∈(wmin,wmax) with the initial cutting speed ratio K, and calculates the speed Vu of the second servo motor group moving the dual ultrasonic vibration cutting knife system in the U-axis direction when the first ultrasonic cutting knife and the second ultrasonic cutting knife move to each point on the cutting shape function during the cutting process of the device cutting the prepreg tape.

[0155] The central control system 12 constructs a function Vu(w) of the speed Vu of the second servo motor group moving the dual ultrasonic vibration cutter system in the U-axis direction at each point with respect to the coordinate w of each point in the W-axis direction, and controls the second servo motor group to work according to Vu(w), so that the cutting shape meets the cutting requirements.

[0156] The central control system 12 analyzes the derivative of the cutting shape function to construct a function of the speed at which the second servo motor group moves the dual ultrasonic vibration cutter system in the U-axis direction with respect to the coordinates of each point in the W-axis direction, so that the cutting shape can be cut out by controlling the motion.

[0157] Furthermore, the central control system 12 can control the cutting angle β between the first ultrasonic cutting blade and the second ultrasonic cutting blade;

[0158] The central control system 12 sets the cutting angle function β(w) of the first ultrasonic cutting blade and the second ultrasonic cutting blade with respect to the upward coordinate w of the W axis according to u'(w), and sets β(w) = arctan|u'(w)|;

[0159] The central control system 12 controls the cutting angle of the first ultrasonic cutting blade and the second ultrasonic cutting blade to be controlled by the cutting angle function β(w) of the cutting blade rotation drive system 10.

[0160] The central control system 12 controls and adjusts the cutting angle so that the cutting angle of the first ultrasonic cutting blade and the second ultrasonic cutting blade is the same as the tangent direction of the motion trajectory, thereby improving the cutting quality.

[0161] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An ultrasonic cutting device for irregular cross-sections of an automatic tape laying machine, characterized in that, include, A transverse linear module system, including: The first servo motor unit is used to provide power for the lateral movement of the ultrasonic cutting device for irregular cross-sections of the automatic tape laying machine; A horizontal linear module, which is connected to the first servo motor group via a coupling, is used to provide a track for the device to move laterally. The module slider is capable of sliding relative to the transverse linear module; Module bracket, used to fix the horizontal linear module; The second servo motor unit is fixed on the tape laying machine and connected to the module bracket, and is used to provide power for the vertical movement of the ultrasonic cutting device for irregular cross-section of the automatic tape laying machine; Dual ultrasonic vibration cutting system for ultrasonic cutting of prepreg tape; A pneumatic lifting system is used to drive the dual ultrasonic vibration cutter system to move in the vertical direction; a cutter rotation drive system is used to adjust the cutting angle of the device. The central control system is connected to the first servo motor group, the transverse linear module, the second servo motor group, the dual ultrasonic vibration cutter system, the pneumatic lifting system, and the cutter rotation drive system via data transmission lines. The central control system receives cutting information from the tape laying machine regarding the cutting of the prepreg tape. Based on this information, it determines the cutting mode of the dual ultrasonic vibration cutter system and controls the pneumatic lifting system to push the dual ultrasonic vibration cutter system to reach the cutting depth. The central control system performs function analysis on the cutting shape and, based on the analysis results, constructs a function for adjusting the position of the dual ultrasonic vibration cutter system by the second servo motor group during the cutting process, and a function for adjusting the angle of the dual ultrasonic vibration cutter system by the cutter rotation drive system. The central control system controls the second servo motor group and the cutter rotation drive system according to the constructed functions, thereby enabling the device to meet the cutting requirements.

2. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 1, characterized in that, The pneumatic lifting system include, An ultrasonic cutting head bracket, which is fixed on the module slider, is used to fix the components of the pneumatic lifting system; A linear cylinder assembly, comprising four linear cylinders, is fixed on the ultrasonic cutting head bracket and is used to provide power for the vertical movement of the dual ultrasonic vibration cutting system. The ultrasonic cutting head slider is connected to the cylinder rod in the linear cylinder assembly by a thread and is guided by a linear bearing to perform linear reciprocating motion in the vertical direction. A micrometer is installed at the lower end of the ultrasonic cutting head slider to detect the cutting depth of the device and send the detection information to the central control system, so that the central control system can calculate the position of the dual ultrasonic vibration cutting blade system in the vertical direction.

3. The ultrasonic cutting device for irregular cross-sections of the automatic tape laying machine according to claim 2, characterized in that, The dual ultrasonic vibration cutting system include, An ultrasonic cutting blade assembly includes a first ultrasonic cutting blade and a second ultrasonic cutting blade, which are used to ultrasonically cut a prepreg tape. A vibrator sleeve is used to fix an ultrasonic vibrator, which is used to provide cutting ultrasonic energy to the ultrasonic cutting blade assembly; The cutter rotation drive system includes, The third servo motor group includes two servo motors, which are mounted on the ultrasonic cutting head bracket and are used to provide power for adjusting the angle between the first ultrasonic cutting blade and the second ultrasonic cutting blade. The timing pulley is fixed to the vibrator sleeve by screws, which is used to drive the vibrator sleeve; The main synchronous pulley is located at the lower end of the servo motor in the third servo motor group. The main synchronous pulley drives the slave synchronous pulley to rotate through a high-precision synchronous belt.

4. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 3, characterized in that, When the device cuts the prepreg tape, the prepreg tape passes through the cutting anvil in the tape laying head. The central control system sets the linear velocity direction of the tape laying head rotation to the -U direction, takes the center line of the cutting anvil as the U-axis position, and sets the direction perpendicular to the U-axis as the W-axis direction. Thus, the positive direction of the U-axis is the opposite direction to the linear velocity direction of the tape laying head rotation, and the positive direction of the W-axis is from left to right. The left and right edges of the prepreg tape located on the cutting board intersect the W-axis perpendicularly, and the central control system sets the two intersection points as the minimum and maximum values ​​of the prepreg tape on the W-axis, respectively. The central control system controls the operation of the first servo motor group to make the first ultrasonic cutting blade and the second ultrasonic cutting blade move in the W-axis direction, and can also control the operation of the second servo motor group to make the first ultrasonic cutting blade and the second ultrasonic cutting blade move in the U-axis direction. The central control system can calculate the distance between the positions of the first ultrasonic cutting blade and the second ultrasonic cutting blade in the non-working state and the positions of the first ultrasonic cutting blade and the second ultrasonic cutting blade when cutting the uppermost prepreg tape, based on the consumption of prepreg tape during the tape laying process and the data information measured by the spiral micrometer. This distance is set as the cutting distance, wherein the cutting distance gradually increases with the consumption of prepreg tape. The central control system controls the cutting distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade by controlling the linear cylinder assembly.

5. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 4, characterized in that, The central control system receives cutting information from the tape laying machine, which includes the cutting shape function and the cutting position. Among them, the cutting shape function is the data basis for the cutting shape, the image of the cutting shape function is the cutting shape, and the domain of the cutting shape function is determined based on the minimum and maximum values ​​of the prepreg tape on the W axis; The cutting position is the position information of the cutting shape in the U-axis direction of the prepreg tape. The central control system analyzes the cutting shape function and the cutting position to enable the device to meet all the conditions required for cutting the prepreg tape. The central control system stores the cutting modes of the dual ultrasonic vibration cutting system, including single-blade cutting mode and dual-blade cutting mode; The central control system analyzes the cutting shape function to determine the cutting mode adopted by the dual ultrasonic vibration cutting system. If the monotonicity of the cutting shape function remains unchanged throughout the entire domain or the value of the cutting shape function is always constant, the central control system determines that the dual ultrasonic vibration cutter system adopts the single-blade cutting mode. If the monotonicity of the cutting shape function changes throughout the entire domain, the central control system determines that the dual ultrasonic vibration cutting system adopts a dual-blade cutting mode, and sets the coordinate point where the monotonicity of the cutting shape function changes as the cutting quadrant division point of the cutting shape function.

6. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 5, characterized in that, The central control system can determine the cutting position. During the tape laying process, the preset cutting position moves along the negative direction of the U axis to the W axis as the prepreg tape moves. The central control system observes the minimum point of the cutting shape function. When the minimum point of the cutting shape function contacts the W axis, the central control system sets this time point as the cutting start time and takes the minimum point of the cutting shape function as the cutting start position. When the central control system controls the dual ultrasonic vibration cutter system to use the single-blade cutting mode, it extracts the minimum coordinate point of the cutting shape function as the cutting entry point of the first ultrasonic cutter, and extracts the maximum coordinate point of the cutting shape function as the cutting exit point of the first ultrasonic cutter. When the central control system controls the dual ultrasonic vibration cutting system to adopt the dual-blade cutting mode, it determines whether the cutting quadrant segmentation point is the maximum value point of the cutting shape function in the entire domain. If the cutting quadrant segmentation point is the maximum value point, the central control system takes the intersection of the cutting function image and the left edge of the prepreg as the cutting entry point of the first ultrasonic cutting knife, and sets the position of the cutting quadrant segmentation point as the cutting exit point of the first ultrasonic cutting knife, thereby taking the cutting quadrant segmentation point as the entry point of the second ultrasonic cutting knife, and taking the intersection of the cutting function image and the right edge of the prepreg as the exit point of the second ultrasonic cutting knife; If the cutting quadrant segmentation point is not the maximum value point, the central control system sets the cutting quadrant segmentation point position as the cutting entry point of the first ultrasonic cutter, and sets the intersection of the cleavage function image and the left edge of the prepreg as the exit point of the first ultrasonic cutter, thereby setting the cutting quadrant segmentation point as the cutting entry point of the second ultrasonic cutter, and setting the intersection of the cleavage function image and the right edge of the prepreg as the exit point of the second ultrasonic cutter.

7. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 6, characterized in that, The central control system controls the first servo motor group and the second servo motor group to align the first ultrasonic cutting blade with the cutting entry point of the first ultrasonic cutting blade on the W axis, based on the cutting entry point of the first ultrasonic cutting blade. The central control system can receive the linear velocity of the prepreg tape in the tape laying head and store the lifting speed of the linear cylinder group. The central control system calculates the cutting preparation distance of the first ultrasonic cutting blade and the cutting preparation distance of the second ultrasonic cutting blade based on the measurement information of the spiral micrometer, the linear velocity of the prepreg in the tape laying head, and the lifting speed of the linear cylinder group. The central control system calculates the distance between the positions of the first and second ultrasonic cutting blades and their entry points in the U-axis direction based on the cutting position information sent by the tape laying machine. The central control system then performs a comprehensive calculation with the cutting preparation distance of the first ultrasonic cutting blade, the cutting preparation distance of the second ultrasonic cutting blade, the linear velocity of the prepreg tape, and the lifting speed of the linear cylinder assembly. The calculation results are compared to determine whether the pneumatic lifting system should push the first and second ultrasonic cutting blades down. When the central control system determines that the first ultrasonic cutting blade has reached the exit point, it controls the pneumatic lifting system to raise the first ultrasonic cutting blade to a non-working position. When the central control system determines that the second ultrasonic cutting blade has reached the exit point, it controls the pneumatic lifting system to raise the second ultrasonic cutting blade to a non-working position.

8. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 7, characterized in that, The central control system stores the maximum speed value of the dual ultrasonic vibration cutting system driven by the first servo motor group to move in the W-axis direction; The central control system stores the distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction; When the dual ultrasonic vibration cutting system adopts the dual-blade cutting mode, the central control system calculates the distance that the first ultrasonic cutting blade cuts the prepreg tape in the U-axis direction during the cutting process of the first ultrasonic cutting blade, and calculates the distance between the exit point of the first ultrasonic cutting blade and the entry point of the second ultrasonic cutting blade in the W-axis direction. The central control system calculates the time between the first ultrasonic cutting blade reaching the exit point and the second ultrasonic cutting blade reaching the entry point when blade switching is required in the dual-blade cutting mode based on the distance between the first ultrasonic cutting blade and the second ultrasonic cutting blade in the U-axis direction, the cutting distance of the first ultrasonic cutting blade on the prepreg tape in the U-axis direction, and the linear velocity of the prepreg tape in the tape laying head. It also calculates the expected positioning speed required for the first servo motor group to move and position the distance within this time length. The central control system compares the predicted positioning speed with the maximum speed value of the first servo motor group. If the expected positioning speed is less than or equal to the maximum speed of the first servo motor group, the central control system controls the first servo motor group to cut and position the second ultrasonic cutting blade at the expected positioning speed. If the expected positioning speed is greater than the maximum speed of the first servo motor group, the central control system controls the first servo motor group to cut and position the second ultrasonic cutting knife at the maximum speed. The central control system controls the second servo motor group to move the dual ultrasonic vibration cutting knife system in the negative U-axis direction using the linear speed of the prepreg tape in the tape laying head as the working speed. The system also calculates the working time for the second servo motor group to execute the command and restores the original set working state of the second servo motor group after the working time ends.

9. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 8, characterized in that, When the dual ultrasonic vibration cutter system cuts the prepreg tape, the first servo motor group moves the dual ultrasonic vibration cutter system along the W axis at a constant speed. The central control system is equipped with an initial cutting speed ratio. The central control system calculates the derivative function of the cutting shape function and compares the absolute value of the derivative function at each point on the cutting shape function with the initial cutting speed ratio. Based on the comparison result, the system calculates the speed and direction of the second servo motor group moving the dual ultrasonic vibration cutter system at each point in the cutting shape function. The central control system uses the speed at which the second servo motor group moves the dual ultrasonic vibration cutter system in the U-axis direction at each point to construct a function for adjusting the position of the dual ultrasonic vibration cutter system by the second servo motor group.

10. The ultrasonic cutting device for irregular cross-section of automatic tape laying machine according to claim 9, characterized in that, The central control system can control the cutting angle between the first ultrasonic cutting blade and the second ultrasonic cutting blade; The central control system sets the cutting angle between the first ultrasonic cutting blade and the second ultrasonic cutting blade as a function of the cutting angle with respect to the upward coordinate of the W axis, based on the derivative function of the cutting shape function. The central control system controls the cutting angle of the first ultrasonic cutting blade and the second ultrasonic cutting blade according to the cutting angle function.

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