Laying device and method for carbon fiber prepreg

Abstract

The present invention relates to the technical field of carbon fiber, and particularly relates to a laminating device and method for carbon fiber prepreg. In this device, a first suction cup and a first peeling mechanism are provided at the end of the robotic arm. The first suction cup is used to adsorb the release paper of the carbon fiber prepreg; the second peeling mechanism is used to peel the polyethylene film in the carbon fiber prepreg adsorbed by the first suction cup; the laminating table is used to place the finished prepreg to be laminated, and the robotic arm is used to transfer the carbon fiber prepreg with the polyethylene film peeled off to the laminating table and make the first suction cup separate from the release paper of the carbon fiber prepreg, so that the finished prepreg to be laminated and the carbon fiber prepreg with the polyethylene film peeled off are pressed together, and under the drive of the robotic arm, the first peeling mechanism is used to peel the release paper of the carbon fiber prepreg. This solution can improve the laminating efficiency of the carbon fiber prepreg.

Description

Technical Field

[0001] The present invention relates to the technical field of carbon fiber, and particularly relates to an apparatus and method for laying carbon fiber prepreg. Background Art

[0002] Carbon fiber prepreg is a material in which resin is pre-bonded to carbon fiber before curing and kept for a certain storage period, and it is an intermediate material for making carbon fiber composite materials. The common components of carbon fiber prepreg are: a release paper (white) at the bottom, a finished prepreg (black) in the middle, and a polyethylene film (blue) covering the surface.

[0003] In order to obtain carbon fiber composite materials with high strength and high corrosion resistance, it is necessary to lay and form multiple layers of carbon fiber prepreg within the storage period. In related technologies, manual laying is usually adopted, that is, after manually peeling off the release paper and polyethylene film, multiple layers of finished prepreg are pressed and cured. However, the laying efficiency of this method is low.

[0004] Therefore, there is an urgent need for an apparatus and method for laying carbon fiber prepreg to solve the above technical problems. Summary of the Invention

[0005] An embodiment of the present invention provides an apparatus and method for laying carbon fiber prepreg, which can improve the laying efficiency of carbon fiber prepreg.

[0006] In a first aspect, an embodiment of the present invention provides an apparatus for laying carbon fiber prepreg. The carbon fiber prepreg includes a release paper, a finished prepreg attached to the release paper, and a polyethylene film attached to the finished prepreg. The apparatus includes:

[0007] A robotic arm with a first suction cup and a first peeling mechanism at its end. The first suction cup is used to adsorb the release paper of the carbon fiber prepreg;

[0008] A second peeling mechanism for peeling the polyethylene film from the carbon fiber prepreg adsorbed by the first suction cup;

[0009] A laying table for placing the finished prepreg to be laid. The robotic arm is used to transfer the carbon fiber prepreg with the polyethylene film peeled off to the laying table and separate the first suction cup from the release paper of the carbon fiber prepreg, so that the finished prepreg to be laid and the carbon fiber prepreg with the polyethylene film peeled off are pressed together, and the release paper of the carbon fiber prepreg is peeled off by the first peeling mechanism driven by the robotic arm.

[0010] In a possible design, it further includes:

[0011] The first positioning table is provided with a plurality of fixed first stoppers and a plurality of movable second stoppers, and all the first stoppers and all the second stoppers form a positioning space for the carbon fiber prepreg.

[0012] In a possible design, at least two of the second stoppers move along the diagonal direction of the carbon fiber prepreg, and the two second stoppers are used to abut against the adjacent two edges of the carbon fiber prepreg.

[0013] In a possible design, it further includes:

[0014] A second positioning table for placing the carbon fiber prepreg adsorbed by the robotic arm from the first positioning table;

[0015] A first vision sensor is further provided at the end of the robotic arm, and the first vision sensor is used to detect the position of the carbon fiber prepreg on the second positioning table to instruct the robotic arm to correct the position of the carbon fiber prepreg.

[0016] In a possible design, the second peeling mechanism includes:

[0017] A second rubber wheel is located at the apex below the second positioning table. The carbon fiber prepreg is driven by the robotic arm to make the polyethylene film of the carbon fiber prepreg contact the second rubber wheel to peel off part of the polyethylene film from the carbon fiber prepreg;

[0018] A second clamp is used to clamp the part of the polyethylene film peeled off from the carbon fiber prepreg to peel off all the polyethylene film from the carbon fiber prepreg under the drive of the robotic arm.

[0019] In a possible design, the first peeling mechanism includes:

[0020] A first rubber wheel is used to contact the release paper in the carbon fiber prepreg on the laying table under the drive of the robotic arm to peel off part of the release paper from the carbon fiber prepreg;

[0021] A first clamp is used to clamp the part of the release paper peeled off from the carbon fiber prepreg to peel off all the release paper from the carbon fiber prepreg under the drive of the robotic arm.

[0022] In a second aspect, an embodiment of the present invention provides a method for laying a carbon fiber prepreg, which is applied to the carbon fiber prepreg laying device described in any one of the above embodiments, and includes:

[0023] Using the first suction cup to adsorb the release paper of the carbon fiber prepreg;

[0024] Use the second peeling mechanism to peel the polyethylene film from the carbon fiber prepreg adsorbed by the first suction cup;

[0025] Use the robotic arm to transfer the carbon fiber prepreg with the polyethylene film peeled off to the paving table, and separate the first suction cup from the release paper of the carbon fiber prepreg;

[0026] Press the finished prepreg to be paved and the carbon fiber prepreg with the polyethylene film peeled off;

[0027] Driven by the robotic arm, use the first peeling mechanism to peel the release paper of the carbon fiber prepreg.

[0028] In a third aspect, an embodiment of the present invention provides a forming system for a carbon fiber composite material, including the paving device for the carbon fiber prepreg according to any one of the above embodiments.

[0029] An embodiment of the present invention provides a paving device and method for a carbon fiber prepreg. By setting structures such as a robotic arm, a second peeling mechanism, and a paving table, the release paper and polyethylene film of the carbon fiber prepreg can be peeled off, so that the paving of the carbon fiber prepreg can be realized, thereby improving the paving efficiency of the carbon fiber prepreg. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 is a schematic structural diagram of a forming system for a carbon fiber composite material provided by an embodiment of the present invention;

[0032] Figure 2 is Figure 1 a partial enlarged view of the forming system of the carbon fiber composite material shown;

[0033] Figure 3 is a partial structural diagram of a paving device for a carbon fiber prepreg provided by an embodiment of the present invention;

[0034] Figure 4 is a partial structural diagram of a pressing device for a carbon fiber prepreg provided by an embodiment of the present invention;

[0035] Figure 5 is a flowchart of a paving method for a carbon fiber prepreg provided by an embodiment of the present invention.

[0036] Reference numerals:

[0037] 10 - Carbon fiber prepreg; 1 - Robot arm;

[0038] 11 - First suction cup;

[0039] 111 - First strip suction cup;

[0040] 12 - First peeling mechanism;

[0041] 121 - First rubber wheel;

[0042] 122 - First clamp;

[0043] 13 - First vision sensor; 2 - Second peeling mechanism;

[0044] 21 - Second rubber wheel;

[0045] 22 - Second clamp;

[0046] 31 - Laying table;

[0047] 32 - Pressing roller;

[0048] 33 - Vacuum pumping device;

[0049] 34 - Waste bin; 4 - Peeling detection device;

[0050] 41 - Light source;

[0051] 42 - Second vision sensor;

[0052] 51 - Conveying device;

[0053] 52 - Mobile grasping mechanism; 6 - First positioning table;

[0054] 61 - First stop block;

[0055] 62 - Second stop block;

[0056] 7 - Second positioning table;

[0057] 8 - Auxiliary mechanism;

[0058] 81 - Second suction cup; 811 - Second strip suction cup. Detailed implementation manners

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] As Figures 1 to 4 shown, an embodiment of the present invention provides a laying device for carbon fiber prepreg. The carbon fiber prepreg 10 includes a release paper, a finished prepreg attached to the release paper, and a polyethylene film attached to the finished prepreg (the structure of the carbon fiber prepreg 10 is well-known to those skilled in the art, so it is not shown in the drawings). The laying device includes:

[0061] A robotic arm 1 with a first suction cup 11 and a first peeling mechanism 12 at its end. The first suction cup 11 is used to adsorb the release paper of the carbon fiber prepreg 10;

[0062] A second peeling mechanism 2 for peeling the polyethylene film in the carbon fiber prepreg 10 adsorbed by the first suction cup 11;

[0063] A laying table 31 for placing the finished prepreg to be laid. The robotic arm 1 is used to transfer the carbon fiber prepreg 10 with the polyethylene film peeled off to the laying table 31 and make the first suction cup 11 separate from the release paper of the carbon fiber prepreg 10, so that the finished prepreg to be laid and the carbon fiber prepreg 10 with the polyethylene film peeled off are pressed together, and the release paper of the carbon fiber prepreg 10 is peeled off by the first peeling mechanism 12 driven by the robotic arm 1.

[0064] In this embodiment, by setting structures such as the robotic arm 1, the second peeling mechanism 2, and the laying table 31, the release paper and the polyethylene film of the carbon fiber prepreg 10 can be peeled off, so that the laying of the carbon fiber prepreg 10 can be realized, and thus the laying efficiency of the carbon fiber prepreg 10 can be improved.

[0065] It should be noted that the robotic arm 1 is a six-axis robotic arm. Therefore, by means of the robotic arm 1, actions such as the transfer of the carbon fiber prepreg 10 and the peeling of the polyethylene film and the release paper can be realized.

[0066] The first suction cup 11 adopts the negative pressure principle. In order to avoid damaging the carbon fiber prepreg 10 during the adsorption process, the first suction cup 11 needs to adsorb the release paper because the hardness of the release paper is much higher than that of the polyethylene film.

[0067] The laying table 31 is pre-placed with a frame for accommodating the finished prepreg, which is beneficial to ensuring that the edges of multiple finished prepregs are not damaged during the pressing process and is also beneficial to subsequent grasping and transportation.

[0068] In an embodiment of the present invention, the above-mentioned laying device further includes:

[0069] The first positioning table 6 is provided with a plurality of fixed first stoppers 61 and a plurality of movable second stoppers 62, and all the first stoppers 61 and all the second stoppers 62 form a positioning space for the carbon fiber prepreg 10.

[0070] In this embodiment, considering that the carbon fiber prepreg 10 may have different sizes, by providing a plurality of fixed first stoppers 61 and a plurality of movable second stoppers 62 on the first positioning table 6, the positioning space of the carbon fiber prepreg 10 can be changed by changing the positions of the second stoppers 62.

[0071] It can be known that the second stopper 62 can be moved by means of a motor or a cylinder drive, and specific limitations are not made here.

[0072] In an embodiment of the present invention, at least two second stoppers move along the diagonal direction of the carbon fiber prepreg 10, and the two second stoppers are used to abut against the adjacent two edges of the carbon fiber prepreg 10. With such a setting, the positioning space of the carbon fiber prepreg 10 can be changed conveniently and quickly.

[0073] In an embodiment of the present invention, the above-mentioned paving device further includes:

[0074] A second positioning table 7 for placing the carbon fiber prepreg 10 adsorbed from the first positioning table 6 by the robotic arm 1;

[0075] A first vision sensor 13 is further provided at the end of the robotic arm 1. The first vision sensor 13 is used to detect the position of the carbon fiber prepreg 10 located on the second positioning table 7 to instruct the robotic arm 1 to correct the position of the carbon fiber prepreg 10.

[0076] In this embodiment, by providing the first positioning table 6, it is beneficial to ensure that the position of the carbon fiber prepreg 10 on the second positioning table 7 is more accurate; by providing the first vision sensor 13 at the end of the robotic arm 1, the position of the carbon fiber prepreg 10 on the second positioning table 7 can be further ensured to be accurate. Therefore, only when the position of the carbon fiber prepreg 10 on the second positioning table 7 is accurate can the success rate of subsequent peeling of the polyethylene film and the release paper be further ensured.

[0077] In an embodiment of the present invention, the second peeling mechanism 2 includes:

[0078] A second rubber wheel 21 is located at the apex angle below the second positioning table. The carbon fiber prepreg 10 is driven by the robotic arm 1 to make the polyethylene film of the carbon fiber prepreg 10 contact with the second rubber wheel 21 to peel off part of the polyethylene film from the carbon fiber prepreg 10;

[0079] The second fixture 22 is used to clamp the part of the polyethylene film peeled from the carbon fiber prepreg 10, so as to peel all the polyethylene film from the carbon fiber prepreg 10 under the drive of the robotic arm 1.

[0080] In this embodiment, through the mutual cooperation of the second rubber roller 21, the second fixture 22 and the robotic arm 1, it is possible to peel all the polyethylene film from the carbon fiber prepreg 10.

[0081] It can be known that the second fixture 22 can be opened and closed by means of a motor or a cylinder drive, and no specific limitation is made here.

[0082] In an embodiment of the present invention, the first peeling mechanism 12 includes:

[0083] The first rubber roller 121 is used to contact the release paper in the carbon fiber prepreg 10 located on the paving table 31 under the drive of the robotic arm 1, so as to peel off part of the release paper from the carbon fiber prepreg 10;

[0084] The first fixture 122 is used to clamp the part of the release paper peeled from the carbon fiber prepreg 10, so as to peel all the release paper from the carbon fiber prepreg 10 under the drive of the robotic arm 1.

[0085] In this embodiment, through the mutual cooperation of the first rubber roller 121, the first fixture 122 and the robotic arm 1, it is possible to peel all the release paper from the carbon fiber prepreg 10.

[0086] It can be known that the first fixture 122 can be opened and closed by means of a motor or a cylinder drive, and no specific limitation is made here.

[0087] In addition, the embodiment of the present invention also provides a forming system for carbon fiber composites, including the paving device for carbon fiber prepregs mentioned in any one of the above embodiments.

[0088] It can be understood that the system embodiment provided by the embodiment of the present invention and the above device embodiment belong to the same inventive concept, so the two have the same beneficial effects and will not be elaborated here.

[0089] In an embodiment of the present invention, the forming system further includes a pressing device for carbon fiber prepregs. The pressing device includes a pressing roller 32. The pressing roller 32 can move up and down and horizontally relative to the paving table 31 to press the finished prepreg to be pressed and the carbon fiber prepreg 10 from which the polyethylene film has been peeled to obtain a carbon fiber composite material; after the pressing operation is completed, the first peeling mechanism 12 is used to peel the release paper of the carbon fiber composite material under the drive of the robotic arm 1.

[0090] The pressure roller 32 can move up and down and horizontally relative to the laying table 31 through driving means such as a motor or a cylinder, and specific limitations are not provided herein.

[0091] In an embodiment of the present invention, the forming system further includes:

[0092] A vacuum pumping device 33 for vacuum pumping the carbon fiber composite material;

[0093] A waste bin 34 for receiving the peeled polyethylene film and release paper.

[0094] In this embodiment, after the pressing operation is completed, there will inevitably be residual gas between the finished prepregs. Therefore, through the vacuum pumping treatment of the vacuum pumping device 33, these residual gases can be expelled from the carbon fiber composite material to ensure the strength of the carbon fiber composite material.

[0095] In an embodiment of the present invention, the forming system further includes:

[0096] A peeling detection device 4 is provided with a light source 41 and a second vision sensor 42. The second vision sensor 42 is used to detect whether the second peeling mechanism 2 completely peels the polyethylene film from the carbon fiber prepreg 10, and the light source 41 is used to provide light to the carbon fiber prepreg 10.

[0097] In this embodiment, by providing the peeling detection device 4, it is possible to detect whether the polyethylene film is completely peeled from the carbon fiber prepreg 10 to ensure the forming quality of the subsequent carbon fiber composite material, and the light source 41 can assist the second vision sensor 42 in visual detection.

[0098] It can be understood that the processing chip in the peeling detection device 4 stores the program code of the visual detection algorithm, and the second vision sensor 42 transmits the captured image back to the processing chip to achieve the detection of whether the polyethylene film is completely peeled from the carbon fiber prepreg 10. The specific visual detection algorithm is not elaborated herein.

[0099] In an embodiment of the present invention, the above-mentioned forming system further includes:

[0100] A conveying device 51 for conveying the vacuum-pumped carbon fiber composite material;

[0101] A moving grasping mechanism 52 is arranged above the laying table 31, the vacuum pumping device 33 and the conveying device 51, and is used to grasp the carbon fiber composite material to be sequentially transferred from the laying table 31 to the vacuum pumping device 33 and the conveying device 51.

[0102] In this embodiment, by providing the conveying device 51 and the moving grasping mechanism 52, the conveying and transfer of the carbon fiber composite material can be realized to achieve automated processing.

[0103] In an embodiment of the present invention, the above-mentioned forming system further includes:

[0104] An auxiliary mechanism 8, which can move horizontally relative to the laying table 31. The auxiliary mechanism 8 is provided with a second suction cup 81. After the first suction cup 11 is separated from the release paper of the carbon fiber prepreg 10, the second suction cup 81 is used to adsorb the release paper of the carbon fiber prepreg 10;

[0105] During the pressing operation, the pressing roller 32 and the auxiliary mechanism 8 move horizontally synchronously to cooperate to complete the pressing operation.

[0106] In this embodiment, by setting the auxiliary mechanism 8, it can move horizontally synchronously with the pressing roller 32 during the pressing operation to cooperate to complete the pressing operation. That is, the effect of pressing while withdrawing is achieved.

[0107] It can be known that the auxiliary mechanism 8 can be moved by means of a motor or a cylinder drive, and specific limitations are not made here.

[0108] In an embodiment of the present invention, the suction force of the second suction cup 81 is less than the suction force of the first suction cup 11, so that it is convenient to press the carbon fiber prepreg 10.

[0109] In an embodiment of the present invention, the first suction cup 11 includes a plurality of spaced-apart first strip-shaped suction cups 111, and the second suction cup 81 includes a plurality of spaced-apart second strip-shaped suction cups 811. The first strip-shaped suction cups 111 and the second strip-shaped suction cups 811 can cross each other to complete the adsorption of the carbon fiber prepreg 10 from which the polyethylene film has been peeled off. With such a setting, the adsorption and transfer of the carbon fiber prepreg 10 from which the polyethylene film has been peeled off can be quickly realized.

[0110] In an embodiment of the present invention, the height of each second strip-shaped suction cup 811 gradually increases along the movement direction, so that the pressing effect of the pressing roller 32 on the carbon fiber prepreg 10 can be better ensured.

[0111] That is to say, through the cooperation of the pressing roller 32 and the auxiliary mechanism 8, the way of manual pressing is simulated, so as to realize automatic pressing, and the forming efficiency of the carbon fiber composite material is greatly improved.

[0112] As Figure 5 shown, the embodiment of the present invention provides a laying method for a carbon fiber prepreg, which is applied to the laying device for a carbon fiber prepreg mentioned in any one of the above embodiments. The laying method includes:

[0113] Step B1, using the first suction cup 11 to adsorb the release paper of the carbon fiber prepreg 10;

[0114] Step B2: Use the second peeling mechanism 2 to peel the polyethylene film from the carbon fiber prepreg 10 adsorbed by the first suction cup 11;

[0115] Step B3: Use the robotic arm 1 to transfer the carbon fiber prepreg 10 with the polyethylene film peeled off to the laying table 31, and separate the first suction cup 11 from the release paper of the carbon fiber prepreg 10;

[0116] Step B4: Press the finished prepreg to be laid and the carbon fiber prepreg 10 with the polyethylene film peeled off;

[0117] Step B5: Driven by the robotic arm 1, use the first peeling mechanism 12 to peel the release paper of the carbon fiber prepreg 10.

[0118] It can be understood that the method embodiment provided in the embodiment of the present invention and the above device embodiment belong to the same inventive concept, so they have the same beneficial effects and will not be elaborated here.

[0119] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

[0120] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A forming system for a carbon fiber composite material. The carbon fiber prepreg includes a release paper, a finished prepreg attached to the release paper, and a polyethylene film attached to the finished prepreg. It is characterized in that, A laying device and a pressing device including carbon fiber prepreg The laying device includes: A robotic arm with a first suction cup and a first peeling mechanism at its end, the first suction cup being used to adsorb the release paper of the carbon fiber prepreg; A second peeling mechanism for peeling the polyethylene film from the carbon fiber prepreg adsorbed by the first suction cup; A laying table for placing the finished prepreg to be laid, the robotic arm being used to transfer the carbon fiber prepreg with the polyethylene film peeled off to the laying table and to separate the first suction cup from the release paper of the carbon fiber prepreg, so that the finished prepreg to be laid and the carbon fiber prepreg with the polyethylene film peeled off are pressed together, and under the drive of the robotic arm, the first peeling mechanism is used to peel the release paper of the carbon fiber prepreg; The pressing device includes: A pressing roller that can move up and down and horizontally relative to the laying table to press the finished prepreg to be pressed and the carbon fiber prepreg with the polyethylene film peeled off to obtain a carbon fiber composite material; after the pressing operation is completed, the first peeling mechanism is used to peel the release paper of the carbon fiber composite material under the drive of the robotic arm; An auxiliary mechanism that can move horizontally relative to the laying table, the auxiliary mechanism being provided with a second suction cup. After the first suction cup is separated from the release paper of the carbon fiber prepreg, the second suction cup is used to adsorb the release paper of the carbon fiber prepreg, and the suction force of the second suction cup is less than that of the first suction cup; during the pressing operation, the pressing roller and the auxiliary mechanism move horizontally synchronously to cooperate to complete the pressing operation; The first suction cup includes a plurality of spaced-apart first strip-shaped suction cups, the second suction cup includes a plurality of spaced-apart second strip-shaped suction cups, and the first strip-shaped suction cups and the second strip-shaped suction cups can cross each other to complete the adsorption of the carbon fiber prepreg with the polyethylene film peeled off; the height of each second strip-shaped suction cup gradually increases along its moving direction.

2. The molding system according to claim 1, wherein The laying device further includes: A first positioning table provided with a plurality of fixed first stoppers and a plurality of movable second stoppers, and all the first stoppers and all the second stoppers form a positioning space for the carbon fiber prepreg.

3. The molding system according to claim 2, characterized in that, At least two of the second stoppers move along the diagonal direction of the carbon fiber prepreg, and the two second stoppers are used to abut against the edges of two adjacent ones of the carbon fiber prepreg.

4. The shaping system according to claim 2, wherein The laying device further includes: A second positioning table for placing the carbon fiber prepreg adsorbed by the robotic arm from the first positioning table; A first vision sensor is further provided at the end of the robotic arm, and the first vision sensor is used to detect the position of the carbon fiber prepreg located on the second positioning table to instruct the robotic arm to correct the position of the carbon fiber prepreg.

5. The molding system according to claim 4, wherein The second peeling mechanism includes: A second rubber wheel located at the apex under the second positioning table. The carbon fiber prepreg is driven by the robotic arm to make the polyethylene film of the carbon fiber prepreg contact the second rubber wheel to peel off part of the polyethylene film from the carbon fiber prepreg; A second fixture for clamping a part of the polyethylene film peeled off from the carbon fiber prepreg, so as to peel all the polyethylene film from the carbon fiber prepreg under the drive of the robotic arm.

6. The shaping system according to any one of claims 1-5, characterized in that, The first peeling mechanism includes: A first rubber wheel for contacting the release paper in the carbon fiber prepreg located on the laying table under the drive of the robotic arm, so as to peel off a part of the release paper from the carbon fiber prepreg; A first fixture for clamping a part of the release paper peeled off from the carbon fiber prepreg, so as to peel all the release paper from the carbon fiber prepreg under the drive of the robotic arm.

Images