A compact multiple thermoplastic prepreg narrow tape placement head and placement method

Abstract

The present invention belongs to the technical field of thermoplastic prepreg tape laying, and solves the problems of the existing thermoplastic prepreg tape width being inconsistent with the designability of the tape laying trajectory, poor quality, easy clogging, and re-feeding failure. A compact multiple-strip thermoplastic prepreg narrow tape laying head and laying method are provided, wherein the hollow shaft of the mechanical expansion shaft away from the frame is rotatably connected to the unwinding support shaft, and the hollow shafts of the remaining mechanical expansion shafts are rotatably sleeved layer by layer; the loosening or tightening function of the multiple sets of mechanical expansion shafts is achieved by loosening or tightening the nut; the first pulley and the corresponding second pulley are connected by a belt and achieve independent winding and unwinding of the material trays on the multiple sets of mechanical expansion shafts; the re-feeding mechanism sends the prepreg narrow tape that has passed through the corresponding material tray, rocker mechanism, and guide mechanism to the clamping mechanism, shearing mechanism, heating mechanism, and reaches the bottom of the compacting roller of the compacting mechanism to achieve the laying of the prepreg narrow tape. The present invention can achieve the independent laying of multiple prepreg narrow tapes with high laying efficiency and good quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of prepreg tape laying, and in particular relates to a compact multiple-strip thermoplastic prepreg narrow tape laying head and a laying method. Background Art

[0002] The automatic tape laying technology of carbon fiber composite materials is to lead the strip-shaped fiber prepreg out from the material tray or creel, and solidify it on the mold surface through pressure and heating.

[0003] Currently, the prepreg tape used in tape laying equipment is usually a single strip, with a small curvature that can be laid, and the tape width is also limited, which restricts the equipment's application areas. Gaps or overlaps are easily generated between the fiber bundles in the fiber laying equipment, which can affect the mechanical properties and surface quality of the component. In addition, the unwinding mechanisms of the various barrels in the traditional multi-bundle laying head are generally arranged in a dispersed manner, and the prepreg tape will be spatially distorted in the path from the creel to the compaction roller. Thermoplastic prepreg tapes with a relatively hard texture will be damaged after being twisted, thus affecting the laying quality. In addition, the warping of the prepreg tape caused by excessive bending and twisting will cause it to be transported unsmoothly in the shearing, re-feeding and guide grooves, resulting in problems such as blockage of the prepreg tape and re-feeding failure. Summary of the Invention

[0004] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a compact multiple thermoplastic prepreg narrow tape placement head and a placement method.

[0005] The present invention is implemented by the following technical solution: a compact multiple thermoplastic prepreg narrow tape laying head, including a frame, a mechanical expansion shaft assembly, a material tray group, a rewinding mechanism, a rocker mechanism, a guide mechanism, a re-feeding mechanism, a clamping mechanism, a shearing mechanism, a heating mechanism and a compacting mechanism; an unwinding support shaft is provided on the frame, the mechanical expansion shaft assembly includes at least two groups of mechanical expansion shafts, the mechanical expansion shaft includes an expansion shaft main shaft, an expansion shaft auxiliary shaft, an expansion block group and an elastic rubber ring; a spline groove is provided on the hollow shaft body of the expansion shaft main shaft, and a spline groove is provided on the expansion shaft auxiliary shaft. The expansion block group is a multi-section split structure with a mating convex key. The main shaft and auxiliary shaft of the expansion shaft respectively cooperate with the inclined surfaces on both sides of the expansion block group and can be tightened by the elastic rubber ring wrapped around the expansion block group. A boss is provided on the auxiliary shaft of the mechanical expansion shaft close to the frame, and the convex key on the mechanical expansion shaft is provided on the inner side of the boss. All mechanical expansion shafts take the unwinding support shaft as the central axis, and the hollow shaft body of the mechanical expansion shaft away from the frame is rotatably connected to the unwinding support shaft, and the hollow shaft bodies of the other mechanical expansion shafts are rotatably sleeved layer by layer. The boss of the mechanical expansion shaft close to the frame, the other The hollow shafts of the mechanical expansion shafts all pass through the back of the frame and the ends are fixed with the first pulleys; the end of the mechanical expansion shaft assembly away from the frame is limited by a nut screwed on the unwinding support shaft, and the loosening or tightening function of multiple sets of mechanical expansion shafts can be achieved by loosening or tightening the nut; the number of material trays in the material tray group is consistent with the number of mechanical expansion shafts, and the material trays are sleeved on the circumference of the corresponding mechanical expansion shafts; the number of unwinding mechanisms is consistent with the number of mechanical expansion shafts, including a servo motor, a second pulley and a belt. The first pulley is connected to the corresponding second pulley through a belt to realize multiple sets of mechanical expansion shafts. The mechanical expansion shaft is used to independently reel in and out the material tray; the rocker mechanism includes the same number of rockers and cylinders as the mechanical expansion shafts. Under the action of the cylinders, the rockers independently compensate for the sudden change in tension of the corresponding prepreg narrow strip during the laying process; the guide mechanism includes the same number of guide rollers as the mechanical expansion shafts and can deliver the prepreg narrow strip passing through the corresponding material tray and the rocker mechanism to the re-feeding mechanism; under the action of the active roller and the driven roller of the re-feeding mechanism, the prepreg narrow strip passes through the clamping mechanism, the shearing mechanism, the heating mechanism in sequence and reaches the bottom of the compacting roller of the compacting mechanism to realize the laying of the prepreg narrow strip.

[0006] Preferably, the main shaft of the expansion shaft includes a hollow shaft body and a main shaft disk body, the auxiliary shaft of the expansion shaft includes a convex key and an auxiliary shaft disk body, the circumference of the main shaft disk body and the auxiliary shaft disk body both have inner inclined surfaces that match the expansion block group, the expansion block group includes multiple arc-shaped wedge blocks, and the circumferential surface of the expansion block group has a groove for installing an elastic rubber ring, the hollow shaft body is fixedly connected to the inner ring of the main shaft disk body, the boss of the mechanical expansion shaft close to the frame is fixed to the inner ring of the auxiliary shaft disk body, and the convex keys of the remaining mechanical expansion shafts are fixed to the inner ring of the auxiliary shaft disk body.

[0007] Preferably, a thrust ball bearing is installed between the main shaft disk body and the nut of the mechanical expansion shaft away from the frame, and a thrust ball bearing is installed between the auxiliary shaft disk bodies and the main shaft disk bodies of two adjacent mechanical expansion shafts, and a rotational clearance is left. The thrust ball bearing is used to achieve equal expansion force for all mechanical expansion shafts to prevent the material tray from slipping, and a double-row cylindrical roller bearing is installed between the shoulder of the boss of the mechanical expansion shaft adjacent to the frame and the frame; the hollow shaft body of the mechanical expansion shaft away from the frame and the unwinding support shaft, as well as the hollow shaft bodies of two adjacent mechanical expansion shafts are rotatably connected through a number of bearings and separating sleeves; one end of the unwinding support shaft away from the nut passes through the frame and is rotatably connected to the auxiliary support plate connected to the back of the frame through a double-row cylindrical roller bearing, and the double-row cylindrical roller bearing is limited by the grooves of the end cover and the auxiliary support plate, and the end cover is fixed to the end of the unwinding support shaft by a set screw.

[0008] Preferably, in the direction away from the frame, the lengths of the hollow shafts of adjacent mechanical expansion shafts increase successively and the diameters decrease successively; the diameter of the boss of the mechanical expansion shaft adjacent to the frame is larger than the diameter of the hollow shaft of the mechanical expansion shaft.

[0009] Preferably, the rocker mechanism includes a rocker, a cylinder, a rocker support shaft and a cylinder support shaft. The rocker support shaft is located obliquely above the cylinder support shaft and both are fixedly connected to the front of the frame. The rocker is connected to the rocker with the same number of mechanical expansion shafts at axial intervals along the rocker support shaft. The middle part of the rocker is connected to the rocker support shaft through a deep groove ball bearing and a pressure cover. The deep groove ball bearing close to the frame is limited in axial movement by the shoulder of the rocker support shaft and a separating sleeve sleeved on the rocker support shaft and is tightened through a pressure cover connected to the rocker bolt. The remaining deep groove ball bearings on the rocker support shaft are limited in axial movement by two separating sleeves sleeved on the rocker support shaft and are tightened through the pressure cover. The separating sleeve away from the frame abuts against the locking nut on the rocker support shaft; two columns extend along the axial direction of the rocker support shaft at both ends of the rocker, and the columns are rotated through deep groove ball bearings The movable sleeve is provided with a roller for overlapping pre-impregnated narrow strips; cylinders with the same number as the mechanical expansion shaft are connected to the axially spaced rotation of the cylinder support shaft, and the cylinder and the cylinder support shaft are connected by a deep groove ball bearing group, a cylinder connecting seat and a pressure plate. The adjacent deep groove ball bearing groups on the cylinder support shaft and the two deep groove ball bearings in the same group are restricted in axial movement by a separating sleeve. The deep groove ball bearing group is placed on the inner side of the cylinder connecting seat and is tightened by a pressure plate bolted to the cylinder connecting seat; the action end of the cylinder is connected to the rocker arm connecting seat by bolts, and the rocker arm connecting seat is connected to the pin hole on the rocker arm through a pin shaft to form a cylindrical rotating pair; the guide mechanism includes a guide roller support shaft and a number of guide rollers with the same number as the mechanical expansion shaft. The guide rollers are arranged on the guide roller support shaft in a spaced rotation manner and correspond to the positions of the rollers on the rocker arm support shaft. The guide roller support shaft is located obliquely below the rocker arm support shaft.

[0010] The driven roller is connected to the component frame through the re-feeding cylinder and cooperates with the active roller to drive the pre-impeded narrow strip.

[0011] Preferably, the clamping mechanism includes clamping rubber blocks and clamping cylinders that are the same in number as the mechanical expansion shafts. The clamping rubber blocks can, under the action of the corresponding clamping cylinders, press the prepreg narrow strips led out by the re-feeding mechanism onto the inclined plate on the component frame, and the inclined plate has a pressing groove corresponding to the clamping rubber blocks; the shearing mechanism includes shearing blades and shearing cylinders that are the same in number as the mechanical expansion shafts. The shearing blades can cut off the compressed prepreg narrow strips under the action of the corresponding shearing cylinders, and the inclined plate has a cutting seam corresponding to the shearing blades; the re-feeding mechanism, the clamping mechanism, and the shearing mechanism are arranged in sequence from top to bottom along the inclined plate, and the inclined plate behind the cutting seam has a guide channel for leading out multiple prepreg narrow strips.

[0012] Preferably, the prepreg strip guided through the guide channel is heated by a heating mechanism and then reaches a compacting mechanism, which includes a compacting roller and a compacting cylinder. The compacting cylinder is fixed to the frame and can drive the compacting roller to press down to achieve the laying of the prepreg strip.

[0013] The present invention also provides a compact method for laying multiple thermoplastic prepreg narrow tapes, comprising the following steps:

[0014] S1: Install all the trays on the corresponding mechanical expansion shafts and tighten the nuts to achieve expansion and fixation between the trays and the mechanical expansion shafts;

[0015] S2: The unwinding mechanism drives the prepreg strips on the material tray to be unwound. Multiple prepreg strips are sequentially guided to the re-feeding mechanism through the swing arm of the swing arm mechanism and the guide roller of the guide mechanism. The active roller of the re-feeding mechanism actively rotates and cooperates with the driven roller to guide the prepreg strips through the clamping mechanism, the shearing mechanism, the guide channel of the inclined plate, and the heating mechanism to the bottom of the compacting mechanism. At this time, the clamping cylinder of the clamping mechanism drives the clamping rubber block to extend and press the corresponding prepreg strip into the compacting groove, and the active roller of the re-feeding mechanism stops rotating.

[0016] S3: The gantry end effector drives the placement head to move to the placement starting position, so that the compaction roller is at a preset distance from the mold surface. The compaction cylinder drives the compaction roller to press the prepreg narrow strip onto the mold surface.

[0017] S4: The clamping cylinder drives the clamping rubber block to retract, and the gantry end effector drives the placement head to move along the predetermined trajectory. During the movement, the unwinding mechanism coordinates the placement speed, the swing arm mechanism, and the power of the heating mechanism to adjust the unwinding speed;

[0018] S5: When the prepreg reaches the end of a track, the clamping cylinder drives the clamping rubber block to extend to compact the prepreg, and the shearing cylinder drives the shearing blade to extend to cut the corresponding prepreg;

[0019] S6: The compacting roller continues to move and lays out the remaining prepreg strips in the guide channel. The compacting cylinder drives the compacting roller to retract, and the gantry end effector moves back to the new starting point.

[0020] S7: Repeat steps S2 to S6 until the component placement is completed.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention can realize the independent laying and control of multiple prepreg tapes, and each prepreg tape does not affect each other; by laying multiple parallel prepreg tapes at the same time, the laying freedom can be improved while ensuring the laying efficiency; when turning is required during the laying process, the unwinding speed from the inner circle to the outer circle increases successively, realizing the inner and outer circle differential function that the existing tape laying equipment does not have, and preventing defects such as wrinkles caused by excessive turning curvature; several mechanical expansion shafts can simultaneously achieve equal expansion force, effectively avoiding the material tray slipping phenomenon; the current laying equipment requires multiple positions to set up unwinding devices for multiple rolls of material trays to work simultaneously, and the mechanical expansion shafts of the unwinding devices are in a coaxial position, saving a lot of space; each prepreg tape is transported in the same plane, and no distortion will occur during transportation, which is generally applicable to thermoplastic prepreg tapes. The prepreg tape of the present invention can be replaced with a fiber bundle as a compact laying head. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 Is a front view of the thermoplastic multi-segment parallel prepreg narrow tape placement head of the present invention;

[0025] Figure 2 Is a rear view of the thermoplastic multi-segment parallel prepreg narrow tape placement head of the present invention;

[0026] Figure 3 is a cross-sectional view of the mechanical expansion shaft assembly of the present invention;

[0027] Figure 4 Schematic diagram of the overall structure of the first mechanical expansion shaft of the present invention;

[0028] Figure 5 This is a schematic diagram of the explosion structure of the first mechanical expansion shaft of the present invention;

[0029] Figure 6 Schematic diagram of the overall structure of the second mechanical expansion shaft of the present invention;

[0030] Figure 7 Schematic diagram of the overall structure of the third mechanical expansion shaft of the present invention;

[0031] Figure 8 1 is a schematic diagram of the overall structure of the fourth mechanical expansion shaft of the present invention;

[0032] Figure 9 Schematic diagram of the explosion structure of the fourth mechanical expansion shaft of the present invention;

[0033] Figure 10 It is a structural schematic diagram of the unwinding mechanism of the present invention;

[0034] Figure 11 1 is a structural diagram of the rocker mechanism of the present invention;

[0035] Figure 12 It is a structural schematic diagram of the rocker mechanism cylinder of the present invention;

[0036] Figure 13 yes Figure 12 A magnified schematic diagram of point A in the middle;

[0037] Figure 14 1 is a schematic structural diagram of the swing rod of the swing rod mechanism of the present invention;

[0038] Figure 15 It is a structural schematic diagram of the re-feeding mechanism of the present invention;

[0039] Figure 16 It is a structural schematic diagram of the heavy-feeding support shaft and the active roller of the present invention;

[0040] Figure 17 It is a structural schematic diagram of the clamping mechanism of the present invention;

[0041] Figure 18 It is a structural schematic diagram of the shearing mechanism of the present invention;

[0042] Figure 19 It is a structural schematic diagram of the compacting mechanism of the present invention;

[0043] Figure 20 It is a structural diagram of the component rack of the present invention;

[0044] Figure 21 It is a schematic diagram of the arrangement of the re-feeding mechanism, the clamping mechanism, and the shearing mechanism of the present invention;

[0045] Figure 22 It is a schematic diagram of the combined structure of the re-feeding mechanism, the clamping mechanism, the shearing mechanism and the component frame of the present invention;

[0046] Figure 23 It is a schematic diagram of the installation position of the present invention.

[0047] In the figure: 1-frame; 1.1-unwinding support shaft; 1.2-nut; 1.3-auxiliary support plate; 2.1-expansion shaft main shaft; 2.11-hollow shaft body; 2.12-main shaft disc body; 2.13-spline groove; 2.2-expansion shaft auxiliary shaft; 2.21-convex key; 2.22-auxiliary shaft disc body; 2.23-boss; 2.3-expansion block assembly; 2.4-elastic rubber ring; 2.5-first pulley; 3-material tray; 4.1-servo motor; 4.2-second pulley; 4.3-belt; 5.1-rocker; 5.2-cylinder; 5.3-rocker support shaft; 5.4-cylinder support shaft; 5.5-pressure cover; 5.6-column; 5.7-roller; 5.8-cylinder connecting seat; 5.9-pressing plate; 5.10-rocker connecting seat; 5.11-locking nut; 6.1 -guide roller support shaft; 6.2-guide roller; 7.1-driving roller; 7.2-driven roller; 7.3-re-feeding support frame; 7.4-re-feeding support shaft; 7.5-one-way roller overrunning clutch; 7.6-bevel gear set; 7.7-re-feeding power source; 7.8-sleeve; 7.9-re-feeding cylinder; 8.1-clamping rubber block; 8.2-clamping cylinder; 9.1-shearing blade; 9.2-shearing cylinder; 10-heating mechanism; 11.1-compacting roller; 11.2-compacting cylinder; 12-thrust ball bearing; 13-double-row cylindrical roller bearing; 14-separating sleeve; 15-end cover; 16-setting screw; 17-deep groove ball bearing; 18-assembly frame; 19-inclined plate; 19.1-pressing groove; 19.2-cutting seam; 19.3-guide channel. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention are clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other implementations derived by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts are within the scope of protection of the present invention.

[0049] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0050] The present invention provides an embodiment:

[0051] like Figures 1 to 3 As shown, a compact multiple thermoplastic prepreg narrow tape laying head includes a frame 1, a mechanical expansion shaft assembly, a material tray group, an unwinding mechanism, a rocker mechanism, a guide mechanism, a re-feeding mechanism, a clamping mechanism, a shearing mechanism, a heating mechanism 10 and a compacting mechanism; an unwinding support shaft 1.1 is provided on the frame 1, and the mechanical expansion shaft assembly includes at least two groups of mechanical expansion shafts, the mechanical expansion shafts including an expansion shaft main shaft 2.1, an expansion shaft auxiliary shaft 2.2, an expansion block group 2.3 and an elastic rubber ring 2.4; the hollow shaft body 2.11 of the expansion shaft main shaft 2.1 is provided with a plurality of expansion shafts. A spline groove 2.13 is provided, and a key 2.21 is provided on the auxiliary shaft 2.2 of the mechanical expansion shaft, which slides with the spline groove 2.13. The expansion block group 2.3 is a multi-section split structure. The main shaft 2.1 and the auxiliary shaft 2.2 of the mechanical expansion shaft respectively cooperate with the inclined surfaces on both sides of the expansion block group 2.3 and can be tightened by an elastic rubber ring 2.4 surrounding the expansion block group 2.3. A boss 2.23 is provided on the auxiliary shaft 2.2 of the mechanical expansion shaft adjacent to the frame 1, and the key 2.21 on the mechanical expansion shaft is arranged on the inner side of the boss 2.23.

[0052] All mechanical expansion shafts are centered around the unwinding support shaft 1.1. The hollow shaft body 2.11 of the mechanical expansion shaft away from the frame 1 is rotatably connected to the unwinding support shaft 1.1, and the hollow shaft bodies 2.11 of the remaining mechanical expansion shafts are rotatably sleeved layer by layer. The boss 2.23 of the mechanical expansion shaft adjacent to the frame 1 and the hollow shaft bodies 2.11 of the remaining mechanical expansion shafts all extend through the back of the frame 1, and a first pulley 2.5 is fixed to the end of each. The end of the mechanical expansion shaft assembly away from the frame 1 is limited by a nut 1.2 screwed onto the unwinding support shaft 1.1. The multiple sets of mechanical expansion shafts can be loosened or tightened by loosening or tightening the nut 1.2. The number of trays 3 in the tray group is the same as the number of mechanical expansion shafts, and the trays 3 are sleeved on the circumference of the corresponding mechanical expansion shafts.

[0053] like Figure 10As shown, the unwinding mechanism has the same number as the mechanical expansion shafts, including a servo motor 4.1, a second pulley 4.2 and a belt 4.3. The first pulley 2.5 is connected to the corresponding second pulley 4.2 by the belt 4.3, and realizes the independent winding and unwinding of multiple sets of mechanical expansion shaft loading trays 3. The rocker mechanism includes the same number of rocker rods 5.1 and cylinders 5.2 as the mechanical expansion shafts. Under the action of the cylinders 5.2, the rocker rods 5.1 independently compensate for the sudden change in the tension of the corresponding prepreg narrow strip during the laying process. The guide mechanism includes the same number of guide rollers 6.2 as the mechanical expansion shafts, and is capable of delivering the prepreg narrow strip that passes through the corresponding material tray 3 and the rocker mechanism to the re-feeding mechanism. Under the action of the active roller 7.1 and the driven roller 7.2 of the re-feeding mechanism, the prepreg narrow strip passes through the clamping mechanism, the shearing mechanism, and the heating mechanism 10 in sequence to reach the bottom of the compacting roller 11.1 of the compacting mechanism to achieve the laying of the prepreg narrow strip.

[0054] like Figures 4 to 9 As shown, in this embodiment, the number of mechanical expansion shafts is 4. In the direction away from the frame 1, the lengths of the hollow shaft bodies 2.11 of adjacent mechanical expansion shafts increase successively and the diameters decrease successively; the diameter of the boss 2.23 of the mechanical expansion shaft adjacent to the frame 1 is larger than the diameter of the hollow shaft body 2.11 of the mechanical expansion shaft. The main shaft 2.1 of the expansion shaft includes a hollow shaft body 2.11 and a main shaft disk body 2.12, and the auxiliary shaft 2.2 of the expansion shaft includes a convex key 2.21 and an auxiliary shaft disk body 2.22. The circumference of the main shaft disk body 2.12 and the auxiliary shaft disk body 2.22 both have inner inclined surfaces that match the expansion block group 2.3. The expansion block group 2.3 is composed of 6 identical arc-shaped wedges. The circumferential surface of the expansion block group 2.3 has two grooves for installing two elastic rubber rings 2.4. The hollow shaft body 2.11 is fixedly connected to the inner ring of the main shaft disk body 2.12, the boss 2.23 of the mechanical expansion shaft adjacent to the frame 1 is fixed to the inner ring of the auxiliary shaft disk body 2.22, and the convex keys 2.21 of the remaining mechanical expansion shafts are fixed to the inner ring of the auxiliary shaft disk body 2.22. When the main shaft disc 2.12 and the auxiliary shaft disc 2.22 of the same mechanical expansion shaft move toward each other, the corresponding expansion block group 2.3 moves outward to achieve the expansion function; when the main shaft disc 2.12 and the auxiliary shaft disc 2.22 of the same mechanical expansion shaft move away from each other, the corresponding expansion block group 2.3 moves inward to achieve the expansion function.

[0055] A thrust ball bearing 12 is installed between the main shaft disc 2.12 and the nut 1.2 of the mechanical expansion shaft away from the frame 1. A thrust ball bearing 12 is installed between the auxiliary shaft disc 2.22 and the main shaft disc 2.12 of the two adjacent mechanical expansion shafts, and a rotation gap is left. The thrust ball bearing 12 achieves equal expansion force for all mechanical expansion shafts to prevent the material tray 3 from slipping. A double-row cylindrical roller bearing 13 is installed between the shoulder of the boss 2.23 of the mechanical expansion shaft close to the frame 1 and the frame 1; the hollow shaft 2 of the mechanical expansion shaft away from the frame 1 .11 and the unwinding support shaft 1.1, and the hollow shaft bodies 2.11 of the two adjacent mechanical expansion shafts are rotatably connected through a number of bearings and a separation sleeve 14; the end of the unwinding support shaft 1.1 away from the nut 1.2 passes through the frame 1 and is rotatably connected to the auxiliary support plate 1.3 connected to the back of the frame 1 through a double-row cylindrical roller bearing 13, and the double-row cylindrical roller bearing 13 is limited by the end cover 15 and the groove of the auxiliary support plate 1.3, and the end cover 15 is fixed to the end of the unwinding support shaft 1.1 by a set screw 16.

[0056] like Figures 11 to 14 As shown, the rocker mechanism includes a rocker 5.1, a cylinder 5.2, a rocker support shaft 5.3 and a cylinder support shaft 5.4. The rocker support shaft 5.3 is located obliquely above the cylinder support shaft 5.4 and both are fixed to the front of the frame 1. The rocker 5.1 is connected to the rocker support shaft 5.3 along the axial interval of the rocker support shaft 5.3, which is the same number of mechanical expansion shafts. The middle part of the rocker 5.1 is connected to the rocker support shaft 5.3 through a deep groove ball bearing 17 and a pressure cover 5.5. The deep groove ball bearing 17 adjacent to the frame 1 limits axial movement through the shoulder of the rocker support shaft 5.3 and the separation sleeve 14 sleeved on the rocker support shaft 5.3 and is bolted to the pressure cover 5.5 through the rocker 5.1. .5 is pressed, and the remaining deep groove ball bearings 17 on the rocker support shaft 5.3 are restricted in axial movement by two separating sleeves 14 sleeved on the rocker support shaft 5.3 and are pressed by the pressure cover 5.5. The separating sleeve 14 away from the frame 1 abuts against the locking nut 5.11 on the rocker support shaft 5.3; two columns 5.6 extend axially along the rocker support shaft 5.3 at both ends of the rocker 5.1, and a roller 5.7 for overlapping the prepreg narrow strip is rotatably sleeved on the column 5.6 through the deep groove ball bearing 17; the rocker 5.1 rotates around the rocker support shaft 5.3, and the roller 5.7 rotates around the column 5.6, reducing the friction between the prepreg strip and the roller 5.7.

[0057] Along the axial intervals of the cylinder support shaft 5.4, there are cylinders 5.2 with the same number of mechanical expansion shafts connected in rotation. The cylinder 5.2 and the cylinder support shaft 5.4 are connected by a deep groove ball bearing group, a cylinder connecting seat 5.8 and a pressure plate 5.9. The adjacent deep groove ball bearing groups on the cylinder support shaft 5.4 and the two deep groove ball bearings 17 in the same group are restricted in axial movement by a separation sleeve 14. The deep groove ball bearing group is placed on the inner side of the cylinder connecting seat 5.8 and is tightened by a pressure plate 5.9 bolted to the cylinder connecting seat 5.8; the action end of the cylinder 5.2 is connected to the rocker arm connecting seat 5.10 by bolts, and the rocker arm connecting seat 5.10 is connected to the pin hole on the rocker arm 5.1 through a pin shaft to form a cylindrical rotating pair, wherein the pin hole surface is a copper sleeve to increase wear resistance; the lower ends of the rocker arm support shaft 5.3 and the cylinder support shaft 5.4 have a cross-section along the axial direction and are installed vertically to the frame 1 to prevent the rocker arm support shaft 5.3 and the cylinder support shaft 5.4 from rotating. The guide mechanism includes a guide roller support shaft 6.1 and guide rollers 6.2 whose number is the same as that of the mechanical expansion shaft. The guide rollers 6.2 are arranged on the guide roller support shaft 6.1 in a rotational manner at intervals and correspond to the positions of the rollers 5.7 on the rocker support shaft 5.3. The guide roller support shaft 6.1 is located obliquely below the rocker support shaft 5.3.

[0058] like Figure 15 、 Figure 16 As shown, the re-feeding mechanism includes an active roller 7.1, a driven roller 7.2, a re-feeding support frame 7.3 and a re-feeding support shaft 7.4. The re-feeding support frame 7.3 is snap-fitted and connected to the component frame 18 and both are fixedly connected to the frame 1. The re-feeding support shaft 7.4 is rotatably connected to the re-feeding support frame 7.3 and has a one-way roller overrunning clutch 7.5 installed at both ends. The active roller 7.1 is a rubber roller and has a second spline groove on its inner wall. The re-feeding support shaft 7.4 has a spline structure. The active roller 7.1 is connected to the re-feeding support shaft 7.4 through the spline. The outer wall of the active roller 7.1 is provided with a convex ring arranged at intervals. Multiple guide grooves are formed. The number of guide grooves of the active roller 7.1 and the number of the driven roller 7.2 are consistent with the number of mechanical expansion shafts. One end of the re-feeding support shaft 7.4 passes through the frame 1 and is driven to rotate through the bevel gear set 7.6 and the re-feeding power source 7.7. The end of the re-feeding support shaft 7.4 away from the frame 1 is sleeved with a sleeve 7.8 for facilitating the disassembly and assembly of the active roller 7.1. The sleeve 7.8 fits between the corresponding active roller 7.1 and the one-way roller overrunning clutch 7.5. The driven roller 7.2 is connected to the component frame 18 through the re-feeding cylinder 7.9 and cooperates with the active roller 7.1 to drive the prepreg narrow strip.

[0059] like Figures 17 to 23As shown, the clamping mechanism includes clamping rubber blocks 8.1 and clamping cylinders 8.2, the same number as the mechanical expansion shafts. The clamping rubber blocks 8.1 can, under the action of the corresponding clamping cylinders 8.2, press the prepreg narrow strips led out of the re-feeding mechanism onto the inclined plate 19 on the component frame 18. The inclined plate 19 has a pressing groove 19.1 corresponding to the clamping rubber blocks 8.1; the shearing mechanism includes shear blades 9.1 and shear cylinders 9.2, the same number as the mechanical expansion shafts. The blades of the shear blades 9.1 are not on the same horizontal line. The shear blades 9.1 can cut the compressed prepreg narrow strips under the action of the corresponding shear cylinders 9.2. The inclined plate 19 has a cutting slit 19.2 corresponding to the shear blades 9.1; the re-feeding mechanism, the clamping mechanism, and the shearing mechanism are arranged in sequence along the inclined plate 19 from top to bottom. The inclined plate 19 behind the cutting slit 19.2 has a guide channel 19.3 for leading out multiple prepreg narrow strips. The prepreg strip guided through the guide channel 19.3 is heated by the heating mechanism 10 and then reaches the compacting mechanism, which includes a compacting roller 11.1 and a compacting cylinder 11.2. The compacting cylinder 11.2 is fixed to the frame 1 and can drive the compacting roller 11.1 to press down to achieve the laying of the prepreg strip.

[0060] Working principle:

[0061] This thermoplastic multi-segment parallel tape placement head contains four prepreg tapes of equal width. If each tape is specified as 100mm, a 400mm width can be laid, significantly improving placement efficiency. The fiber placement path can be designed with the 100mm design freedom in mind. Four prepreg tape reels 3 are mounted on multiple sets of mechanical expansion shafts. Four servo motors 4.1 in the unwinding mechanism control the rewinding and unwinding of these mechanical expansion shafts. The four prepreg tapes are pulled from the reels 3 onto the corresponding sleeves 5.7 of the rocker mechanism. When tension fluctuates, the four cylinders 5.2 in the rocker mechanism individually extend and retract to adjust the tension of each prepreg tape, while feedback is sent to the corresponding servo motor 4.1 for rewinding and unwinding adjustments. A re-feeding mechanism delivers the prepreg tapes, which have passed through the corresponding reels 3, rocker mechanism, and guide mechanism, to the clamping mechanism, shearing mechanism, and heating mechanism 10, where they are placed beneath the compacting rollers of the compacting mechanism.

[0062] The present invention also provides a compact method for laying multiple thermoplastic prepreg narrow tapes, comprising the following steps:

[0063] S1: Install all the trays 3 onto the corresponding mechanical expansion shafts, and tighten the nuts 1.2 to achieve expansion and fixation between the trays 3 and the mechanical expansion shafts;

[0064] S2: The unwinding mechanism unwinds the prepreg strips from the tray 3. Multiple prepreg strips are sequentially guided to the re-feeding mechanism via the rocker 5.1 of the rocker mechanism and the guide roller 6.2 of the guide mechanism. The driving roller 7.1 of the re-feeding mechanism rotates and cooperates with the driven roller 7.2 to guide the prepreg strips through the clamping mechanism, the shearing mechanism, the guide channel 19.3 of the inclined plate 19, and the heating mechanism 10 to the bottom of the compacting mechanism. At this point, the clamping cylinder 8.2 of the clamping mechanism extends the clamping rubber block 8.1, pressing the corresponding prepreg strip into the pressing groove 19.1. The driving roller 7.1 of the re-feeding mechanism stops rotating.

[0065] S3: The gantry end effector drives the placement head to the placement starting position, so that the compaction roller 11.1 is 20-50 mm away from the mold surface. The compaction cylinder 11.2 drives the compaction roller 11.1 to press down the prepreg narrow strip on the mold surface.

[0066] S4: The clamping cylinder 8.2 drives the clamping rubber block 8.1 to retract, and the gantry end effector drives the placement head to move along a predetermined trajectory. During the movement, the unwinding mechanism coordinates the placement speed, the rocker mechanism, and the power of the heating mechanism 10 to adjust the unwinding speed.

[0067] S5: When the prepreg reaches the end of a track, the clamping cylinder 8.2 drives the clamping rubber block 8.1 to extend and compact the prepreg, and the shearing cylinder 9.2 drives the shearing blade 9.1 to extend and cut the corresponding prepreg.

[0068] S6: The compacting roller 11.1 continues to move and lays out the remaining prepreg strips in the guide channel 19.3. The compacting cylinder 11.2 drives the compacting roller 11.1 to retract, and the mobile gantry end effector returns to the new starting point.

[0069] S7: Repeat steps S2 to S6 until the component placement is completed.

[0070] The foregoing description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A compact multiple thermoplastic prepreg narrow tape placement head, characterized by: It includes a frame (1), a mechanical expansion shaft assembly, a material tray assembly, an unwinding mechanism, a rocker mechanism, a guide mechanism, a re-feeding mechanism, a clamping mechanism, a shearing mechanism, a heating mechanism (10) and a compacting mechanism; A rewinding support shaft (1.1) is provided on the frame (1), and the mechanical expansion shaft assembly includes at least two groups of mechanical expansion shafts, and the mechanical expansion shafts include an expansion shaft main shaft (2.1), an expansion shaft auxiliary shaft (2.2), an expansion block group (2.3) and an elastic rubber ring (2.4); a spline groove (2.13) is provided on the hollow shaft body (2.11) of the expansion shaft main shaft (2.1), and a convex key (2.2) that slides with the spline groove (2.13) is provided on the expansion shaft auxiliary shaft (2.2). 1), the expansion block group (2.3) is a multi-stage split structure, the expansion shaft main shaft (2.1) and the expansion shaft auxiliary shaft (2.2) respectively cooperate with the inclined surfaces on both sides of the expansion block group (2.3) and can be tightened by the elastic rubber ring (2.4) surrounding the expansion block group (2.3); a boss (2.23) is provided on the expansion shaft auxiliary shaft (2.2) of the mechanical expansion shaft adjacent to the frame (1), and the convex key (2.21) on the mechanical expansion shaft is provided on the inner side of the boss (2.23); All mechanical expansion shafts are centered around the unwinding support shaft (1.1), and the hollow shaft bodies (2.11) of the mechanical expansion shafts away from the frame (1) are rotatably connected to the unwinding support shaft (1.1), and the hollow shaft bodies (2.11) of the remaining mechanical expansion shafts are rotatably sleeved in layers; the boss (2.23) of the mechanical expansion shaft adjacent to the frame (1) and the hollow shaft bodies (2.11) of the remaining mechanical expansion shafts all penetrate the back of the frame (1) and are all fixed with first pulleys (2.5) at their ends; one end of the mechanical expansion shaft assembly away from the frame (1) is limited by a nut (1.2) screwed onto the unwinding support shaft (1.1), and the loosening or tightening function of multiple groups of mechanical expansion shafts is achieved by loosening or tightening the nut (1.2); the number of material trays (3) of the material tray group is consistent with the number of mechanical expansion shafts, and the material trays (3) are sleeved on the circumference of the corresponding mechanical expansion shafts; The number of unwinding mechanisms is the same as that of the mechanical expansion shafts, and includes a servo motor (4.1), a second pulley (4.2) and a belt (4.3). The first pulley (2.5) is connected to the corresponding second pulley (4.2) through the belt (4.3) and realizes the independent winding and unwinding of multiple sets of mechanical expansion shaft upper material trays (3); the rocker mechanism includes rocker rods (5.1) and cylinders (5.2) whose number is the same as that of the mechanical expansion shafts. Under the action of the cylinders (5.2), the rocker rods (5.1) independently compensate for the sudden change in tension of the corresponding prepreg narrow strip during the laying process; the guide mechanism includes guide rollers (6.2) whose number is the same as that of the mechanical expansion shafts and can deliver the prepreg narrow strip passing through the corresponding material tray (3) and the rocker mechanism to the re-feeding mechanism; under the action of the active roller (7.1) and the driven roller (7.2) of the re-feeding mechanism, the prepreg narrow strip passes through the clamping mechanism, the shearing mechanism, and the heating mechanism (10) in sequence to reach the bottom of the compacting roller (11.1) of the compacting mechanism to realize the laying of the prepreg narrow strip.

2. A compact multiple thermoplastic prepreg narrow tape placement head according to claim 1, characterized in that: The main shaft (2.1) of the expansion shaft comprises a hollow shaft body (2.11) and a main shaft disc body (2.12), the auxiliary shaft (2.2) of the expansion shaft comprises a convex key (2.21) and an auxiliary shaft disc body (2.22), the circumferences of the main shaft disc body (2.12) and the auxiliary shaft disc body (2.22) both have inner inclined surfaces matching the expansion block group (2.3), the expansion block group (2.3) comprises a plurality of arc-shaped wedge blocks, and the circumferential surface of the expansion block group (2.3) has a groove for installing an elastic rubber ring (2.4), the hollow shaft body (2.11) is fixedly connected to the inner ring of the main shaft disc body (2.12), the boss (2.23) of the mechanical expansion shaft adjacent to the frame (1) is fixed to the inner ring of the auxiliary shaft disc body (2.22), and the convex keys (2.21) of the remaining mechanical expansion shafts are fixed to the inner rings of the auxiliary shaft disc body (2.22).

3. The compact multiple thermoplastic prepreg narrow tape placement head according to claim 2, characterized in that: A thrust ball bearing (12) is installed between the main shaft disc (2.12) and the nut (1.2) of the mechanical expansion shaft away from the frame (1), and a thrust ball bearing (12) is installed between the auxiliary shaft disc (2.22) and the main shaft disc (2.12) of two adjacent mechanical expansion shafts, and a rotation gap is left. The thrust ball bearing (12) is used to achieve equal expansion force of all mechanical expansion shafts to prevent the material plate (3) from slipping. A double-row cylindrical roller bearing (13) is installed between the shoulder of the boss (2.23) of the mechanical expansion shaft close to the frame (1) and the frame (1); the hollow shaft (2.23) of the mechanical expansion shaft away from the frame (1) is installed between the main shaft (2.12) and the nut (1.2). 11) and the unwinding support shaft (1.1), and the hollow shaft bodies (2.11) of the two adjacent mechanical expansion shafts are rotatably connected through a plurality of bearings and a separation sleeve (14); the end of the unwinding support shaft (1.1) away from the nut (1.2) passes through the frame (1) and is rotatably connected to the auxiliary support plate (1.3) connected to the back of the frame (1) through a double-row cylindrical roller bearing (13), and the double-row cylindrical roller bearing (13) is limited by the grooves of the end cover (15) and the auxiliary support plate (1.3), and the end cover (15) is fixed to the end of the unwinding support shaft (1.1) by a set screw (16).

4. The compact multiple thermoplastic prepreg narrow tape placement head according to claim 3, characterized in that: In a direction away from the frame (1), the lengths of the hollow shaft bodies (2.11) of adjacent mechanical expansion shafts increase successively and their diameters decrease successively; the diameter of the boss (2.23) of the mechanical expansion shaft adjacent to the frame (1) is greater than the diameter of the hollow shaft body (2.11) of the mechanical expansion shaft.

5. The compact multiple thermoplastic prepreg narrow tape placement head according to claim 1, characterized in that: The rocker mechanism comprises a rocker (5.1), a cylinder (5.2), a rocker support shaft (5.3) and a cylinder support shaft (5.4), wherein the rocker support shaft (5.3) is located obliquely above the cylinder support shaft (5.4) and both are fixedly connected to the front of the frame (1), and the rocker (5.1) having the same number of mechanical expansion shafts as the rocker support shaft (5.3) is connected to the rocker support shaft (5.3) by rotating along the axial interval of the rocker support shaft (5.3), and the middle part of the rocker (5.1) is connected to the rocker support shaft (5.3) through a deep groove ball bearing (17) and a pressure cover (5.5), and the deep groove ball bearing (17) adjacent to the frame (1) is connected to the rocker support shaft (5.3) through a shaft shoulder of the rocker support shaft (5.3) and a separation sleeve (14) sleeved on the rocker support shaft (5.3). ) limits axial movement and is compressed by a pressure cover (5.5) bolted to the rocker (5.1); the remaining deep groove ball bearings (17) on the rocker support shaft (5.3) are limited in axial movement by two separation sleeves (14) sleeved on the rocker support shaft (5.3) and are compressed by the pressure cover (5.5); the separation sleeve (14) away from the frame (1) abuts against the locking nut (5.11) on the rocker support shaft (5.3); two columns (5.6) are extended along the axial direction of the rocker support shaft (5.3) at both ends of the rocker (5.1); a roller (5.7) for overlapping prepreg narrow strips is rotatably sleeved on the column (5.6) through the deep groove ball bearing (17); Cylinders (5.2) having the same number as the mechanical expansion shafts are connected to the cylinder support shaft (5.4) at axial intervals and rotationally connected. The cylinders (5.2) and the cylinder support shaft (5.4) are connected via a deep groove ball bearing group, a cylinder connecting seat (5.8) and a pressure plate (5.9). The adjacent deep groove ball bearing groups on the cylinder support shaft (5.4) and the two deep groove ball bearings (17) in the same group are restricted in axial movement by a separation sleeve (14). The deep groove ball bearing group is placed on the inner side of the cylinder connecting seat (5.8) and is connected to the cylinder connecting seat (5.8) by a pressure plate (5.9) bolted thereto. ) is pressed; the action end of the cylinder (5.2) is connected to the rocker arm connecting seat (5.10) by bolts, and the rocker arm connecting seat (5.10) is connected to the pin hole on the rocker arm (5.1) through a pin shaft to form a cylindrical rotation pair; the guide mechanism includes a guide roller support shaft (6.1) and guide rollers (6.2) whose number is consistent with that of the mechanical expansion shaft, and the guide rollers (6.2) are arranged on the guide roller support shaft (6.1) in an interval rotation and correspond to the position of the roller (5.7) on the rocker arm support shaft (5.3), and the guide roller support shaft (6.1) is located obliquely below the rocker arm support shaft (5.3).

6. The compact multiple thermoplastic prepreg narrow tape placement head according to claim 1, characterized in that: The re-feeding mechanism comprises an active roller (7.1), a driven roller (7.2), a re-feeding support frame (7.3) and a re-feeding support shaft (7.4); the re-feeding support frame (7.3) is fastened and connected with a component frame (18) and both are fixedly connected to the frame (1); the re-feeding support shaft (7.4) is rotatably connected to the re-feeding support frame (7.3) and has a one-way roller overrunning clutch (7.5) installed at both ends; the active roller (7.1) is a rubber roller and has a second spline groove on its inner wall; the re-feeding support shaft (7.4) has a spline structure; the active roller (7.1) is connected to the re-feeding support shaft (7.4) through a spline; the outer wall of the active roller (7.1) forms a plurality of guide rings through convex rings arranged at intervals. The number of guide grooves, guide grooves of the active roller (7.1) and the number of the driven roller (7.2) are consistent with the number of mechanical expansion shafts. One end of the re-feeding support shaft (7.4) passes through the frame (1) and is driven to rotate through the bevel gear set (7.6) and the re-feeding power source (7.7). The end of the re-feeding support shaft (7.4) away from the frame (1) is sleeved with a sleeve (7.8) for facilitating the disassembly and assembly of the active roller (7.1). The sleeve (7.8) fits between the corresponding active roller (7.1) and the one-way roller overrunning clutch (7.5). The driven roller (7.2) is connected to the component frame (18) through the re-feeding cylinder (7.9) and cooperates with the active roller (7.1) to realize the driving of the prepreg narrow strip.

7. The compact multiple thermoplastic prepreg narrow tape placement head according to claim 6, characterized in that: The clamping mechanism includes a clamping rubber block (8.1) and a clamping cylinder (8.2) whose number is the same as the mechanical expansion shaft. The clamping rubber block (8.1) can press the prepreg narrow strip led out of the re-feeding mechanism onto the inclined plate (19) on the component rack (18) under the action of the corresponding clamping cylinder (8.2). The inclined plate (19) has a pressing groove (19.1) corresponding to the clamping rubber block (8.1); the shearing mechanism includes a shearing blade (9.1) whose number is the same as the mechanical expansion shaft. ) and a shearing cylinder (9.2), the shearing blade (9.1) can cut the compressed prepreg narrow strip under the action of the corresponding shearing cylinder (9.2), and the inclined plate (19) has a cutting slit (19.2) corresponding to the shearing blade (9.1); the re-feeding mechanism, the clamping mechanism, and the shearing mechanism are arranged in sequence from top to bottom along the inclined plate (19), and the inclined plate (19) behind the cutting slit (19.2) has a guide channel (19.3) for leading out multiple prepreg narrow strips.

8. The compact multiple thermoplastic prepreg narrow tape placement head according to claim 7, characterized in that: The prepreg narrow strip guided through the guide channel (19.3) is heated by the heating mechanism (10) and then reaches the compacting mechanism, which includes a compacting roller (11.1) and a compacting cylinder (11.2). The compacting cylinder (11.2) is fixedly connected to the frame (1) and can drive the compacting roller (11.1) to press down to achieve the laying of the prepreg narrow strip.

9. A compact multiple thermoplastic prepreg narrow tape laying method, based on the compact multiple thermoplastic prepreg narrow tape laying head according to claim 8, characterized in that: The following steps are involved: S1: Install all the trays (3) onto the corresponding mechanical expansion shafts, and tighten the nuts (1.2) to achieve expansion and fixation between the trays (3) and the mechanical expansion shafts; S2: The prepreg strips on the material tray (3) are unwound by the unwinding mechanism, and the plurality of prepreg strips are sequentially guided to the re-feeding mechanism via the swing lever (5.1) of the swing lever mechanism and the guide roller (6.2) of the guide mechanism. The active roller (7.1) of the re-feeding mechanism actively rotates and cooperates with the driven roller (7.2) to guide the prepreg strips through the clamping mechanism, the shearing mechanism, the guide channel (19.3) of the inclined plate (19), and the heating mechanism (10) to the bottom of the compacting mechanism. At this time, the clamping cylinder (8.2) of the clamping mechanism drives the clamping rubber block (8.1) to extend and press the corresponding prepreg strips into the compacting groove (19.1), and the active roller (7.1) of the re-feeding mechanism stops rotating. S3: The gantry end effector drives the placement head to move to the placement starting position, so that the compaction roller (11.1) is at a preset distance from the mold surface, and the compaction cylinder (11.2) drives the compaction roller (11.1) to press down and press the prepreg narrow strip onto the mold surface; S4: The clamping cylinder (8.2) drives the clamping rubber block (8.1) to retract, and the gantry end effector drives the placement head to move along a predetermined trajectory. During the movement, the unwinding mechanism coordinates the placement speed, the rocker mechanism, and the power of the heating mechanism (10) to adjust the unwinding speed; S5: When the prepreg is laid to the end of a track, the clamping cylinder (8.2) drives the clamping rubber block (8.1) to extend to press the prepreg narrow strip, and the shearing cylinder (9.2) drives the shearing blade (9.1) to extend to cut the corresponding prepreg narrow strip; S6: The compacting roller (11.1) continues to move and lays out the remaining prepreg strips in the guide channel (19.3). The compacting cylinder (11.2) drives the compacting roller (11.1) to retract, and the mobile gantry end effector returns to the new starting point. S7: Repeat steps S2 to S6 until the component placement is completed.

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