A mechanism device capable of realizing a clamping and shearing sequence function

Abstract

The application discloses a mechanism device capable of realizing clamping and shearing sequence functions, and designs a rotatable piston sleeve; a spring and a piston block are arranged in the piston sleeve, and a connecting shaft is fixedly arranged on the piston; a tool holder is sleeved on the connecting shaft, and a cutter is arranged on the tool holder; the connecting shaft is pushed to move along the axial direction of the piston sleeve through a pneumatic slide table combined with a double connecting rod assembly; thus, when the connecting shaft is pushed to move by the pneumatic slide table, the piston sleeve rotates around the base rotating shaft due to the elastic force of the spring, and the fiber clamping is completed through the end surface of the piston sleeve and the anvil; then the connecting shaft is further pushed by the pneumatic slide table, at this time, the piston sleeve is fixed, the connecting shaft pushes the piston block to compress the spring, and then the cutter is driven to move to the fiber until the cutter is cooperated with the anvil to cut off the fiber; the application can realize the clamping and shearing actions in sequence, and can effectively simplify the complexity of the modular fiber laying head mechanism and reduce the driving quantity.

Description

Technical Field

[0001] This invention relates to the field of automated fiber placement forming of continuous fiber composite materials. Incorporating mechanics, it is a device that can be used in modular fiber placement head mechanisms. By performing a series of clamping and shearing actions on continuous fiber composite materials through a single drive method, it can significantly reduce the number of drives and the volume of the modular fiber placement head mechanism. Background Technology

[0002] In recent years, with the rapid expansion of the application of continuous fiber reinforced composite materials in the aerospace field, the demand for automated fiber placement of structural products with complex geometric features and high mechanical performance requirements has become increasingly urgent. Among them, the modular fiber placement head is the most core functional module of automated fiber placement equipment to realize fiber placement. The fiber needs to go through unwinding, guiding, tension control, clamping, refeeding, shearing, positioning, assembly, compaction, and temperature control.

[0003] Since existing modular fiber placement head mechanisms both domestically and internationally all use multi-source drive to complete the sequential movement of fibers inside the fiber placement head, the overall size and weight of the fiber placement head mechanism are relatively large. Therefore, a series of requirements are put forward for the load of the robotic arm. In addition, the actions of fiber motion control need to be closely coordinated, which makes electrical control failures very easy to occur. Furthermore, the repeatability of heavy-duty industrial robotic arms also limits the fiber placement accuracy.

[0004] Therefore, in order to optimize the modular filament placement head mechanism and solve the problem of excessive number of drives affecting the automatic filament placement system, the traditional mechanism design scheme needs to be integrated and optimized. A mechanism device that can realize the clamping and shearing sequence function needs to be designed to meet the requirements of lightweight modular filament placement head mechanism and application of automatic filament placement system. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes a miniaturized mechanism that enables clamping and shearing actions—the core functions of the modular filament placement head mechanism—based on mechanics design theory. This mechanism is fixed to the body of the modular filament placement head and can sequentially complete clamping and shearing actions, effectively simplifying the complexity of the modular filament placement head mechanism and reducing the number of drives required.

[0006] A mechanism for realizing a clamping and shearing sequence function comprises, in sequence from front to back, a clamping link, a first link, a second link, a shearing slider, and a pneumatic slide.

[0007] The bottom end of the clamping rod is hinged to the support; the top end of the clamping rod is a sleeve structure, with the sleeve axially arranged in the front-to-back direction; inside the sleeve, a spring seat, a spring, and a piston block are installed in a front-to-back configuration. A connecting shaft arranged in the left-to-right direction is fixedly mounted on the piston block, and the connecting shaft passes through symmetrically designed strip grooves on the left and right side walls of the sleeve, with the strip grooves arranged along the front-to-back direction of the piston sleeve; the connecting shaft confines the spring and piston block within the sleeve; and the spring is in a compressed state, with the connecting shaft pressed against the rear end of the strip groove by the spring force.

[0008] The two ends of the aforementioned connecting shaft also pass through the top holes of the two second connecting rods to form a rotating pair. The lower ends of the two second connecting rods are connected to the front end of the first connecting rod to form a rotating pair. The end of the first connecting rod is fixed to the output end of the pneumatic slide.

[0009] The shearing slider is a U-shaped structure with both ends fixed to the two ends of the connecting shaft; a blade holder is installed on the top of the shearing slider, and a blade is fixedly installed on the cutting platform designed on the blade holder.

[0010] The integrated structure formed by the above connection method is installed above the compaction mechanism at the end of the modular fiber placement head mechanism, so that the fiber transfer guide groove is located on the rotation path of the sleeve in the clamping link. When the output end of the pneumatic slide is not activated, the connecting shaft is pressed against the rear end of the strip groove by the spring force, and the clamping link is in an inclined state towards the pneumatic slide. The front end face of the piston sleeve and the cutter can clamp and cut the fiber by controlling the pneumatic slide.

[0011] The advantages of this invention are:

[0012] (1) The mechanism of the present invention can realize the clamping and shearing sequence function, and can complete a relatively complex periodic task operation by only the reciprocating motion of a cylinder;

[0013] (2) The present invention can realize the clamping and shearing sequence function. Due to the inclusion of flexible rods, the switching between the two configurations is smooth and the reliability is high.

[0014] (3) The present invention can realize the clamping and shearing sequence function. From the perspective of manufacturing cost, it reduces the number of drives to complete the action and greatly reduces the processing and manufacturing cost of the wire laying head mechanism. Attached Figure Description

[0015] Figure 1 This is an isometric schematic diagram of the mechanism device of the present invention that can realize the clamping and shearing sequence function;

[0016] Figure 2 This is a cross-sectional schematic diagram of the mechanism device of the present invention that can realize the clamping and shearing sequence function;

[0017] Figure 3This is a schematic diagram of the shearing state of the mechanism device of the present invention after clamping the fiber to realize the clamping and shearing sequence function;

[0018] In the picture:

[0019] 100-Mechanical Device 101-Pneumatic Slide Table 102-First Link 103-Second Link 104-Clamping Unit 105-Shear Slider 106-Cut knife 107-Support 108-Base Plate 201-Clamping Link 202-Spring 203-Connecting Shaft 204 Piston Block 205-Spring seat 105a-Top Beam 105b-Side plate 105c-tool holder Detailed Implementation

[0020] The present invention will now be described in conjunction with the accompanying drawings and examples.

[0021] This invention relates to a mechanism that enables clamping and shearing sequence functions. The entire mechanism 100 has the following structure: Figure 1 As shown, including

[0022] The pneumatic slide 101, the first connecting rod 102, the second connecting rod 103, the clamping unit 104, the shearing slider 105, the cutter 106, the support 107 and the base plate 108.

[0023] The pneumatic slide 101 is fixedly installed at the rear of the base plate 108; the output end of the pneumatic slide 101 moves along the x-axis. A first connecting rod 102 is arranged along the x-axis; the end of the first connecting rod 102 is designed with a connecting surface, which is fixed to the output end of the pneumatic slide 101 by bolts. A connector is designed at the front end of the first connecting rod 102, and a second connecting rod 103 is arranged on each side of the connector. The bottom ends of the two second connecting rods 103 are connected to the connector via a rotating shaft to form a rotating pair, the axis of which is along the y-axis. A clamping unit 104 is arranged between the top ends of the two connecting rods.

[0024] The clamping unit 104 includes a clamping link 201, a spring 202, a connecting shaft 203, a piston block 204, and a spring seat 205. Figure 2 As shown.

[0025] The upper part of the clamping link 201 is a cylindrical structure, which serves as the piston sleeve; the lower part is a rod-shaped support integrally formed with the piston sleeve, and the rod-shaped support is perpendicular to the axis of the piston sleeve. The top end is connected to the outer wall of the bottom surface of the piston sleeve to form an integral clamping link 201.

[0026] The bottom end of the aforementioned rod-shaped support is placed in a U-shaped joint designed on a support 107 fixed on the upper front surface of the base plate 108, and is connected by a rotating shaft to form a rotating pair. The axis of the rotating pair is parallel to the base plate 108 and along the y-axis.

[0027] The piston sleeve has symmetrically designed strip grooves on its left and right sidewalls, arranged along the axial direction of the piston sleeve. A spring 202 and a piston block 204 are coaxially mounted in the piston sleeve, positioned at the front and rear.

[0028] The spring seat 202 is a cylindrical structure, with its end inserted into a groove on the inner wall of the piston sleeve front end, and axially limited by the annular shoulder on the circumferential side of the spring seat 205. The front end of the spring 202 is sleeved on the spring seat 205, limited by the annular shoulder on the spring seat 205, and the end of the spring 202 is placed in a groove designed on the front end face of the cylindrical piston block 204. At the same time, the piston block 204 has a through hole at its end that penetrates the side wall of the piston block 204; the connecting shaft 203 passes through the through hole and the strip holes on both sides of the piston sleeve, and is fixed to the piston block 204 by bolts, restricting the rotation of the connecting shaft 203. Thus, the connecting shaft 203 restricts the spring 202 and the piston block 204 within the piston sleeve; and the spring 202 is in a compressed state, while the connecting shaft 203 is pressed against the rear end of the strip groove by the spring force; at this time, the connecting shaft 203 can move forward along the strip groove, while simultaneously driving the piston block 204 forward, further compressing the spring 202 during the movement. The two ends of the aforementioned connecting shaft 203 also pass through the top through holes of the second connecting rod 103 on both sides of the clamping connecting rod 201 to form a rotating pair.

[0029] The shearing slider 105 is a U-shaped structure consisting of a top beam 105a and two side plates 105b. For installation purposes, the top beam 105a and the two side plates 105b are designed as separate structures. The tops of the two side plates 105b are connected and fixed to the connecting platforms designed on both sides of the bottom surface of the top beam 105a by bolts to form a whole.

[0030] The two side plates 105b have rectangular holes that fit into the rectangular segments at both ends of the connecting shaft 203, thus restricting the rotation of the shearing slider 105 around the connecting shaft 203. Simultaneously, nuts are tightened into the threaded ends of the connecting shaft to achieve axial fixation of the two side plates 105b on the connecting shaft 203.

[0031] The shearing slider 105 has a groove on its front side, which is inserted into the end of the blade holder 105c and fixed with screws. The front end of the blade holder is designed with a cutting platform, and the blade 106 is set parallel to the base plate 108 with the blade facing forward. The blade 106 is fixed to the cutting platform with screws and washers.

[0032] The aforementioned mechanism 100 is fixedly installed above the compaction mechanism at the end of the modular fiber placement head mechanism via a base plate 108, positioning the fiber transfer guide groove on the rotation path of the piston sleeve in the clamping rod 201. When the output end of the pneumatic slide 101 is not activated, the connecting shaft 203 is pressed against the rear end of the strip groove by the spring force, and the clamping rod 201 is tilted towards the pneumatic slide 101. By controlling the pneumatic slide 101, the front end face of the piston sleeve and the cutter 106 can clamp and shear the fibers. The specific working method is divided into the following stages:

[0033] Phase 1:

[0034] When the control system issues a clamping command, the pneumatic slide 101 pushes the first connecting rod 102 forward. Because the spring 202 is compressed, it has a backward elastic force, causing the clamping connecting rod 201 in the clamping unit 104 to rotate counterclockwise around the support 107 under the action of the second connecting rod 103, i.e., rotating towards the fiber transmission guide groove. When the piston sleeve axis is perpendicular to the base plate 108, the front end face of the piston sleeve contacts the fiber transmission guide groove and presses down on it, completing the fiber clamping action. At this time, the clamping unit 104 reaches its limit point, and the relative position of the shearing slider 105 and the clamping unit 104 remains unchanged.

[0035] Phase Two:

[0036] The pneumatic slide 101 continues to operate. Since the clamping unit 104 can no longer rotate counter-clockwise, the connecting shaft 203 moves forward along the strip groove under the action of the second connecting rod 103. Simultaneously, the shearing slider 105 moves forward as well, and the piston block 204 continuously compresses the spring 202 until the connecting shaft 203 reaches the front end of the strip groove. Throughout this process, the cutter 106 gradually approaches the fiber until it, in conjunction with the anvil, completes the fiber shearing action.

[0037] Phase Three:

[0038] After the fiber shearing in the second stage is completed, when the fiber needs to be re-fed, the mechanism 100 operates in the opposite direction to the second stage. The pneumatic slide 101 moves in the opposite direction, driving the first connecting rod 102 and the second connecting rod 103 to move in the opposite direction. Through the connecting shaft 203, the shearing slider 105 and the cutter 106 move away from the anvil until the connecting shaft 203 moves to the rear end of the strip groove, and the spring 202 returns to its initial state. During the above process, the position of the clamping connecting rod 201 remains unchanged.

[0039] Phase Four:

[0040] Following the third stage, the operation of the mechanism 100 is the opposite of that of the first stage. The pneumatic slide 101 moves further in the opposite direction, causing the first connecting rod 102 to move further in the opposite direction. Through the second connecting rod 103, the clamping connecting rod 201 rotates clockwise. At this time, the clamping connecting rod 201 separates from the fiber transmission guide groove, and the mechanism 100 returns to its initial state.

[0041] Each time the fiber is repositioned, the aforementioned four stages are repeated to achieve sequential clamping and shearing actions during the modular fiber placement process.

Claims

1. A mechanism capable of performing a clamping and shearing sequence function, characterized in that: From front to back, the components are: clamping link, first link, second link, shearing slider and pneumatic slide. The bottom end of the clamping rod is hinged to the support; the top end of the clamping rod is a sleeve structure, with the sleeve axially arranged in the front-to-back direction; inside the sleeve, a spring seat, a spring, and a piston block are installed in a front-to-back configuration; a connecting shaft arranged in the left-to-right direction is fixedly installed on the piston block, and the connecting shaft passes through symmetrically designed strip grooves on the left and right side walls of the sleeve, with the strip grooves arranged in the front-to-back direction of the piston sleeve; the connecting shaft restricts the spring and piston block within the sleeve; and the spring is in a compressed state, with the connecting shaft pressed against the rear end of the strip groove by the spring force; The two ends of the aforementioned connecting shaft also pass through the top holes of two second connecting rods to form a rotating pair. The lower ends of the two second connecting rods are connected to the front end of the first connecting rod to form a rotating pair. The end of the first connecting rod is fixed to the output end of the pneumatic slide. The shearing slider has a U-shaped structure with a top beam and two side plates, which are designed as separate structures. The top of each side plate is bolted to the connecting platforms on both sides of the bottom of the top beam to form a whole. Rectangular holes are opened on the side plates, which are respectively fitted with rectangular segments at both ends of the connecting shaft to restrict the rotation of the shearing slider around the connecting shaft. At the same time, nuts are tightened into the threads at the ends of the connecting shaft to achieve axial fixation of the side plates on the connecting shaft. The two ends of the shearing slider are fixed to the two ends of the connecting shaft. A blade holder is installed on the top of the shearing slider, and a blade is fixedly installed on the cutting platform designed on the blade holder. The overall structure formed by the above connection method is installed above the compaction mechanism at the end of the modular fiber placement head mechanism, so that the fiber transmission guide groove is located on the rotation path of the sleeve in the clamping link. When the output end of the pneumatic slide is not activated, the connecting shaft is pressed against the rear end of the strip groove by the spring force, and the clamping link is in an inclined state towards the pneumatic slide. The front end face of the piston sleeve and the cutter can achieve fiber clamping and shearing by controlling the pneumatic slide.

2. The mechanism device for realizing clamping and shearing sequence function as described in claim 1, characterized in that: The work process includes the following stages: In the first stage, after the control system issues a clamping command, the first connecting rod is pushed forward under the action of the pneumatic slide. Then, under the action of the second connecting rod, the clamping connecting rod rotates around the support towards the fiber transmission guide groove until the front end face of the sleeve contacts the fiber transmission guide groove and presses down on the fiber transmission guide groove to complete the fiber clamping action. At this time, the clamping connecting rod reaches the limit point, and the relative position of the shearing slider and the clamping connecting rod does not change. In the second stage, the pneumatic slide continues to operate. Under the action of the second connecting rod, it drives the connecting shaft to move forward along the strip groove. At the same time, the shearing slider moves forward together, and the piston block compresses the spring until the connecting shaft moves to the front end of the strip groove. Throughout the process, the cutter gradually approaches the fiber until the cutter cooperates with the anvil to complete the fiber shearing action. In the third stage, after the fiber cutting is completed in the second stage, when the fiber needs to be fed back, the pneumatic slide moves in the opposite direction, driving the first and second connecting rods to move in the opposite direction. Through the connecting shaft, the cutting slider and the cutter move away from the anvil until the connecting shaft moves to the rear end of the strip groove, and the spring returns to its initial state. During the above process, the position of the clamping connecting rod remains unchanged. The fourth stage follows immediately after the third stage. The pneumatic slide moves in the opposite direction, causing the first connecting rod to move further in the opposite direction. This, in turn, causes the clamping connecting rod to rotate clockwise via the second connecting rod. At this point, the clamping connecting rod separates from the fiber transmission guide groove.

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