Automatic rolling device for composite material T-shaped long stringer preform and use method

Abstract

This invention discloses an automatic roll forming device and method for composite material T-shaped stringer preforms. The device includes an automatic filament placement machine, an ultrasonic cutter, a T-shaped stringer roll forming head, and an automatic gripping head. The automatic filament placement machine is connected to a robotic arm, which is equipped with a tool changing plate. The tool changing plate is used to switch one of the following components onto the robotic arm: the filament placement head, the ultrasonic cutter, the T-shaped stringer roll forming head, and the automatic gripping head. The automatic filament placement machine is used to prepare planar or curved stringer blanks required for continuous roll forming. The ultrasonic cutter is used to automatically cut the stringer blanks to a preset size. The T-shaped stringer roll forming head is used to automatically roll form the L-shaped stringer preform. The automatic gripping head is used to automatically assemble the L-shaped stringer preforms into T-shaped stringer preforms. The solution provided by this invention can effectively improve the production efficiency and quality consistency of T-shaped stringers.

Description

Technical Field

[0001] This invention relates to the field of advanced composite material automated process molding and manufacturing technology, and in particular to an automatic rolling device and method for using composite material T-shaped stringer preforms. Background Technology

[0002] Composite materials, due to their numerous advantages such as high specific strength, high specific stiffness, and customizable performance, are widely used in various military and civilian aircraft. Domestically produced composite wing panels are mostly T-shaped stiffened panels, consisting of composite T-shaped stringers and composite skin. T-shaped composite stringers are common large-size composite reinforcement structures and have extremely wide applications in composite wing panels.

[0003] The existing T-shaped stringers for composite materials have low levels of automation in molding and poor molding quality stability, making it difficult to meet the requirements for automated manufacturing of composite materials. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] The technical problem to be solved by the present invention is to address the low degree of automation in the forming of existing composite material T-shaped stringers and the poor stability of forming quality.

[0006] (II) Technical Solution

[0007] To address the aforementioned technical problems, this invention provides an automatic roll forming device for composite material T-shaped stringer preforms. The device includes an automatic filament placement machine, an ultrasonic cutter, a T-shaped stringer roll forming head, and an automatic gripping head. The automatic filament placement machine is connected to a robotic arm, which is equipped with a tool changing disc. The tool changing disc is used to switch one of the following components onto the robotic arm: the filament placement head, the ultrasonic cutter, the T-shaped stringer roll forming head, and the automatic gripping head. The automatic filament placement machine is used to prepare planar or curved stringer blanks required for continuous roll forming. The ultrasonic cutter is used to automatically cut the stringer blanks to a preset size. The T-shaped stringer roll forming head is used to complete the automatic roll forming of the L-shaped stringer preform. The automatic gripping head is used to automatically assemble the L-shaped stringer preforms into T-shaped stringer preforms.

[0008] In one embodiment, when the automatic filament placement machine prepares the flat or curved stringer blank required for continuous rolling, the prepreg bundle width is 6.35 mm, the automatic filament placement pressure is 500 N, the automatic filament placement ribbon gap is 0.2 mm, and the filament placement movement mode is unidirectional placement.

[0009] In one embodiment, the T-shaped stringer roller head includes a blank radiation heating module, a rolling positioning and guiding module, a sliding shaping module, and a web rolling shaping module: the blank radiation heating module is used to heat the blank of the L-shaped stringer preform; the rolling positioning and guiding module is used to pre-bend the blank of the L-shaped stringer preform and to position the R-angle of the L-shaped stringer preform by rolling compaction; the sliding shaping module is used to pre-roll shape the R-angle of the L-shaped stringer preform; and the web rolling shaping module is used to perform final rolling shaping on the webs on both sides of the R-angle of the L-shaped stringer preform.

[0010] In one embodiment, the blank radiant heating module includes a resistance wire and an overall control system; the resistance wire is used to dissipate heat; the overall control system is used to adjust the operating power of the resistance wire to control the heating temperature.

[0011] In one embodiment, the rolling positioning guide module includes a rotating shaft and a V-shaped structure; the rotating shaft is used to realize the rotation of the V-shaped structure; the V-shaped structure is used to position the R-angle of the L-shaped stringer preform by rolling compaction.

[0012] In one embodiment, the sliding shaping module includes a metal support frame and a shaping rubber; the metal support frame is used to support and fix the shaping rubber; the shaping rubber is used to pre-roll and shape the R-angle of the L-shaped stringer preform.

[0013] In one embodiment, the web roll forming module includes a metal support frame and a rolling roller; the metal support frame is used to support the rolling roller; the rolling roller is used to roll form the radius (R) of the L-shaped stringer preform.

[0014] In one embodiment, the blank radiation heating module, the rolling positioning and guiding module, the sliding shaping module, and the web roll forming module are sequentially installed in the first, second, third, and fourth rows of the T-shaped stringer roll head.

[0015] In one embodiment, a 5-10mm cavity is reserved between the shaping rubber and the metal support frame.

[0016] In another aspect, the present invention provides a method for using an automatic roll forming device for composite material T-shaped stringer preforms as described in any of the preceding claims. The method includes: preparing a planar or curved stringer blank required for continuous roll forming using an automatic fiber placement machine; automatically cutting the stringer blank to a preset size using an ultrasonic cutter; automatically roll forming the L-shaped stringer preform using a T-shaped stringer roll forming head; and automatically assembling the L-shaped stringer preforms into a T-shaped stringer preform using an automatic gripper head.

[0017] (III) Beneficial Effects

[0018] The above-described technical solution of the present invention has the following advantages:

[0019] This embodiment utilizes an automated process and apparatus consisting of "automatic fiber placement + automatic cutting + continuous rolling + automatic assembly" to effectively improve the quality and efficiency of existing composite material stringer molding, enabling automated continuous molding of composite material stringers and meeting the high-efficiency, high-quality, and large-volume requirements of my country's aircraft manufacturing industry for carbon fiber composite material stringers. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the automatic rolling device for composite material T-shaped stringer preforms according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic flowchart of an automatic roll forming method for a composite material T-shaped stringer preform according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the T-shaped long stringer roller pressing head device according to an embodiment of the present invention;

[0023] Figure 4 This is a flowchart illustrating the usage method of the automatic rolling device for composite material T-shaped stringer preforms according to an embodiment of the present invention. Detailed Implementation

[0024] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0026] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present invention by way of example, but should not be used to limit the scope of the present invention, that is, the present invention is not limited to the described embodiments.

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] This invention provides an automatic rolling device for composite material T-shaped stringer preforms, such as... Figure 1As shown, the automatic rolling device 100 for the composite material T-shaped stringer preform includes an automatic fiber placement machine 101, an ultrasonic cutter 102, a T-shaped stringer rolling head 103, and an automatic gripping head 104. The automatic fiber placement machine 101 is connected to a robotic arm, which is equipped with a tool changing plate. The tool changing plate is used to switch one of the following components of the automatic fiber placement machine 101—the fiber placement head, the ultrasonic cutter 102, the T-shaped stringer rolling head 103, and the automatic gripping head 104—onto the robotic arm:

[0029] The automatic wire laying machine 101 is used to prepare flat or curved string blanks required for continuous rolling.

[0030] The ultrasonic cutter 102 is used to automatically cut the stringer blank to a preset size;

[0031] The T-shaped stringer roller head 103 is used to complete the automatic roll forming of the L-shaped stringer preform;

[0032] The automatic gripping head 104 is used to automatically assemble the L-shaped stringer preform into a T-shaped stringer preform.

[0033] This embodiment can solve the problem of automated molding process for composite material T-shaped stringer preforms, and meet the requirements of automated manufacturing of composite materials.

[0034] See Figure 2 In this embodiment, the automatic rolling device 100 for composite material T-shaped stringer preforms mainly completes the automatic fiber placement process of the blank through an automatic fiber placement machine 101, the automatic cutting process of the blank through an ultrasonic cutter 102, the automatic rolling process of the blank through a T-shaped stringer rolling head 103, and the automatic assembly process of the blank through an automatic gripper head 104. The automatic rolling process of the blank includes four parts: blank radiation heating, rolling positioning and guiding, R-zone sliding shaping, and web rolling shaping.

[0035] The automatic filament placement machine 101 in this embodiment can be a robot. When preparing the flat or curved stringer blank required for continuous rolling, the automatic filament placement machine 101 can use a prepreg bundle width of 6.35mm, an automatic filament placement pressure of 500N, an automatic filament placement ribbon gap of 0.2mm, and a unidirectional filament placement motion.

[0036] Further, see Figure 3In one embodiment, the T-shaped stringer roller head 103 includes a blank radiation heating module 301, a rolling positioning and guiding module 302, a sliding shaping module 303, and a web rolling shaping module 304: the blank radiation heating module 301 is used to heat the blank of the L-shaped stringer preform; the rolling positioning and guiding module 302 is used to pre-bend the blank of the L-shaped stringer preform and to position the R-angle of the L-shaped stringer preform by rolling compaction; the sliding shaping module 303 is used to pre-roll shape the R-angle of the L-shaped stringer preform; and the web rolling shaping module 304 is used to roll shape the webs on both sides of the R-angle of the L-shaped stringer preform.

[0037] Here, the blank radiant heating module 301 includes a resistance wire and an overall control system; the resistance wire is used to dissipate heat; the overall control system is used to adjust the working power of the resistance wire to control the heating temperature. The resistance wire of the blank radiant heating module is disposed in the blank radiant heating module base, and the inner side of the blank radiant heating module base is V-shaped.

[0038] The rolling positioning guide module 302 includes a rotating shaft 31 and a V-shaped structure 32; the rotating shaft 31 is used to realize the rotation of the V-shaped structure 32; the V-shaped structure 32 is used to position the R-angle of the L-shaped stringer preform by rolling compaction.

[0039] The sliding shaping module 303 includes a metal support frame 33 and a shaping rubber 34; the metal support frame 33 is used to support and fix the shaping rubber 34; the shaping rubber 34 is used to pre-roll and shape the R-angle of the L-shaped stringer preform.

[0040] The web roll forming module 304 includes a metal support frame 35 and a rolling pressure roller 36; the metal support frame 35 supports the rolling pressure roller 36; the rolling pressure roller 36 is used to perform final roll forming on the radius (R) of the L-shaped stringer preform. Here, the rolling pressure roller is made of rubber.

[0041] In practical applications, such as Figure 3 As shown, in this embodiment, the blank radiation heating module 301, the rolling positioning and guiding module 302, the sliding shaping module 303, and the web roll forming module 304 can be installed sequentially in the first, second, third, and fourth rows of the T-shaped stringer roll head 103 according to the process sequence.

[0042] In addition, since the sliding shaping module 303 mainly achieves the rolling shaping of the R angle of the L-shaped stringer preform through the elastic deformation of the shaping rubber 34 during the rolling process, in order to better realize the function of the sliding shaping module 303, a cavity of 5-10mm can be reserved between the shaping rubber 34 and the metal support frame 33.

[0043] The automatic roll forming device for composite material T-shaped stringer preforms provided in this embodiment includes an automatic fiber placement machine 101, an ultrasonic cutter 102, a T-shaped stringer roll forming head 103, and an automatic gripping head 104. The automatic fiber placement machine 101 is connected to a robotic arm, which is equipped with a gun changing plate. The gun changing plate is used to switch one of the ultrasonic cutter 102, the T-shaped stringer roll forming head 103, and the automatic gripping head 104 onto the robotic arm. The automatic fiber placement machine 101 is used to prepare planar or curved stringer blanks required for continuous roll forming. The ultrasonic cutter 102 is used to automatically cut the stringer blanks to a preset size to obtain an L-shaped stringer preform. The T-shaped stringer roll forming head 103 is used to complete the automatic roll forming of the L-shaped stringer preform. The automatic gripping head 104 is used to automatically assemble the L-shaped stringer preforms into a T-shaped stringer preform. This embodiment utilizes an automated process and apparatus consisting of "automatic fiber placement + automatic cutting + continuous rolling + automatic assembly" to effectively improve the quality and efficiency of existing composite material stringer molding, enabling automated continuous molding of composite material stringers and meeting the high-efficiency, high-quality, and large-volume requirements of my country's aircraft manufacturing industry for carbon fiber composite material stringers.

[0044] This invention also provides a method for using the automatic rolling device for composite material T-shaped stringer preforms described in any of the above-mentioned embodiments, such as... Figure 4 As shown, the method includes:

[0045] Step 401: Prepare the flat or curved stringer blanks required for continuous rolling using an automatic wire placement machine;

[0046] Step 402: Use an ultrasonic cutter to automatically cut the stringer blank to a preset size;

[0047] Step 403: Automatic roll forming of the L-shaped stringer preform is completed using a T-shaped stringer roller head;

[0048] Step 404: Use an automatic gripper head to automatically assemble the L-shaped stringer preform into a T-shaped stringer preform.

[0049] In this embodiment, the automatic continuous rolling process for composite material T-strings mainly utilizes an automatic fiber placement machine to complete the automatic fiber placement of the blank, an ultrasonic cutter to complete the automatic cutting of the blank, a T-string rolling head to complete the automatic rolling process of the blank, and an automatic gripper head to complete the automatic assembly process of the blank. The automatic rolling process for the blank includes four parts: blank radiation heating, rolling positioning and guiding, R-zone sliding shaping, and web rolling shaping.

[0050] Specifically, the automatic filament placement machine in this embodiment can be a robot type. When preparing the flat or curved stringer blank required for continuous rolling, the automatic filament placement machine can use a prepreg bundle width of 6.35mm, an automatic filament placement pressure of 500N, an automatic filament placement ribbon gap of 0.2mm, and a unidirectional filament placement motion.

[0051] Furthermore, the T-shaped stringer roller head in this embodiment may include four process components: a blank radiation heating module to complete the blank radiation heating, a rolling positioning and guiding module to complete the rolling positioning and guiding, a sliding shaping module to complete the R-zone sliding shaping, and a web rolling shaping module to complete the web rolling shaping.

[0052] The process involves heating the L-shaped stringer preform using a blank radiation heating module; positioning the radius (R) of the L-shaped stringer preform using a rolling positioning and guiding module; pre-rolling and shaping the R of the L-shaped stringer preform using a sliding shaping module; and finally, performing the final roll forming of the R of the L-shaped stringer preform using a web roll forming module.

[0053] Here, the blank radiant heating module includes a resistance wire and an overall control system; the resistance wire is used to dissipate heat; the overall control system is used to adjust the working power of the resistance wire to control the heating temperature.

[0054] The rolling positioning guide module includes a rotating shaft and a V-shaped structure; the rotating shaft is used to realize the rotation of the V-shaped structure; the V-shaped structure is used to position the R-angle of the L-shaped stringer preform by rolling compaction.

[0055] The sliding shaping module includes a metal support frame and a shaping rubber; the metal support frame is used to support and fix the shaping rubber; the shaping rubber is used to pre-roll and shape the R-angle of the L-shaped stringer preform.

[0056] The web roll forming module includes a metal support frame and a rolling roller; the metal support frame is used to support the rolling roller; the rolling roller is used to perform the final roll forming of the R-angle of the L-shaped stringer preform.

[0057] In addition, since the sliding shaping module mainly achieves the rolling shaping of the R angle of the L-shaped stringer preform through the elastic deformation of the shaping rubber during the rolling process, a 5-10mm cavity can be reserved between the shaping rubber and the metal support frame to better realize the function of the sliding shaping module.

[0058] This embodiment uses an automated fiber placement machine to prepare planar or curved stringer blanks required for continuous roll forming; an ultrasonic cutter automatically cuts the stringer blanks to a preset size to obtain an L-shaped stringer preform; a T-shaped stringer roll forming head completes the automated roll forming of the L-shaped stringer preform; and an automated gripper head automatically assembles the L-shaped stringer preform into a T-shaped stringer preform. This embodiment, through an automated process and device of "automatic fiber placement + automatic cutting + continuous roll forming + automatic assembly," can effectively improve the quality and efficiency of existing composite material stringer forming, realize automated continuous forming of composite material stringers, and meet the high-efficiency, high-quality, and large-volume requirements of my country's aircraft manufacturing industry for carbon fiber composite material stringers.

[0059] The method provided in this embodiment and the device embodiment described above belong to the same concept. For details of its implementation, please refer to the device embodiment, which will not be repeated here.

[0060] The present invention will now be described in detail with reference to application examples.

[0061] This embodiment provides an automatic rolling method and apparatus for composite material T-shaped stringer preforms.

[0062] Includes the following:

[0063] First, the stringer blank adopts an automatic wire placement process. The automatic wire placement machine used is a robotic type. The width of the prepreg bundle is 6.35mm, the automatic wire placement pressure is 500N, the automatic wire placement gap is 0.2mm, and the wire placement movement mode is unidirectional placement.

[0064] Secondly, the automatic cutting of stringer blanks uses an ultrasonic cutter as the cutting terminal. The ultrasonic cutter is mounted on a robotic arm, which completes the automatic cutting motion through NC program instructions to realize the automatic cutting process of stringer blanks.

[0065] Third, the continuous roll forming process of stringer blanks uses a T-shaped stringer roll head for automatic roll forming. The T-shaped stringer roll head is installed on a robotic arm, and the robotic arm completes the automatic roll forming of the L-shaped stringer into the molded body through NC program instructions.

[0066] Finally, the automatic assembly of the stringer blank uses an automatic gripper head to automatically grip the L-shaped stringer preform completed by the continuous rolling process according to the NC control program; the automatic gripper head is installed on the robotic arm, and the robotic arm completes the automatic combination movement through program instructions to realize the automatic combination of the T-shaped stringer preform.

[0067] The robotic arm is equipped with a gun-changing disc, which can be fitted with different functional heads as needed.

[0068] In this embodiment, the continuous roll forming process for stringer blanks utilizes a T-shaped stringer roll head for automatic roll forming. The T-shaped stringer roll head is mounted on a robotic arm, which completes the automatic roll forming of the L-shaped stringer onto the molded body through NC program instructions.

[0069] The T-shaped long stringer roller pressing head device includes a blank radiation heating module, a rolling positioning and guiding module, a sliding shaping module, and a web roller pressing and shaping module;

[0070] The blank radiant heating module is installed in the first row of the T-shaped long stringer roller head (20). It is heated by the resistance wire installed in the blank radiant heating module. The blank radiant heating module is controlled by the overall control system. The temperature of the blank radiant heating module is adjustable, and the adjustment range is room temperature to 120℃.

[0071] The rolling positioning guide module is installed in the second row of the T-shaped stringer roller head. The rolling positioning guide module can be rotated by the rotating shaft. The rolling positioning guide module has a V-shaped structure. Its main function is to position the R-angle of the L-shaped stringer preform by rolling and compacting. The rolling positioning guide module is pressure controlled by a cylinder.

[0072] The sliding shaping module is installed in the third row of the T-shaped stringer roller head. The sliding shaping module consists of a metal support frame and shaping rubber. A 5-10mm cavity is reserved between the shaping rubber and the metal support frame. During the rolling process, the elastic deformation of the shaping rubber realizes the rolling shaping of the R angle of the L-shaped stringer preform.

[0073] The web plate roll forming module is installed in the fourth row of the T-shaped stringer roll forming head. The web plate roll forming module consists of a metal support frame and a rolling roller. The rolling roller is connected to the metal support frame through a rotating shaft.

[0074] This embodiment presents an automatic rolling method and apparatus for composite material T-shaped stringer preforms, which solves the problem of automated molding process for composite material T-shaped stringer preforms, lays the foundation for the subsequent automated manufacturing of T-shaped stringer preforms, can improve the quality of T-shaped stringer preforms, and is of great significance for the automated manufacturing of aircraft panel structures.

[0075] This embodiment can improve the manufacturing efficiency and quality consistency of composite material T-shaped stringer preforms, effectively solving the engineering manufacturing problems of stringers. By refining the process steps and implementing automatic wire laying, automatic cutting, automatic rolling, and automatic assembly, this embodiment can effectively improve the manufacturing efficiency of T-shaped stringers, accumulating engineering experience for the subsequent automation and intelligentization of composite material stringers. This process method can be widely promoted and has particular practical engineering application value.

[0076] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0077] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An automatic rolling device for composite material T-shaped stringer preforms, characterized in that, The device includes an automatic filament placement machine, an ultrasonic cutter, a T-shaped stringer roller head, and an automatic gripping head; the automatic filament placement machine is connected to a robotic arm, and a tool changing disc is installed on the robotic arm. The tool changing disc is used to switch one of the following components of the automatic filament placement machine—the filament placement head, the ultrasonic cutter, the T-shaped stringer roller head, and the automatic gripping head—onto the robotic arm: The automatic wire laying machine is used to prepare flat or curved stringer blanks required for continuous rolling; The ultrasonic cutter is used to automatically cut the stringer blank to a preset size; The T-shaped stringer roller head is used to automatically roll-form the L-shaped stringer preform. The T-shaped stringer roller head includes a blank radiation heating module, a rolling positioning and guiding module, a sliding shaping module, and a web roll-forming module. The blank radiation heating module, the rolling positioning and guiding module, the sliding shaping module, and the web roll-forming module are sequentially installed in the first, second, third, and fourth rows of the T-shaped stringer roller head. The blank radiant heating module is used to heat the blank of the L-shaped stringer preform; The rolling positioning guide module is used to pre-bend the blank of the L-shaped stringer preform and to position the R-angle of the L-shaped stringer preform by rolling compaction. The sliding shaping module is used to pre-roll and shape the R-angle of the L-shaped stringer preform; The web roll forming module is used to roll form the webs on both sides of the R-angle of the L-shaped stringer preform; The automatic gripping head is used to automatically assemble the L-shaped stringer preform into a T-shaped stringer preform.

2. The automatic rolling device for composite material T-shaped stringer preforms according to claim 1, characterized in that, When the automatic filament placement machine prepares the flat or curved stringer blanks required for continuous rolling, the prepreg bundle width is 6.35mm, the automatic filament placement pressure is 500N, the automatic filament placement ribbon gap is 0.2mm, and the filament placement movement mode is unidirectional placement.

3. The automatic rolling device for composite material T-shaped stringer preforms according to claim 1, characterized in that, The blank radiant heating module includes a resistance wire and an overall control system; The resistance wire is used to dissipate heat; The overall control system is used to adjust the working power of the resistance wire in order to control the heating temperature.

4. The automatic rolling device for composite material T-shaped stringer preforms according to claim 1, characterized in that, The rolling positioning guide module includes a rotating shaft and a V-shaped structure; The rotating shaft is used to realize the rotation of the V-shaped structure; The V-shaped structure is used to position the radius (R) of the L-shaped stringer preform by rolling compaction.

5. The automatic rolling device for composite material T-shaped stringer preforms according to claim 1, characterized in that, The sliding shaping module includes a metal support frame and shaping rubber; The metal support frame is used to support and fix the shaped rubber; The shaping rubber is used to pre-roll and shape the radius (R) of the L-shaped stringer preform.

6. The automatic rolling device for composite material T-shaped stringer preforms according to claim 1, characterized in that, The web plate roll forming module includes a metal support frame and a rolling pressure roller; The metal support frame is used to support the roller pressure wheel; The roller is used to perform the final roll forming of the radius (R) of the L-shaped stringer preform.

7. The automatic rolling device for composite material T-shaped stringer preforms according to claim 5, characterized in that, A 5-10mm cavity is reserved between the shaped rubber and the metal support frame.

8. A method of using an automatic rolling device for composite material T-shaped stringer preforms as described in any one of claims 1-7, characterized in that, The method includes: Use an automated wire laying machine to prepare flat or curved string blanks required for continuous rolling; The stringer blank is automatically cut to a preset size using an ultrasonic cutter. The L-shaped stringer preform is automatically roll-formed using a T-shaped stringer roller head. The L-shaped stringer preform is automatically assembled into a T-shaped stringer preform using an automatic gripper head.

Images