Automatic forming device and control method for composite stringer triangular region filler

Abstract

The application discloses a kind of composite stringer triangular area filler automatic forming device and control method.The device includes automatic fiber laying head, automatic filler laying head and six-axis robot;Automatic fiber laying head and automatic filler laying head are installed on the mechanical arm of six-axis robot by automatic switching mode;Among them, automatic fiber laying head is used to complete the automatic fiber laying forming of composite stringer triangular area filler blank;Automatic filler laying head is used to complete the automatic rolling forming of composite stringer triangular area filler.The scheme provided by the application involves blank preparation and filler forming in the production process of composite stringer triangular area filler, and is set as automatic fiber laying head and automatic filler laying head with corresponding functions, to realize the automatic forming of stringer triangular area filler blank by automatic fiber laying head;Automatic filler head is realized to realize the automatic preparation and automatic laying forming of stringer triangular area filler, to meet the automatic manufacturing demand of stringer triangular area filler.

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 molding device and control method for composite material stringer triangular area filler. Background Technology

[0002] The manufacturing of existing composite stringer triangular packing materials mainly employs manual or machine-assisted methods. Manual preparation involves manually rolling the packing blank into a cylindrical shape according to the cross-sectional area of ​​the filling zone, then manually extruding the cylindrical packing blank under external force to the required cross-sectional dimensions, and finally manually placing it into the stringer triangular filling area. This process suffers from low production efficiency and inconsistent quality due to its manual nature. Machine-assisted pultrusion molding requires the design of complex integrated pultrusion molding equipment. The specialized equipment occupies a large area, resulting in low production flexibility. The dimensions of the manufactured packing material are limited by the equipment's travel, and the degree of automation is low. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] The technical problem to be solved by this invention is to address the low production efficiency and lack of flexibility in the manufacturing process of traditional composite material stringer triangular area fillers.

[0005] (II) Technical Solution

[0006] To address the aforementioned technical problems, this invention provides an automatic forming device for composite material stringer triangular zone filler. The device includes an automatic filament placement head, an automatic filler placement head, and a six-axis robot. The automatic filament placement head and the automatic filler placement head are automatically switched and mounted on the robotic arm of the six-axis robot. The automatic filament placement head is used to automatically lay and form the composite material stringer triangular zone filler blank. The automatic filler placement head is used to automatically roll-form the composite material stringer triangular zone filler.

[0007] In one embodiment, the device further includes an automatic cutting head: the automatic cutting head is used to automatically cut the filler blank after automatic wire laying.

[0008] In one embodiment, the robotic arm includes robotic arm M and robotic arm N; the automatic filament placement head is mounted on robotic arm M via automatic switching; and / or, the automatic filler placement head is mounted on robotic arm N via automatic switching.

[0009] In one embodiment, the automatic filler placement head includes, in sequence, a blank roll frame, a movement position correction unit, a mold heating and pressurizing unit, an automatic extrusion and shaping unit, a continuous winding and positioning frame, and an automatic filler winding unit.

[0010] In one embodiment, the automatic extrusion shaping unit includes a mold cavity body, the inlet cross-section of which is rectangular and the outlet cross-section of which is triangular, and the mold cavity of the mold cavity body gradually transitions from a rectangle at one end to a triangular shape at the other end.

[0011] In another aspect, the present invention provides a control method for an automatic forming device for composite material stringer triangular zone filler as described in any of the above claims, the method comprising: using the automatic wire laying head to complete the automatic wire laying forming of the composite material stringer triangular zone filler blank; and using the automatic filler placement head to complete the automatic roll forming of the composite material stringer triangular zone filler.

[0012] In one embodiment, the automatic fiber placement and forming of the composite material stringer triangular region filler blank using the automatic fiber placement head includes: calculating the outer dimensions of the filler blank based on the cross-sectional area of ​​the composite material stringer triangular region filler; and using the automatic fiber placement head to automatically place and form the filler blank based on the outer dimensions.

[0013] In one embodiment, the automatic roll forming of the composite stringer triangular packing using the automatic packing placement head includes: automatically and continuously extruding the packing blank using the automatic packing placement head to obtain the composite stringer triangular packing; automatically winding the composite stringer triangular packing to obtain a composite stringer triangular packing roll; and automatically placing the composite stringer triangular packing roll with the help of a robotic arm to complete the automatic placement and forming of the composite stringer triangular packing.

[0014] In one embodiment, before the automatic filler blank is automatically and continuously extruded using the automatic filler placement head, the method further includes: automatically cutting the filler blank using an automatic cutting head and then winding it up to obtain a filler blank roll.

[0015] In one embodiment, the automated continuous extrusion molding of the filler blank using the automatic filler placement head includes: stretching the filler blank roll to achieve adjustable tension, and realizing the straight movement of the filler blank roll through tension traction; maintaining the controllable movement position of the filler blank roll during the straight movement, and setting a movement correction device to ensure the smooth movement of the filler blank roll; applying pressure and temperature control to the composite material stringer triangular area filler with a special molding die to provide environmental conditions for the deformation of the triangular area filler; and shaping the cross-section of the filler blank roll from a rectangle into a triangular shape through pultrusion.

[0016] In one embodiment, the automatic placement of the composite material stringer triangular area filler roll by the robotic arm to complete the automatic placement and forming of the composite material stringer triangular area filler includes: during the automatic placement process, the automatic filler placement head is used to automatically cut the composite material stringer triangular area filler roll so that the length of the composite material stringer triangular area filler roll is consistent with the length of the composite material stringer triangular area filler, thereby completing the automatic placement and forming of the composite material stringer triangular area filler.

[0017] In one embodiment, calculating the outer dimensions of the filling area blank based on the cross-sectional area of ​​the composite material stringer triangular region filler includes: determining the axial length of the filling blank based on the axial length of the composite material stringer triangular region filler; and determining the volume of the filling blank based on the volume of the composite material stringer triangular region filler.

[0018] (III) Beneficial Effects

[0019] The above-described technical solution of the present invention has the following advantages:

[0020] In this embodiment, the blank preparation and filler molding involved in the production process of composite stringer triangular zone filler are centrally set up as an automatic filament placement head and an automatic filler placement head with corresponding functions. The automatic filament placement head and the automatic filler placement head are installed on a six-axis robot through an automated head-changing method. The automatic molding of the stringer triangular zone filler blank is realized through the "six-axis robot + automatic filament placement head" method. The automatic preparation and automatic placement molding of the stringer triangular zone filler are realized through the "six-axis robot + automatic filler placement head" method, which meets the automated manufacturing requirements of the stringer triangular zone filler and ensures the automated manufacturing of the subsequent composite stringer. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the automatic forming device for composite material stringer triangular area filler according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the composite material reinforced wall panel according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the automatic fiber placement head according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the automatic packing head according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the robotic arm according to an embodiment of the present invention;

[0026] Figure 6This is a schematic diagram of the automatic extrusion shaping unit according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of the automatic cutting head according to an embodiment of the present invention;

[0028] Figure 8 This is a flowchart illustrating the control method of the automatic molding device for composite material stringer triangular area filler according to an embodiment of the present invention;

[0029] Figure 9 This is a schematic flowchart of an embodiment of the present invention for an automatic molding method of composite material stringer triangular area filler based on quick head replacement.

[0030] In the diagram: 1. Composite material stringer; 2. Robotic arm; 3. Automatic gun changer; 4. Composite material skin; 5. Blank roll holder; 6. Motion position correction unit; 7. Mold heating and pressurizing unit; 8. Automatic extrusion and shaping unit; 9. Continuous winding positioning frame; 101. Automatic filament laying head; 102. Automatic filler laying head; 103. Six-axis robot; 801. Mold cavity body inlet. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0035] This invention provides an automatic forming device for composite material stringer triangular region filler, such as... Figure 1As shown, the automatic forming device 100 for composite material stringer triangular area filler includes an automatic filament placement head 101, an automatic filler placement head 102, and a six-axis robot 103. The automatic filament placement head 101 and the automatic filler placement head 102 are automatically switched and mounted on the robotic arm of the six-axis robot 103. The automatic filament placement head 101 is used to automatically lay and form the composite material stringer triangular area filler blank. The automatic filler placement head 102 is used to automatically roll-form the composite material stringer triangular area filler.

[0036] Specifically, the solution in this embodiment is mainly applied to composite material reinforced wall panels (structures such as...). Figure 2 The manufacturing process is shown below. The composite reinforced panel consists of a composite stringer 1 and a composite skin 4. In this embodiment, the triangular filler mainly refers to the cavity area between the composite stringer and the composite skin.

[0037] In this embodiment, the blank preparation and filler molding processes involved in the production of composite stringer triangular region fillers are centrally configured into an automatic fiber placement head 101 with corresponding functions (structure as follows). Figure 3 (as shown) and automatic filler placement head 102 (structure as shown) Figure 4 As shown), the automatic filament placement head 101 and the automatic filler placement head 102 are mounted on the robotic arm 2 of the six-axis robot 103 via an automated head-changing mechanism (structure as shown). Figure 5 As shown, the automatic forming of the filler blank in the stringer triangular area is achieved by using a "six-axis robot 103 + automatic filament placement head 101"; the automatic preparation and automatic placement of the filler in the stringer triangular area is achieved by using a "six-axis robot 103 + automatic filler placement head 102", which meets the automatic manufacturing requirements of the filler in the stringer triangular area and ensures the automatic manufacturing of the subsequent composite material stringer.

[0038] The robotic arm in this embodiment may include robotic arm M and robotic arm N; the automatic filament placement head 101 can be automatically switched and installed on the robotic arm M; and / or, the automatic filler placement head 102 can be automatically switched and installed on the robotic arm N. The automatic filament placement head 101 and the automatic filler placement head 102 can be mainly connected via an automatic gun changing disc 3 (structure as shown in the image). Figure 5 (As shown) Automated replacement is performed using a robotic arm. In practical applications, a KUKA robotic arm, model KR480 R3330 MT, with a load capacity of 480kg and a reach of 3326mm, can be selected.

[0039] In another embodiment, in addition to configuring the automatic fiber placement head 101 and the automatic filler placement head 102, an automatic cutting head may also be configured: the automatic cutting head is used to automatically cut the filler blank after automatic fiber placement. Here, the structure of the automatic cutting head can be as follows: Figure 7 As shown. The automatic cutting head can automatically cut using an ultrasonic cutter.

[0040] In this application, the automatic filler laying head 102 includes a blank material roll frame 5, a movement position correction unit 6, a mold heating and pressurizing unit 7, an automatic extrusion and shaping unit 8, a continuous winding and positioning frame 9, and an automatic filler winding unit arranged in sequence.

[0041] Specifically, such as Figure 6 As shown, the automatic extrusion shaping unit 8 includes a mold cavity body. The inlet 801 of the mold cavity body has a rectangular cross-section, and the outlet cross-section of the mold cavity body has a triangular-like cross-section. The mold cavity of the mold cavity body gradually transitions from a rectangle at one end to a triangular-like cross-section at the other end.

[0042] The blank roll holder is used to hold the wound-up filler blanks. The movement position correction unit consists of two staggered support rollers. The filler blank passes between the two support rollers and is leveled and positioned by the two support rollers. The mold heating and pressurizing unit consists of two heating plates set vertically. The two heating plates heat and pressurize the filler blank. Then, the filler blank enters the automatic extrusion and shaping unit, where it is extruded and shaped from a rectangle into a triangular shape. The triangular filler is wound and positioned by a continuous winding and positioning frame. The continuous winding and positioning frame is a circular frame with forks. The forks are used to pull the triangular filler, which in turn pulls the filler blank on the blank roll holder. This gives the filler blank and the shaped filler on the entire automatic filler placement head traction tension. Finally, the shaped triangular filler is wound up by the automatic filler winding unit.

[0043] This embodiment improves the production efficiency and quality consistency of automated manufacturing of composite girder, effectively solving the engineering manufacturing problems of automated production of composite girder. In this embodiment, the blank preparation and filler molding involved in the production process of the triangular filler in the composite girder are centrally set up as an automatic wire-laying head 101 and an automatic filler-laying head 102 with corresponding functions. The automatic wire-laying head 101 and the automatic filler-laying head 102 are installed on a six-axis robot 103 through an automated head-changing method. The automated molding of the triangular filler blank in the girder is achieved through the "six-axis robot 103 + automatic wire-laying head 101" method; the automated preparation and automatic placement molding of the triangular filler in the girder is achieved through the "six-axis robot 103 + automatic filler-laying head 102" method, meeting the automated manufacturing requirements of the triangular filler in the girder, ensuring the subsequent automated manufacturing of composite girder, effectively improving the automated molding of composite girder, and accumulating relevant application experience for the subsequent continuous completion of the engineering and intelligent automated manufacturing of composite stiffened wall panels. This process method can be widely promoted and has certain practical engineering application value.

[0044] This invention also provides a control method for the automatic molding device for composite material stringer triangular area filler as described in any of the above embodiments, such as... Figure 8 As shown, the method includes:

[0045] Step 801: Use the automatic fiber placement head to complete the automatic fiber placement and forming of the composite material stringer triangular region filler blank;

[0046] Step 802: The automatic packing head is used to complete the automatic roll forming of the composite material stringer triangular area packing.

[0047] Specifically, in this embodiment, the automatic fiber placement head is used to complete the automatic fiber placement and forming of the composite material stringer triangular region filler blank, including: calculating the outer dimensions of the filler blank based on the cross-sectional area of ​​the composite material stringer triangular region filler; and using the automatic fiber placement head to complete the automatic fiber placement and forming of the filler blank based on the outer dimensions.

[0048] In this embodiment, during automatic filament placement, a prepreg bundle width of 6.35mm can be used, with a maximum of 8 bundles to be called and a maximum placement pressure of 800N. The selected material can be the same as the material of the composite stringer, which is generally unidirectional tape prepreg.

[0049] In this embodiment, the automatic roll forming of the composite material stringer triangular area filler is completed using the automatic filler placement head, including: using the automatic filler placement head to automatically and continuously extrude and form the filler blank to obtain the composite material stringer triangular area filler; automatically winding the composite material stringer triangular area filler to obtain the composite material stringer triangular area filler roll; and automatically placing the composite material stringer triangular area filler roll with the help of a robotic arm to complete the automatic placement and forming of the composite material stringer triangular area filler.

[0050] Here, before using the automatic filler placement head to automatically and continuously extrude the filler blank, an automatic cutting head can be used to automatically cut and then roll up the filler blank to obtain a filler blank roll. Specifically, the automatic cutting head can use an ultrasonic cutter for automatic cutting.

[0051] Furthermore, the automated continuous extrusion molding process in this embodiment specifically includes five parts: blank roll traction, motion position correction, die heating and pressurization, automatic extrusion shaping, and continuous winding and positioning. Specifically, blank roll traction involves extending the filler blank roll with adjustable tension, achieving straight movement of the filler blank roll through tension traction; motion position correction ensures controllable movement of the filler blank roll during straight movement by setting up a motion correction device to guarantee stable movement; die heating and pressurization applies pressure and temperature control to the composite material stringer triangular area filler using a dedicated forming die, providing environmental conditions for the deformation of the triangular area filler; automatic extrusion shaping transforms the filler blank roll from a rectangular cross-section into a triangular shape through pultrusion; and continuous winding and positioning is the process of winding and installing the filler blank roll onto the automatic filler placement head after automatic extrusion shaping.

[0052] In this embodiment, after obtaining the composite material stringer triangular area filler roll through an automated continuous extrusion molding process, it is necessary to use a robotic arm to automatically lay the composite material stringer triangular area filler roll to complete the automatic laying and forming of the composite material stringer triangular area filler. That is, during the automatic laying process, the automatic filler laying head is used to automatically cut the composite material stringer triangular area filler roll so that the length of the composite material stringer triangular area filler roll is consistent with the length of the composite material stringer triangular area filler, thereby completing the automatic laying and forming of the composite material stringer triangular area filler.

[0053] In this embodiment, when calculating the outer dimensions of the filling blank based on the cross-sectional area of ​​the composite material stringer triangular region filler, the axial length of the filling blank can be determined based on the axial length of the composite material stringer triangular region filler; and the volume of the filling blank can be determined based on the volume of the composite material stringer triangular region filler.

[0054] This embodiment designs and develops a dedicated automatic filament placement head and an automatic filler placement head. The automatic filament placement head and the automatic filler placement head use a six-axis robot as the end effector, switching between different functional heads through automated head changing to achieve different process functions. Specifically, the automatic filament placement head is automatically installed through rapid head changing to complete the automatic filament placement and forming of the filler blank in the triangular region of the composite material stringer. The automatic filler placement head is automatically installed through rapid head changing to complete the automatic roll forming of the filler in the triangular region of the composite material stringer. Finally, the prepared filler conforming to the cross-section of the stringer triangular region is automatically placed on the composite material stringer using a robotic arm. The automated forming of the filler in the triangular region of the composite material stringer meets the manufacturing precision and efficiency requirements of the composite material stringer, laying the foundation for the subsequent automated manufacturing of the composite material stringer.

[0055] The present invention will now be described in detail with reference to application examples.

[0056] This invention proposes an automated molding method for triangular filler in composite stringers based on rapid head changing, which solves the process problem of automated molding of triangular filler in composite stringers, lays the foundation for the subsequent automated manufacturing of composite stringers, and can improve the manufacturing accuracy and production efficiency of composite stringers. It is of great significance for the automated manufacturing of composite panel structures.

[0057] Specifically, see Figure 9 The automatic forming method for composite stringer triangular area filler based on quick head replacement in this embodiment specifically includes the following:

[0058] First, arrange the two robotic arms in a serial configuration on the same ground track;

[0059] Secondly, the two robotic arms are named robotic arm M and robotic arm N respectively;

[0060] Third, based on the cross-sectional area of ​​the composite stringer triangular packing, calculate the required outer dimensions of the filling area blank. The axial length of the filling area blank is consistent with the axial length of the composite stringer triangular packing, and the volume of the filling area blank is consistent with the volume of the composite stringer triangular packing.

[0061] Fourth, the robotic arm M automatically installs the automatic wire-laying head through an automatic gun-changing disc;

[0062] Fifth, the robotic arm M automatically lays the filaments into shape in the filling area blank according to the outer dimensions using an automatic filament-laying head.

[0063] Sixth, after the filling area blank is automatically laid and formed, it is automatically cut to obtain the net size filling area blank, and the net size filling area blank is rolled into a filler blank roll for later use.

[0064] Seventh, install the wound-up filler blank roll onto the automatic filler placement head;

[0065] Eighth, robotic arm N automatically installs the automatic filler placement head via an automatic gun changer.

[0066] Ninth, the robotic arm N uses an automatic filler placement head to automatically and continuously extrude the filler blank rolls to obtain the triangular filler of the composite material stringer.

[0067] Tenth, after the filler blank roll is made into the triangular area filler of the composite material stringer by automated continuous extrusion molding, the triangular area filler is automatically wound up on the automatic filler laying head to obtain the triangular area filler roll of the composite material stringer.

[0068] Eleventh, after the robotic arm N automatically installs the automatic filler placement head, the triangular area filler roll is used as the raw material for automatic placement. The triangular area filler automatic placement NC program drives the spatial movement of the robotic arm N and the automatic filler placement head, and finally realizes the automatic placement and forming of the composite material stringer triangular area filler.

[0069] Twelfth, during the automatic placement of the triangular area filler roll by the robotic arm N and the automatic filler placement head, the length of the triangular area filler is made consistent with the length of the composite material stringer triangular area filler by the automatic cutting of the automatic filler placement head, and finally the automatic placement and forming of the composite material stringer triangular area filler is achieved.

[0070] In this embodiment, the composite material stringer refers to a composite material with a T-shaped cross-section.

[0071] In this embodiment, the triangular filler refers to the cavity area between the composite stringer and the composite skin;

[0072] In this embodiment, automatic molding refers to the robotic arm 2 automatically installing the automatic filler placement head through the automatic gun changing disc 3, and directly placing the triangular filler roll onto the triangular filler cavity of the composite material stringer.

[0073] In this embodiment, the robotic arm is a KUKA robotic arm, model KR480 R3330 MT, with a load capacity of 480kg and a reach of 3326mm.

[0074] In this embodiment, the serial arrangement means arranging robotic arms M and N in a row on the same ground track.

[0075] In this embodiment, robotic arms M and N are sequentially installed on the ground rail. Robotic arms M and N are connected to the control system via a unified electrical signal, and their linear motion on the ground rail is controlled by a robot NC program. The control system mainly achieves coordinated control between robotic arms M and N, the automatic filament placement head, and the automatic filler placement head.

[0076] In this embodiment, the blank of the filling area can be planar or curved, mainly determined by the shape and structure of the composite stringer. The material selected for the blank of the filling area is the same as that of the composite stringer, generally a unidirectional prepreg. The volume of the blank of the filling area is the same as that of the filler in the triangular area.

[0077] In this embodiment, the outer dimension refers to the unfolded dimension of the filler blank. The area of ​​the outer dimension is equal to the product of the width and thickness of the filler prepreg. The product of the area of ​​the outer dimension and the axial length is the same as the volume of the triangular filler. The axial length refers to the unfolded length of the filler blank. The product of the area of ​​the filler blank and the axial length is the same as the volume of the triangular filler.

[0078] In this embodiment, the automatic tool changer interacts with the control system signals using multiple input / output electrical and pneumatic modules. The robotic arm executes the automatic tool changer program to automate the replacement of different automatic filament placement heads and automatic filler placement heads. The automatic tool changer program enables the robotic arm to automate the replacement of automatic filament placement heads and automatic filler placement heads via the automatic tool changer.

[0079] The automatic filament placement head is used to complete the automatic filament placement of composite materials. The width of the prepreg filament bundle used is 6.35mm, the maximum number of filament bundles that can be called is 8, and the maximum placement pressure is 800N. The automatic filament placement head is connected to the robotic arm through an automatic gun changer.

[0080] Automated fiber placement utilizes an automated fiber placement head and an automated fiber placement NC program to automatically lay up and shape materials. The automated fiber placement NC program drives the automated fiber placement head on a robotic arm to complete the automated process of forming composite prepregs.

[0081] Automatic cutting utilizes an automatic cutting head to automatically cut and shape the blank in the filling area. The automatic cutting head is used to automatically cut the blank in the filling area, and the cutting tool used is an ultrasonic cutter. The automatic cutting head is connected to the robotic arm through an automatic gun changer.

[0082] In this embodiment, the net-size filling area blank is obtained by automatically cutting the filling area blank using an automatic cutting head. The filler blank roll is obtained by winding the net-size filling area blank, and the wound filler blank roll is finally installed on the automatic filler placement head.

[0083] The automated filler placement head is used to automate the continuous extrusion molding of composite stringer triangular zone fillers. The automated continuous extrusion molding process includes: blank roll traction, motion position correction, die heating and pressurization, automatic extrusion shaping, and continuous winding and positioning. Specifically, blank roll traction involves extending the filler blank roll with adjustable tension, achieving straight movement through tension traction; motion position correction ensures controllable movement of the filler blank roll during straight movement by using a motion correction device to guarantee stable movement; die heating and pressurization applies pressure and temperature control to the composite stringer triangular zone filler using a dedicated forming die, providing the necessary environmental conditions for deformation; automatic extrusion shaping transforms the filler blank roll from a rectangular cross-section into a triangular shape through pultrusion; and continuous winding and positioning involves rewinding the filler blank roll after automatic extrusion shaping and mounting it on the automated filler placement head.

[0084] In this embodiment, automatic winding involves automatically winding the triangular filler material from the fabricated composite stringer into a triangular filler roll for subsequent automatic placement. The triangular filler roll is automatically wound and then installed onto the automatic filler placement head. Automatic placement involves automatically laying the triangular filler roll onto the triangular filler area of ​​the composite stringer. The automatic triangular filler placement NC program drives the automatic filler placement head on the robotic arm to complete the automatic placement of the triangular filler.

[0085] In this embodiment, a six-axis standard robotic arm is used to automatically install an automatic wire-laying head via an automatic head-changing method. The cross-sectional area of ​​the filling region of the composite stringer is calculated to obtain the external dimensions of the triangular filler in the stringer. The triangular filler blank is then automatically laid and shaped using an automatic wire-laying process. The laid blank is automatically cut according to the filler's design dimensions. The cut filler blank is then wound up and installed onto the automatic filler placement head. The robotic arm achieves automated installation of the triangular filler head through automatic head changing. The functional units in the filler head include functions such as roll traction, position correction, heating and pressurizing pultrusion shaping, winding, and position fixing. The automatic filler placement head automatically pultrudes the flat filler blank from the plane into a triangular filler with a specified cross-section. The prepared filler is then wound and fixed onto the automatic filler placement head. The robotic arm equipped with the automatic filler placement head uses a filler placement NC program to automatically lay and cut the filler in the triangular filling area of ​​the composite stringer, ultimately achieving automated molding of the triangular filler in the composite stringer and meeting the requirements for automated manufacturing of composite stringers. In summary, the robotic arm automates the rapid replacement of the automatic filament placement head and the automatic filler placement head, thereby automating the placement and molding of the filler in the triangular region of the composite stringer. This embodiment solves the process problem of automating the placement and molding of the filler in the triangular region of the composite stringer, and can effectively improve the automated manufacturing efficiency of composite stringers.

[0086] To implement the method of the embodiments of the present invention, the present invention also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps of the above-described method.

[0087] Based on the hardware implementation of the above-described program modules, and in order to implement the method of the embodiments of the present invention, the embodiments of the present invention also provide an electronic device (computer device). Specifically, in one embodiment, the computer device may be a terminal. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory connected via a system bus. The processor A01 of the computer device provides computing and control capabilities. The memory of the computer device includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor A01, it implements the method of any of the above embodiments. The display screen A04 of the computer device can be an LCD screen or an e-ink screen. The input device A05 of the computer device can be a touch layer covering the display screen, or a button, trackball, or touchpad set on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0088] The device provided in the embodiments of the present invention includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the method of any of the above embodiments.

[0089] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0091] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0093] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0094] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0095] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0096] It is understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or both. Specifically, non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0097] 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.

[0098] 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 forming device for composite material stringer triangular area filler, characterized in that, The device includes an automatic filament placement head, an automatic filler placement head, and a six-axis robot; the automatic filament placement head and the automatic filler placement head are mounted on the robotic arm of the six-axis robot via automatic switching; wherein... The automatic fiber placement head is used to automatically place and form the filler blank in the triangular region of the composite material stringer. The automatic filler placement head is used to complete the automatic roll forming of the composite material stringer triangular area filler; The automatic filler placement head includes, in sequence, a blank material roll frame, a motion position correction unit, a mold heating and pressurizing unit, an automatic extrusion and shaping unit, a continuous winding and positioning frame, and an automatic filler winding unit; The automatic extrusion shaping unit includes a mold cavity body. The inlet cross-section of the mold cavity body is rectangular, and the outlet cross-section of the mold cavity body is triangular. The mold cavity of the mold cavity body gradually transitions from a rectangle at one end to a triangular shape at the other end. The blank roll holder is used to hold the wound-up filler blanks. The movement position correction unit consists of two staggered support rollers. The filler blank passes between the two support rollers and is leveled and positioned by the two support rollers. The mold heating and pressurizing unit consists of two heating plates set vertically. The two heating plates heat and pressurize the filler blank. Then, the filler blank enters the automatic extrusion and shaping unit, where it is extruded and shaped from a rectangle into a triangular shape. The triangular filler is wound and positioned by a continuous winding and positioning frame. The continuous winding and positioning frame is a circular frame with forks. The forks are used to pull the triangular filler, which in turn pulls the filler blank on the blank roll holder. This gives the filler blank and the shaped filler on the entire automatic filler placement head traction tension. Finally, the shaped triangular filler is wound up by the automatic filler winding unit.

2. The automatic forming device for composite material stringer triangular area filler according to claim 1, characterized in that, The device also includes an automatic cutting head: The automatic cutting head is used to automatically cut the filler blank after automatic wire laying.

3. The automatic forming device for composite material stringer triangular area filler according to claim 1, characterized in that, The robotic arm includes robotic arm M and robotic arm N; The automatic filament placement head is mounted on the robotic arm M via an automatic switching mechanism; and / or The automatic filler placement head is installed on the robotic arm N via an automatic switching mechanism.

4. A control method for an automatic molding device for composite material stringer triangular area filler as described in any one of claims 1-3, characterized in that, The method includes: The automatic fiber placement head is used to complete the automatic fiber placement and forming of the filler blank in the triangular region of the composite stringer; The automatic packing head is used to complete the automatic roll forming of the composite material stringer triangular area packing.

5. The method according to claim 4, characterized in that, The automatic fiber placement head is used to automatically place and form the filler blank in the triangular region of the composite stringer, including: Calculate the outer dimensions of the blank in the filling area based on the cross-sectional area of ​​the filler in the triangular region of the composite stringer; The automatic filament placement head is used to automatically lay filaments into the blank in the filling area according to the outer dimensions.

6. The method according to claim 5, characterized in that, The automatic roll forming of composite material stringer triangular zone filler using the automatic filler placement head includes: The automatic filler placement head is used to automatically and continuously extrude and mold the filler blank to obtain the triangular area filler of the composite material stringer. The triangular area filler of the composite material stringer is automatically wound up to obtain a composite material stringer triangular area filler roll. The robotic arm automatically lays out the composite material stringer triangular area filler rolls, completing the automatic laying and forming of the composite material stringer triangular area filler.

7. The method according to claim 6, characterized in that, Before the automatic filler blank is automatically and continuously extruded and formed using the automatic filler placement head, the method further includes: The filler blank is automatically cut and then wound up using an automatic cutting head to obtain a filler blank roll.

8. The method according to claim 7, characterized in that, The automatic filler placement head is used to automatically and continuously extrude filler blanks, including: The filler blank roll is stretched to have adjustable tension, and the straight movement of the filler blank roll is achieved by tension traction; and To ensure the smooth movement of the filler blank roll, a motion correction device is installed to maintain controllable position adjustment during linear motion; and The composite material stringer triangular packing is fitted with a specialized molding die, and pressure and temperature are controlled to provide environmental conditions for the deformation of the triangular packing; and The cross-section of the filler blank roll is formed from a rectangle into a triangular shape through pultrusion.

9. The method according to claim 6, characterized in that, The automatic placement of the composite material stringer triangular region filler roll by the robotic arm, completing the automatic placement and forming of the composite material stringer triangular region filler, includes: During the automatic laying process, the automatic filler laying head is used to automatically cut the composite material stringer triangular area filler roll so that the length of the composite material stringer triangular area filler roll is consistent with the length of the composite material stringer triangular area filler, thus completing the automatic laying and forming of the composite material stringer triangular area filler.

10. The method according to claim 4, characterized in that, Based on the cross-sectional area of ​​the composite material stringer triangular filler, calculate the outer dimensions of the filler blank, including: The axial length of the filler blank is determined based on the axial length of the composite stringer triangular region filler; and The volume of the filler blank is determined based on the volume of the filler in the triangular region of the composite stringer.

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