Composite material injection molding all-in-one machine and control method

Abstract

The invention discloses a composite material injection molding all-in-one machine which comprises a horizontal injection molding machine, a heating oven and a manipulator, wherein the heating oven and the manipulator are arranged on one side of the horizontal injection molding machine; the horizontal injection molding machine is provided with a split mold and is used for completing a molding and pressing process of the prepreg; the heating oven is used for heating the prepreg to a molten state; the manipulator is used for putting the prepreg in a molten state into a mold, and comprises a manipulator chassis, a mechanical arm fixed on the manipulator chassis and a material taking device carried on the mechanical arm; and an overturning assembly is arranged between the mechanical arm and the fixing plate and used for switching the fixing plate between the horizontal state and the vertical state, and the vertical state means that the fixing plate is parallel to the face, where the prepreg is placed, of the fixing mold. The invention further provides a control method. The device provided by the invention can effectively improve the automation efficiency in the injection molding process of the large insert.

Description

Technical Field

[0001] The present invention relates to the technical field of injection molding, and in particular to an all-in-one composite material injection molding machine and a control method. Background Art

[0002] In the early days of injection molding technology, machines were mainly operated manually to complete the melting and molding of plastics, which was inefficient and of low production quality. With the rapid development of the plastics industry, injection molding technology has been significantly improved. The performance of injection molding machines has been continuously improved, enabling more precise control of temperature, pressure and injection speed. At the same time, the variety of plastic materials has also been enriched, expanding the possibilities for the application of injection molding technology.

[0003] Composite materials have been widely used in the aerospace field due to their light weight, high strength, high temperature resistance and other characteristics. In order to improve the performance of a single material, people began to try to combine materials of different properties together; the composite material production process requires more equipment, each of which is responsible for a production task, and the turnover of semi-finished products between various equipment often needs to be completed manually, and the overall degree of automation is relatively low; the mold surface of the vertical injection molding machine faces upward, and the insert is easy to place and position, and insert molding is conveniently realized. Due to the high fuselage, the vertical injection molding machine is only suitable for the injection molding production of small molds.

[0004] Patent document CN118809925A discloses an integrated injection molding machine, including a rotating table installed in the middle of the machine, molds installed on both sides of the top of the rotating table, an injection molding head installed on one side of the machine, and plug components and corner pieces formed inside the mold, and a carrying mechanism for storing plug components and corner pieces is provided on the other side of the machine; a dividing mechanism for cutting and separating plug components and corner pieces is provided inside the carrying mechanism; a cleaning mechanism for blowing and cleaning chips is provided inside the dividing mechanism; the dividing mechanism is driven downward by the carrying mechanism to cut the plug components and corner pieces and store them separately, and at the same time the cleaning mechanism blows and cleans the chips generated by the cutting.

[0005] Patent document CN 118752686A discloses a loading and unloading device for an injection molding machine, including an injection molding machine, a cabinet is arranged on one side of the injection molding machine, and a material hoist is installed on one side of the cabinet, a spider hand mechanism is installed on the top of the cabinet, and a vibration plate mechanism is installed on one side of the spider hand mechanism, and a raw material integration mechanism is installed on the top of the cabinet, and a first manipulator is installed on the injection molding machine, and a first gripper is installed at the end of the first manipulator. The present invention can integrate and stack the scattered injection molding raw materials into a suitable angle by arranging the raw material integration mechanism and the spider hand mechanism, so that the first manipulator and the first gripper can put the arranged injection molding raw materials into the injection molding machine for injection molding, and the first manipulator and the first gripper can also take out the injection molded parts after injection molding and transfer them to the shearing mouth unloading mechanism, so as to realize automatic loading and unloading of toy injection molding. Summary of the invention

[0006] The object of the present invention is to provide an all-in-one composite material injection molding machine and a control method, wherein the all-in-one composite material injection molding machine can effectively improve the automation efficiency in the injection molding process of large inserts.

[0007] In order to achieve the purpose of the present invention, the following technical solution is provided: a composite material injection molding integrated machine, comprising a horizontal injection molding machine, and a heating oven and a manipulator arranged on one side of the horizontal injection molding machine; The horizontal injection molding machine is equipped with a split mold for completing the shaping and pressing process of the prepreg, and the split mold includes a movable mold and a fixed mold for laterally clamping the prepreg; The heating oven is used to heat the prepreg to a molten state; The manipulator is used to place the molten prepreg into the mold, and comprises a manipulator chassis, a manipulator arm fixed on the manipulator chassis, and a material taking device mounted on the manipulator arm; The material taking device comprises a fixing plate fixed on one side of the robot arm, and a needle puncher and a vacuum suction cup arranged on the other side of the fixing plate, wherein the needle puncher comprises a base for bonding prepreg, and telescopic needles arranged on both sides of the base, the telescopic needles on both sides are staggered and the needle punching direction is the same as the angle between the surface of the base bonding the prepreg, and the needles and the surface of the base bonding the prepreg form an outer eight-shaped bifurcation to fix the prepreg; A flip assembly is provided between the robot arm and the fixed plate, and the flip assembly is used to switch the fixed plate between a horizontal state and a vertical state. The vertical state means that the fixed plate is parallel to the surface of the movable mold where the prepreg is placed.

[0008] The present application makes a special design for the structure of the heating oven, and utilizes the needle puncture and suction cup material taking method to effectively grab the prepreg; utilizes the relationship between the needle puncture structure and the center hole of the needle puncturer to achieve the process in which the molten prepreg is punctured by the sharp needle of the mold movable mold and is suspended to the sharp needle of the mold during the loading process of the robot arm, thereby ensuring that the force around the puncture hole of the prepreg changes evenly and symmetrically during the puncture process, and the prepreg and the sharp needle do not slip or unilaterally during the puncture process, thereby solving the problem of complex mechanism and low positioning accuracy, which makes it difficult to ensure product accuracy and quality, when conventional methods of large-scale insert injection molding of horizontal injection molding machines use the outer shape of the insert or the process hole on the insert and the inner cavity contour of the mold or the positioning pins for positioning and fixing.

[0009] Specifically, the movable mold is provided with a mold needle for puncturing and fixing the prepreg, the mold needle is located in the upper half of the movable mold, and the fixed mold is provided with an avoidance opening for the mold needle to pass through; The base of the needle punch is provided with a positioning channel for the mold tip to pass through.

[0010] Specifically, the heating oven comprises a box body, in which a heating tray for placing prepregs and an upper heater and a lower heater for heating the prepregs are arranged; The upper heater and the lower heater both heat the prepreg by infrared heating.

[0011] Specifically, a light shielding plate is provided between the heating tray and the lower heater. The length of the light shielding plate is one quarter of the heating tray and is located at one end of the heating tray to reduce the temperature of the prepreg in this area after heating, so that the softening degree of the prepreg in this area meets the needs of robot needle puncture, mold poking and hanging and is lower than the melting temperature of the material.

[0012] Specifically, the heating tray is a sparse mesh formed by cross-woven steel wires, and a plurality of cylindrical pins for positioning the contour of the prepreg are arranged at the edge of the sparse mesh.

[0013] Specifically, a lifting assembly is provided below the sparse net, and the lifting assembly includes a cylinder rod for lifting the central part of the sparse net and a cylinder for driving the cylinder rod to move.

[0014] Specifically, the robot arm is connected with an X-direction moving device, a Y-direction moving device and a Z-direction moving device in sequence with the robot chassis as a starting point; The X-direction moving device is used to drive the Y-direction moving device to perform horizontal linear movement between the heating oven and the horizontal injection molding machine; The Y-direction moving device is used to drive the Z-direction moving device to perform longitudinal linear movement; The Z-direction moving device is used to drive the material taking device to move up and down.

[0015] Specifically, there are a plurality of vacuum suction cups, which are arranged in an array on a fixed plate, and the acupuncture device is located on one side of the plurality of vacuum suction cups.

[0016] Specifically, the base is provided with a plurality of telescopic needles on the same side, and the plurality of telescopic needles are arranged in parallel and at intervals.

[0017] In order to achieve the second purpose of the present invention, the following technical solution is provided: A control method is used to control the composite material injection molding integrated machine, the steps of which include: The prepreg is placed on a sparse mesh in a heating oven and then heated until it is molten; The material taking device is driven into the heating oven by the mechanical arm, and the center lines of the telescopic needles on the opposite sides of the base of the needle piercer are aligned with the steel wires of the tray grid, and then the prepreg is punctured and fixed by the telescopic needles in the needle piercer, and the surface of the prepreg is adsorbed by the vacuum suction cup. During the rising process of the material taking device, the fixing plate is switched from a horizontal state to a vertical state by the flip assembly; When the robotic arm drives the material picking device to be located between the fixed mold and the movable mold, the positioning channel of the needle base and the mold needle on the movable mold are used for positioning, so that the prepreg is pierced and fixed on the movable mold, and the movable mold is moved together with the fixed mold to perform subsequent shaping and pressing tasks.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The prepreg in the molten state is effectively grabbed by the needle puncture and suction cup method, that is, based on the relationship between the needle structure and the center hole of the needle puncher, the prepreg in the molten state is fixed by needle puncture, thereby ensuring that the force around the prepreg puncture hole changes evenly and symmetrically during the puncture process of the prepreg, and there is no slippage or unilateral phenomenon between the prepreg and the sharp needle during the puncture process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of the composite material injection molding integrated machine provided in this embodiment; Figure 2 A schematic diagram of a heating oven structure provided in this embodiment; Figure 3 A schematic diagram of a heating tray provided in this embodiment; Figure 4 A schematic diagram of a material taking device provided in this embodiment; Figure 5 Schematic diagram of the acupuncture device provided in this embodiment before and after use; Figure 6 A schematic diagram of the loading process of the fixed mold provided in this embodiment; Figure 7 A schematic diagram of the movement path of the manipulator in the control method provided in this embodiment; In the figure, 1, horizontal injection molding machine; 101, injection molding mobile plate; 102, movable mold; 1021, mold needle; 103, fixed mold; 104, injection molding machine fixed plate; 2, heating oven; 201, box; 202, lower heater; 203, chain; 204, upper heater; 205, heating station; 206, unloading station; 207, loading station; 210, heating tray; 211, sprocket; 212, cylinder rod top plate; 213, cylinder rod; 214, cylinder; 215, cylindrical pin; 216, pre- Dipping material; 217, longitudinal thin steel wire; 218, transverse thin steel wire; 219, material taking position; 220, light shielding plate; 3, manipulator; 301, manipulator chassis; 302, X-direction moving device; 303, Y-direction moving device; 304, Z-direction moving device; 4, material taking device; 5, acupuncture device; 501, base; 502; first telescopic needle; 503, first telescopic needle driving cylinder; 504, second telescopic needle driving cylinder; 505, second telescopic needle; 506, positioning channel; 6, vacuum suction cup; 7, fixing plate. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] like Figure 1 As shown, a composite material injection molding integrated machine provided in this embodiment includes a horizontal injection molding machine 1, and a heating oven 2 and a robot 3 arranged on one side of the horizontal injection molding machine 1.

[0022] The horizontal injection molding machine 1 is equipped with a split mold, which includes a movable mold 102 and a fixed mold 103, wherein the fixed mold 103 is installed on an injection molding machine fixed plate 104 on the horizontal injection molding machine 1, and the movable mold 102 is installed on an injection molding machine movable plate 101 on the horizontal injection molding machine 1.

[0023] The center of the split mold coincides with the center of the horizontal injection molding machine 1 , and the molten plastic is injected into the split mold for molding through the opening and closing actions between the injection molding machine fixed plate 104 and the injection molding dynamic plate 101 and the injection and other actions.

[0024] The manipulator 3 includes a manipulator chassis 301, which is threadedly installed above the injection molding machine fixed plate 104, as well as a manipulator arm installed on the manipulator chassis 301 and a material picking device 4 arranged on the manipulator arm. A flip component is provided between the material picking device 4 and the manipulator arm. The flip component is used to switch the material picking device 4 between a horizontal state and a vertical state, thereby switching the horizontally placed prepreg to a vertical state to correspond to the arrangement of the movable mold 102.

[0025] The robotic arm mainly includes an X-direction moving device 302, a Y-direction moving device 303, and a Z-direction moving device 304; wherein the Y-direction moving device 303 is mechanically linked to the X-direction moving device 302, the Z-direction moving device 304 is mechanically linked to the Y-direction moving device 303, the flipping assembly is mechanically linked to the Z-direction moving device 304, and the material picking device 4 is mechanically linked to the flipping assembly.

[0026] The controller of the manipulator 3 controls the X-direction moving device 302, the Y-direction moving device 303, the Z-direction moving device 304, the turning device, and the material taking device 4 to move in an orderly manner to realize the work of taking materials from the heating oven 2 to the horizontal injection molding machine 1; the heating oven 2 is arranged horizontally on the ground side of the front door of the horizontal injection molding machine 1 and below the manipulator 3, and the length direction of the heating oven 2 is aligned with the X-axis direction of the manipulator 3.

[0027] like Figure 2 As shown, the heating oven 2 provided in this embodiment is used to heat the prepreg 216 to a molten state, and mainly includes a box body 201, in which a heating tray 210 for placing the prepreg 216 and an upper heater 204 and a lower heater 202 for heating the prepreg 216 are provided. The upper heater 204 and the lower heater 202 both use infrared heating to heat the prepreg 216, wherein temperature control is achieved by an infrared heater, a thermostat, a solid-state relay, and a temperature sensor.

[0028] The conveying device of the heating oven 2 is composed of a servo motor, a servo driver, a chain 203, a sprocket 211, and a heating tray 210 fixedly mounted on the chain 203; the chain 203 is sleeved on the sprocket 211, and the servo motor drives the sprocket 211 to rotate, thereby driving the chain 203 and the heating tray 210 to move back and forth.

[0029] An inverted cylinder 214 is arranged below the unloading station 206 of the heating oven 2. The inverted cylinder 214 moves once in each process, and the cylinder 214 drives the cylinder rod top plate 212 fixed on the cylinder rod 213 to move upward to slightly bend the steel wire of the heating tray 210 upward by 2-3mm. In this way, the pre-pressure of the manipulator 3 material picker on the molten prepreg 216 is increased without changing the material picking position of the manipulator 3, ensuring that the manipulator 3 can effectively fit the molten prepreg 216, overcoming the warping, bowing and other deformations of the prepreg 216 caused by heating, which causes the manipulator 3 to be unable to effectively pick up the material.

[0030] like Figure 3 As shown, the heating tray 210 provided in this embodiment is formed by cross-weaving transverse thin steel wires 218 and longitudinal thin steel wires 217 into a sparse mesh. This structure has good light transmittance, reduces the shielding effect of the lower infrared radiation zone on the heating of the prepreg, and improves the uniformity of heating of the material.

[0031] Cylindrical pins 215 for positioning the side of the prepreg are movably arranged on the heating tray 210. The prepreg 216 is preferably placed in the middle of the heating tray 210. The outer contour of the prepreg 216 is positioned by the cylindrical pins 215 to prevent relative slippage between the prepreg 216 and the heating tray 210 during the back and forth transportation of the tray.

[0032] like Figure 4 As shown, the material taking device 4 provided in this embodiment, wherein Figure 4 a in the figure is a side view. Figure 4 The top view b in the figure shows the relative position relationship between the needle puncher 5 and the vacuum suction cup 6, wherein the multiple needle punchers 5 are preferably distributed on one side of the fixed plate 7, and the vacuum suction cup 6 is evenly distributed on the other area of ​​the material surface where there is no needle puncher 5 to increase the adsorption force on the molten prepreg.

[0033] like Figure 5 As shown, the acupuncture device 5 provided in this embodiment, wherein Figure 5 In the figure a, the first telescopic needle 502 and the second telescopic needle 505 extend outward on the left and right sides, and the base 501 adheres to the prepreg surface to form an outward eight-shaped fork to fix the prepreg 216.

[0034] Figure 5 The b in the figure represents the state where the first telescopic needle 502 and the second telescopic needle 505 on the left and right sides are reset.

[0035] More specifically, the acupuncture device 5 is driven by a first telescopic needle driving cylinder 503 to drive the first telescopic needle 502 to telescope, and a second telescopic needle driving cylinder 504 to drive the second telescopic needle 505 to telescope. The material picking process of the material picking device of the manipulator: the bottom surface of the needle punch 5 presses the molten prepreg 216, and the needle punch 5 extends through the first telescopic needle 502 and the second telescopic needle 505 on both sides to pierce the molten prepreg, and its needle tip forms an outer eight-shaped fork to hook the pierced prepreg; in addition, during the grabbing process, the center line of the positioning channel on the base of the needle punch is aligned with the steel wire of the tray grid, so as to achieve the fixation and tension of the prepreg.

[0036] like Figure 6 As shown, this is the feeding process provided by this embodiment, wherein Figure 6 Figure a is a schematic diagram of the robot before loading the mold. Figure 6 Figure b is a schematic diagram of the robot after the mold is loaded.

[0037] Before the robot 3 grabs the molten prepreg 216 from the heating oven 2 and feeds it into the mold cavity, the robot 3 firmly grabs the prepreg 216 by acupuncture. The trajectory position of the robot before feeding the mold ensures that the positioning channel 506 of each feeder is coaxial with the mold needle 1021 on the movable mold 102. The Y-axis movement of the robot drives the molten prepreg 216 to poke toward the two mold needles 1021 fixed on the upper side of the movable mold 102. The prepreg 216 is pierced and hung on the two mold needles 1021 of the movable mold 102. The structure of the mold needle 1021 on the movable mold 102 is preferably sharp at the head and cylindrical at the root. When poking, the small-area head is easier to poke through the molten prepreg, and the slightly larger cylindrical root is convenient for hanging the prepreg.

[0038] This embodiment also provides a control method, through the composite material injection molding integrated machine provided by the above embodiment, the movement path of its manipulator is as follows Figure 7 As shown, the control method has the following specific steps: placing the preformed prepreg sheet on the unloading station of the heating oven, and pressing the start button.

[0039] The heating oven conveyor conveys the prepreg sheets from the unloading station to the heating station of the heating oven.

[0040] The heating oven heats the prepreg sheet at the heating station according to the set temperature and time.

[0041] After the heating time of the heating oven is reached, the heating oven conveyor transfers the prepreg heated to melt from the heating station of the heating oven to the loading station of the heating oven, and then the heating oven sends a loading completion signal hot1 to the robot.

[0042] After the robot receives hot1, the robot located above the heating oven lowers its Z axis to the loading position of the heating oven while ensuring that the picker is in a horizontal direction.

[0043] The Z axis of the manipulator descends to the material picking position Tr03, and aligns the center lines of the telescopic needles on the opposite sides of the acupuncture device base with the steel wires of the tray grid, so that the bottom surface of the acupuncture device effectively fits the molten prepreg. The acupuncture of the material picking device and the suction cup work simultaneously to grab the molten prepreg; grabbing process: the needles of the acupuncture device extend, pierce the prepreg, and pierce into a V-shaped cross to position and fix the prepreg, and the suction cup vacuum absorbs the prepreg at the same time.

[0044] The manipulator grabs the molten prepreg from the loading position Tr03 of the heating oven, and after rising to the movable height Tr05 of the manipulator in the X direction, the turning device of the manipulator turns the picking device into a vertical state.

[0045] The robot moves along the set trajectory to Tr07, just above the injection molding machine mold, and then descends in the Z-axis direction to the mold loading position Tr08.

[0046] The robot moves in the Y-axis direction to load the molten prepreg to the position Tr09 specified by the mold; robot loading process: the movement of the robot in the Y-axis direction drives the molten prepreg to poke the two sharp needles fixed on the upper side of the mold movable mold, and the prepreg is pierced and hung on the two sharp needles of the mold.

[0047] The needle of the robot's material taking device is retracted, the vacuum is broken and air is blown, so that the molten prepreg is effectively separated from the robot's material taking device and hung on the mold.

[0048] The robot returns to Tr10 in the Y-axis direction and rises to Tr11 in the Z-axis direction to the movable height of the robot in the X-axis direction.

[0049] The material picker flips over so that the suction cup is in a horizontal position "Tr01 just above the material level of the heating oven, waiting for the heating oven material pick-up signal hot1, and repeats the cycle.

[0050] The loading trajectory of the robot is realized by teaching programming, and the robot controller records each spatial position point of the robot trajectory respectively.

[0051] After the robot is powered on again, it needs to perform the homing operation first: specifically including: homing in the Z-axis direction -> homing in the X-axis direction -> homing in the Y-axis direction -> flipping the picker to a horizontal position.

[0052] The production process specifically includes: the robot is directly above the heating oven loading Tr01, waiting for the heating oven material picking signal hot1->Z direction quickly descends to a position close to the heating oven loading position Tr02->Z direction slowly descends to the heating oven material picking position Tr03, the bottom surface of the robot's material picking device presses the molten prepreg, and the needles and suction cups of the material picking device suck the molten prepreg->Z axis direction rises to Tr05->The material picking device flips 90 degrees to make the prepreg in a vertical position->X axis direction moves to the top of the injection molding machine Tr06->Y axis direction moves to the position entering the injection molding machine Tr07->Z axis descends to the injection molding machine mold loading position Tr08 ->Move to Tr09 in the Y-axis direction. During the movement, the prepreg is pierced by the two sharp needles of the mold moving mold ->The needles retract and blow air ->Return to Tr10 in the Y-axis direction and hang the prepreg on the two sharp needles ->Rise to the injection molding machine entrance position Tr11 in the Z-axis direction ->The picker flips so that the suction cup is in a horizontal position ->Heating oven upper material position Tr01, waiting for the heating oven pick-up signal hot1, reciprocating cycle.

[0053] The feeding trajectory of the robot is preferably solved by the reverse solution method: 1. When the robot is unloaded, first visually teach the hanging position Tr09 of the robot on the movable mold of the mold, ensure that the center holes of the two pickers are coaxial with the two sharp needles of the mold, and reserve a 2-3mm gap between the bottom surface of the Y-direction picker and the movable mold of the mold; 2. The Tr08 / Tr10 position of the robot is a gap of about 10mm after the Y-direction robot's picker completely withdraws from the two sharp needles of the mold; 3. The Tr07 / Tr11 position is the safe height for the robot to completely withdraw from the injection molding machine mold; 4. Tr03 is the picking position of the robot in the heating oven; the reverse trajectory method first accurately calculates Tr09, Tr08 / Tr10, Tr07 / Tr11, and Tr03, and then adds other auxiliary transition points.

[0054] More specifically, the simplified path flow is as follows: Tr00->Tr01->Tr02->Tr03->Tr04->Tr05->Tr06->Tr07->Tr08->Tr09-> Tr10->Tr11.

[0055] Tr00---directly above the injection molding machine; Tr01---Positive movement in the X-axis direction, directly above the oven; Tr02--- Positive motion in the Z-axis direction, intermediate transition point; Tr03--- Positive movement in the Z-axis direction, oven material taking point; Tr04--- Negative movement in the Z-axis direction, the intermediate transition point can coincide with tr02; Tr05--- Negative movement in the Z-axis direction, the top of the oven can coincide with Tr01; Tr06--- Negative movement in the X-axis direction, the point directly above the injection molding machine can coincide with tr00; Tr07--- Positive motion in the Y-axis direction, the point directly above the injection molding machine’s mold entry position; Tr08--- Negative movement in the Z-axis direction, the point just in front of the mold loading position; Tr09--- Positive movement in the Y-axis direction, mold loading position; Tr10--- Negative movement in the Y-axis direction, the point just in front of the mold loading position can coincide with tr08; Tr11--- Negative movement in the Z-axis direction, the point just above the injection molding machine's mold entry position can coincide with tr07; The purpose of setting the transition point is to make the movement trajectory of the robot smoother and the walking trajectory safer.

[0056] In addition, the terms "upper", "lower", "inner", "outer", "front", "rear" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps described in these embodiments do not limit the scope of the present invention.

[0057] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. All equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

[0058] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A composite material injection molding integrated machine, characterized in that: It comprises a horizontal injection molding machine, and a heating oven and a manipulator arranged on one side of the horizontal injection molding machine; The horizontal injection molding machine is equipped with a split mold for completing the shaping and pressing process of the prepreg, and the split mold includes a movable mold and a fixed mold for laterally clamping the prepreg; The heating oven is used to heat the prepreg to a molten state; The manipulator is used to place the molten prepreg into the mold, and comprises a manipulator chassis, a manipulator arm fixed on the manipulator chassis, and a material taking device mounted on the manipulator arm; The material taking device comprises a fixing plate fixed on one side of the robot arm, and a needle puncher and a vacuum suction cup arranged on the other side of the fixing plate, wherein the needle puncher comprises a base for bonding prepreg, and telescopic needles arranged on both sides of the base, the telescopic needles on both sides are staggered and the needle punching direction is the same as the angle between the surface of the base bonding the prepreg, and the needles and the surface of the base bonding the prepreg form an outer eight-shaped bifurcation to fix the prepreg; A flip assembly is provided between the robot arm and the fixed plate, and the flip assembly is used to switch the fixed plate between a horizontal state and a vertical state. The vertical state means that the fixed plate is parallel to the surface of the movable mold where the prepreg is placed.

2. The composite material injection molding integrated machine according to claim 1, characterized in that: The movable mold is provided with a mold needle for puncturing and fixing the prepreg, the mold needle is located in the upper half of the movable mold, and the fixed mold is provided with an avoidance opening for the mold needle to pass through; The base of the needle punch is provided with a positioning channel for the mold tip to pass through.

3. The composite material injection molding integrated machine according to claim 1, characterized in that: The heating oven comprises a box body, in which a heating tray for placing prepreg and an upper heater and a lower heater for heating the prepreg are arranged; The upper heater and the lower heater both heat the prepreg by infrared heating.

4. The composite material injection molding integrated machine according to claim 3, characterized in that: A light shielding plate is arranged between the heating tray and the lower heater, wherein the length of the light shielding plate is one quarter of the length of the heating tray and is located at one end of the heating tray.

5. The composite material injection molding integrated machine according to claim 3, characterized in that: The heating tray is a sparse mesh formed by cross-woven steel wires, and a plurality of cylindrical pins for positioning the contour of the prepreg are arranged at the edge of the sparse mesh.

6. The composite material injection molding integrated machine according to claim 5, characterized in that: A lifting assembly is arranged below the sparse net, and the lifting assembly comprises a cylinder rod for lifting the central part of the sparse net and a cylinder for driving the cylinder rod to move.

7. The composite material injection molding integrated machine according to claim 1, characterized in that: The robot arm is connected with an X-direction moving device, a Y-direction moving device and a Z-direction moving device in sequence with the robot chassis as the starting point; The X-direction moving device is used to drive the Y-direction moving device to perform horizontal linear movement between the heating oven and the horizontal injection molding machine; The Y-direction moving device is used to drive the Z-direction moving device to perform longitudinal linear movement; The Z-direction moving device is used to drive the material taking device to move up and down.

8. The composite material injection molding integrated machine according to claim 1, characterized in that: There are a plurality of vacuum suction cups, which are arranged in an array on a fixed plate, and the acupuncture device is located on one side of the plurality of vacuum suction cups.

9. The composite material injection molding integrated machine according to claim 1, characterized in that: The base is provided with a plurality of telescopic needles on the same side, and the plurality of telescopic needles are arranged in parallel and at intervals.

10. A control method, characterized in that: Used to control the composite material injection molding integrated machine as described in any one of claims 1 to 8, the steps comprising: The prepreg is placed on a sparse mesh in a heating oven and then heated until it is molten; The material taking device is driven into the heating oven by the mechanical arm, and the center lines of the telescopic needles on the opposite sides of the base of the needle piercer are aligned with the steel wires of the tray grid, and then the prepreg is punctured and fixed by the telescopic needles in the needle piercer, and the surface of the prepreg is adsorbed by the vacuum suction cup. During the rising process of the material taking device, the fixing plate is switched from a horizontal state to a vertical state by the flip assembly; When the robotic arm drives the material picking device to be located between the fixed mold and the movable mold, the positioning channel of the needle base and the mold needle on the movable mold are used for positioning, so that the prepreg is pierced and fixed on the movable mold, and the movable mold is moved together with the fixed mold to perform subsequent shaping and pressing tasks.

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