A composite material injection molding all-in-one machine and control method

Abstract

This invention discloses an integrated injection molding machine for composite materials, including a horizontal injection molding machine, a heating oven and a robotic arm disposed on one side of the horizontal injection molding machine; the horizontal injection molding machine is equipped with a split mold for completing the plastic pressing process of prepreg; the heating oven is used to heat the prepreg to a molten state; the robotic arm is used to place the molten prepreg into the mold, and includes a robotic arm chassis, a robotic arm fixed on the robotic arm chassis, and a material picking device mounted on the robotic arm; a flipping component is provided between the robotic arm and the fixed plate, the flipping component being used to switch the fixed plate between a horizontal state and a vertical state, the vertical state referring to the fixed plate being parallel to the surface of the fixed mold where the prepreg is placed. This invention also provides a control method. The device provided by this invention can effectively improve the automation efficiency in the injection molding process of large inserts.

Description

Technical Field

[0001] This invention relates to the field of injection molding technology, and in particular to an integrated injection molding machine and control method for composite materials. Background Technology

[0002] In the early days of injection molding technology, machines primarily relied on manual operation to melt and mold plastics, resulting in low efficiency and low production quality. With the rapid development of the plastics industry, injection molding technology has significantly improved. The performance of injection molding machines has continuously improved, enabling more precise control of temperature, pressure, and injection speed. Simultaneously, the variety of plastic materials has increased, expanding the possibilities for the application of injection molding technology.

[0003] Composite materials are widely used in the aerospace field due to their lightweight, high strength, and high temperature resistance. In order to improve the performance of single materials, people have begun to try to combine materials with different properties. The production process of composite materials requires a lot of equipment, and each piece of equipment is responsible for a production task. The turnover of semi-finished products between different pieces of equipment often needs to be done manually, resulting in a relatively low level of automation. Vertical injection molding machines have the mold surface facing upwards, making it easy to place and position inserts and conveniently realize insert molding. However, due to the height of the machine body, vertical injection molding machines are only suitable for 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 base, molds installed on both sides of the top of the rotating table, an injection head installed on one side of the machine base, and plug components and corner pieces formed inside the molds. A carrying mechanism for storing the plug components and corner pieces is provided on the other side of the machine base. The carrying mechanism is equipped with a parting mechanism for cutting and separating the plug components and corner pieces. The parting mechanism is further equipped with a cleaning mechanism for blowing away and cleaning the chips. The carrying mechanism drives the parting mechanism to move down, cuts the plug components and corner pieces and stores them separately, while the cleaning mechanism blows away and cleans the chips generated during cutting.

[0005] Patent document CN 118752686A discloses an injection molding machine loading and unloading device, including an injection molding machine. A cabinet is installed on one side of the injection molding machine, and a material hoist is installed on one side of the cabinet. A spider-arm mechanism is installed on the top of the cabinet, and a vibratory feeder mechanism is installed on one side of the spider-arm mechanism. A raw material consolidation mechanism is also installed on the top of the cabinet. A first robotic arm is installed on the injection molding machine, and a first gripper is installed at the end of the first robotic arm. This invention, by setting up the raw material consolidation mechanism and the spider-arm mechanism, can consolidate and stack scattered injection molding raw materials at a suitable angle, so that the first robotic arm and the first gripper can place the arranged injection molding raw materials into the injection molding machine for injection molding. Furthermore, the first robotic arm and the first gripper can also remove the injection-molded parts and transfer them to the sprue unloading mechanism, realizing automatic loading and unloading of toy injection molding processes. Summary of the Invention

[0006] The purpose of this invention is to provide a composite material injection molding machine and control method, which can effectively improve the automation efficiency in the injection molding process of large inserts.

[0007] To achieve the purpose of this invention, the following technical solution is provided: a composite material injection molding integrated machine, including a horizontal injection molding machine, a heating oven and a robot arm disposed on one side of the horizontal injection molding machine;

[0008] The horizontal injection molding machine is equipped with a split mold for completing the plastic pressing process of the prepreg. The split mold includes a movable mold that holds the prepreg horizontally and a fixed mold.

[0009] The heating oven is used to heat the prepreg to a molten state;

[0010] The robotic arm is used to put molten prepreg into a mold. It includes a robotic arm chassis, a robotic arm fixed on the robotic arm chassis, and a material handling device mounted on the robotic arm.

[0011] The material handling device includes a fixed plate fixed on one side of the robotic arm, and a needle punch and a vacuum suction cup on the other side of the fixed plate. The needle punch includes a base for bonding the prepreg, and telescopic needles 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 base and the prepreg bonding surface, and form an outward V-shaped fork with the base and the prepreg bonding surface to fix the prepreg.

[0012] A flipping assembly is provided between the robotic arm and the fixed plate. The flipping 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 where the prepreg is placed on the movable mold.

[0013] This application features a specially designed heating oven structure and utilizes a needle-punching and suction cup method to effectively grasp the prepreg. By leveraging the needle structure and the relationship between the needle and the center hole of the needle punch, the molten prepreg is punctured and suspended by the moving needle of the mold during the loading process by the robotic arm. This ensures that the force change around the puncture hole of the prepreg is uniform and symmetrical during the puncture process, and that the prepreg does not slip or move to one side during the puncture process. This solves the problem of complex mechanisms, low positioning accuracy, and difficulty in ensuring product precision and quality caused by conventional methods in the injection molding process of large inserts in horizontal injection molding machines, which rely on the shape of the insert or the process hole on the insert and the inner cavity contour or positioning pin on the mold for positioning and fixing.

[0014] Specifically, the movable mold is provided with a mold needle for piercing and fixing the prepreg, the mold needle is located in the upper part of the movable mold, and the fixed mold is provided with a clearance for the mold needle to pass through;

[0015] The base of the needle punch is provided with a positioning channel for the passage of the mold tip.

[0016] Specifically, the heating oven includes a box body, and the box body is provided with a heating tray for placing prepreg and an upper heater and a lower heater for heating the prepreg;

[0017] Both the upper and lower heaters use infrared heating to heat the prepreg.

[0018] Specifically, a light-blocking plate is provided between the heating tray and the lower heater. The length of the light-blocking plate is one-quarter of the length of the heating tray and it is located at one end of the heating tray to reduce the temperature of the prepreg after heating in this area, so that the softening degree of the prepreg in this area meets the requirements of the robot arm needle punching, mold punching, and hanging, and is lower than the melting temperature of the material.

[0019] Specifically, the heating tray is a sparse mesh woven from steel wires in a cross pattern, and the edge of the sparse mesh is provided with multiple cylindrical pins for positioning the outline of the prepreg.

[0020] Specifically, a lifting assembly is provided below the sparse net, the lifting assembly including a cylinder rod for lifting the center part of the sparse net and a cylinder for driving the cylinder rod to move.

[0021] Specifically, the robotic arm is connected in sequence with an X-direction moving device, a Y-direction moving device, and a Z-direction moving device, starting from the robotic arm chassis;

[0022] The X-direction moving device is used to drive the Y-direction moving device to move laterally linearly between the heating oven and the horizontal injection molding machine;

[0023] The Y-direction moving device is used to drive the Z-direction moving device to make longitudinal linear movement;

[0024] The Z-direction moving device is used to drive the material handling device to move up and down.

[0025] Specifically, there are multiple vacuum suction cups arranged in an array on a fixed plate, and the needle is located on one side of the multiple vacuum suction cups.

[0026] Specifically, the base has multiple telescopic pins on the same side, and the multiple telescopic pins are arranged in parallel and spaced apart.

[0027] To achieve the second objective of this invention, the following technical solution is provided:

[0028] A control method for controlling the aforementioned composite material injection molding machine, comprising the following steps:

[0029] The prepreg is placed on a sparse mesh in a heated oven and then heated until it melts.

[0030] The robotic arm drives the material handling device into the heating oven, and aligns the center line of the telescopic needles on both sides of the needle base with the steel wire of the tray grid. Then, the telescopic needles in the needle pierce and fix the prepreg. At the same time, the vacuum suction cup is used to adsorb the surface of the prepreg. During the process of the material handling device rising, the fixing plate is switched from a horizontal state to a vertical state by the flipping component.

[0031] When the robotic arm moves the material handling device between the fixed mold and the movable mold, it positions the prepreg on the movable mold by positioning the positioning channel of the needle punch base with the mold needle on the movable mold, thereby piercing and fixing the prepreg on the movable mold, and moving the movable mold to close with the fixed mold to perform the subsequent shaping and pressing task.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] The method of needle punching and suction cup picking is used to effectively grasp the prepreg in the molten state. Based on the relationship between the needle structure and the central hole of the needle punch, the prepreg in the molten state is needled and fixed, thereby ensuring that the force change around the prepreg hole is uniform and symmetrical during the puncture process, and that the prepreg and the needle do not slip or move to one side during the puncture process. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the integrated injection molding machine for composite materials provided in this embodiment;

[0035] Figure 2 This is a schematic diagram of the heating oven structure provided in this embodiment;

[0036] Figure 3 This is a schematic diagram of the heating tray provided in this embodiment;

[0037] Figure 4 This is a schematic diagram of the material handling device provided in this embodiment;

[0038] Figure 5 This is a schematic diagram showing the acupuncture device before and after use in this embodiment;

[0039] Figure 6 This is a schematic diagram of the loading process of the fixed mold provided in this embodiment;

[0040] Figure 7 This is a schematic diagram of the movement path of the robotic arm in the control method provided in this embodiment;

[0041] In the diagram, 1. Horizontal injection molding machine; 101. Injection molding machine moving platen; 102. Movable mold; 1021. Mold pin; 103. Fixed mold; 104. Injection molding machine stationary platen; 2. Heating oven; 201. Oven body; 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. Preheating pin; 217. Dipping material; 218. Longitudinal fine steel wire; 219. Transverse fine steel wire; 220. Material picking position; 221. Light blocking plate; 3. Robotic arm; 301. Robotic arm chassis; 302. X-direction moving device; 303. Y-direction moving device; 304. Z-direction moving device; 4. Material picking device; 5. Needle punch; 501. Base; 502. First telescopic needle; 503. First telescopic needle drive cylinder; 504. Second telescopic needle drive cylinder; 505. Second telescopic needle; 506. Positioning channel; 6. Vacuum suction cup; 7. Fixing plate. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0043] like Figure 1As shown, this embodiment provides a composite material injection molding integrated machine, which includes a horizontal injection molding machine 1, a heating oven 2 and a robot arm 3 disposed on one side of the horizontal injection molding machine 1.

[0044] The horizontal injection molding machine 1 is equipped with a split mold, which includes a movable mold 102 and a fixed mold 103. The fixed mold 103 is installed on the injection molding machine fixed platen 104 on the horizontal injection molding machine 1, while the movable mold 102 is installed on the injection molding machine moving platen 101 on the horizontal injection molding machine 1.

[0045] The center of the split mold coincides with the center of the horizontal injection molding machine 1. Through the opening and closing action between the injection molding machine stationary plate 104 and the injection molding machine moving plate 101, as well as injection and other actions, the molten plastic is injected into the split mold for molding.

[0046] The robotic arm 3 includes a robotic arm chassis 301, which is threaded onto the injection molding machine fixed plate 104, a robotic arm mounted on the robotic arm chassis 301, and a material picking device 4 mounted on the robotic arm. A flipping component is provided between the material picking device 4 and the robotic arm. The flipping 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.

[0047] 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 connected to the X-direction moving device 302, the Z-direction moving device 304 is mechanically connected to the Y-direction moving device 303, the flipping component is mechanically connected to the Z-direction moving device 304, and the material handling device 4 is mechanically connected to the flipping component.

[0048] The controller of the robot arm 3 controls the orderly movement of the X-direction moving device 302, the Y-direction moving device 303, the Z-direction moving device 304, the flipping device, and the material picking device 4 to realize the work of picking up materials from the heating oven 2 and feeding them into the horizontal injection molding machine 1. The heating oven 2 is horizontally arranged on the ground on the front door side of the horizontal injection molding machine 1 and below the robot arm 3, and the length direction of the heating oven 2 is aligned with the X-axis direction of the robot arm 3.

[0049] like Figure 2 As shown, the heating oven 2 provided in this embodiment is used to heat the prepreg 216 to a molten state. It mainly includes a box body 201, which is provided with a heating tray 210 for placing the prepreg 216 and an upper heater 204 and a lower heater 202 for heating the prepreg 216. Both the upper heater 204 and the lower heater 202 use infrared heating to heat the prepreg 216. Temperature control is achieved by the infrared heater, the temperature controller, the solid-state relay, and the temperature sensor.

[0050] The conveying device of the heating oven 2 consists 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 fitted onto 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.

[0051] An inverted cylinder 214 is arranged below the feeding station 206 of the heating oven 2. The inverted cylinder 214 operates once in each process. The cylinder 214 drives the cylinder rod top plate 212 fixed on the cylinder rod 213 to move upward, slightly arching the steel wire of the heating tray 210 upward by 2-3mm. This increases the pre-pressure of the robot arm 3 on the molten prepreg 216 without changing the picking position of the robot arm 3, ensuring that the robot arm 3 can effectively fit the molten prepreg 216 and overcome the deformation caused by warping and arching of the prepreg 216 after heating, which prevents the robot arm 3 from effectively picking up the material.

[0052] like Figure 3 As shown, the heating tray 210 provided in this embodiment is made of transverse fine steel wires 218 and longitudinal fine steel wires 217 woven into a sparse mesh. This structure has good light transmittance, reduces the obstruction of the lower infrared radiation zone on the heating of the prepreg, and improves the uniformity of material heating.

[0053] The heating tray 210 is movably arranged with cylindrical pins 215 for positioning the prepreg side. The prepreg 216 is preferably placed in the middle of the heating tray 210. The outline 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 transfer of the tray.

[0054] like Figure 4 As shown, this is the material handling device 4 provided in this embodiment, wherein... Figure 4 In this context, 'a' represents the side view. Figure 4 The top view in b shows the relative positional relationship between the needle punches 5 and the vacuum suction cups 6, wherein multiple needle punches 5 are preferably distributed on one side of the fixed plate 7, while the vacuum suction cups 6 are evenly distributed on other areas of the material surface without needle punches 5 to increase the adsorption force on the molten prepreg.

[0055] like Figure 5 As shown, this is the needle puncture device 5 provided in this embodiment, wherein... Figure 5 In the figure, 'a' refers to the extension of the first telescopic pin 502 and the second telescopic pin 505 on the left and right sides, and the base 501 is attached to the prepreg surface to form an outward V-shaped fork to fix the prepreg 216.

[0056] Figure 5In the diagram, 'b' represents the reset state of the first telescopic pin 502 and the second telescopic pin 505 on both the left and right sides.

[0057] More specifically, the needle 5 is driven by a first telescopic needle drive cylinder 503 to extend and retract the first telescopic needle 502, and a second telescopic needle drive cylinder 504 to extend and retract the second telescopic needle 505.

[0058] Material handling process of the robotic arm's picking device: The bottom surface of the needle punch 5 presses against the molten prepreg 216. The needle punch 5 extends through the first telescopic needle 502 and the second telescopic needle 505 on both sides to puncture the molten prepreg. Its needle tip forms an outward V-shaped fork to hook the punctured prepreg. In addition, during the picking process, the center line of the positioning channel on the needle punch base is aligned with the steel wire of the tray grid, thereby fixing and tightening the prepreg.

[0059] like Figure 6 The diagram shows the feeding process provided in this embodiment. Figure 6 In the diagram, 'a' represents a schematic diagram of the robotic arm before loading the mold. Figure 6 In the diagram, 'b' represents a schematic diagram after the robotic arm has loaded the mold.

[0060] Before the robotic arm 3 picks up the molten prepreg 216 from the heating oven 2 and puts it into the mold cavity, the robotic arm 3 firmly picks up the prepreg 216 by needle punching. The trajectory position of the robotic arm before mold feeding ensures that the positioning channel 506 of each feeder is coaxial with the mold needle 1021 on the movable mold 102. The movement of the robotic arm in the Y-axis direction drives the molten prepreg 216 to punch the two mold needles 1021 fixed on the upper side of the movable mold 102. The prepreg 216 is punched and suspended by the two mold needles 1021 on 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 punching, the small head area makes it easier to punch the molten prepreg, and the slightly larger cylindrical root area makes it easier to suspend the prepreg.

[0061] This embodiment also provides a control method. Using the composite material injection molding machine provided in the above embodiment, the movement path of its robotic arm is as follows: Figure 7 As shown, the specific steps of its control method are as follows: Place the preformed prepreg sheet on the feeding station of the heating oven and press the start button.

[0062] The heating oven conveying device transports the prepreg sheets from the feeding station to the heating station of the heating oven.

[0063] The heating oven heats the prepreg sheets at the heating station according to the set temperature and time.

[0064] After the heating time in the heating oven is reached, the heating oven conveying device transfers the prepreg heated to molten state from the heating station to the loading station of the heating oven. Then, the heating oven sends a loading completion signal (hot1) to the robot arm.

[0065] After receiving hot1, the robotic arm, located above the heating oven, descends along the Z-axis to the loading position of the heating oven, ensuring that the feeder is horizontal.

[0066] The robotic arm descends along the Z-axis to the material-grabbing position Tr03, aligning the center lines of the telescopic needles on both sides of the needle base with the steel wires of the tray grid. This ensures that the bottom surface of the needle effectively adheres to the molten prepreg. The needles and suction cups of the material-grabbing device work simultaneously to grasp the molten prepreg. Grabbing process: The needles extend, pierce the prepreg, and form a V-shaped cross-position to fix the prepreg. At the same time, the suction cups vacuum-adsorb the prepreg.

[0067] The robotic arm grabs the molten prepreg from the loading position Tr03 of the heating oven, and after rising to the movable height Tr05 in the X direction of the robotic arm, the flipping device of the robotic arm flips the picking device into a vertical state.

[0068] The robotic arm moves along a set trajectory to the top of the injection molding machine mold (Tr07), and then descends along the Z-axis to the mold loading position (Tr08).

[0069] The robot moves along the Y-axis to load the molten prepreg onto the designated position Tr09 of the mold. The loading process of the robot is as follows: the movement of the robot along the Y-axis causes the molten prepreg to pierce into two pins fixed on the upper side of the moving mold. The prepreg is pierced and suspended onto the two pins of the mold.

[0070] The needle retraction, vacuum breaking, and air blowing of the robotic arm's material handling device effectively separate the molten prepreg from the robotic arm's material handling device and onto the hanging mold.

[0071] After the robot arm retracts to Tr10 in the Y-axis direction and rises to Tr11 in the Z-axis direction, it can move at the X-axis height.

[0072] The feeder flips over, so that the suction cup is in a horizontal position, directly above the material loading position of the heating oven (Tr01), waiting for the material loading signal hot1 from the heating oven, and repeats the cycle.

[0073] The loading trajectory of the robotic arm is implemented through teach programming, and the robotic arm controller records each spatial position point of the robotic arm trajectory.

[0074] After the robot arm is powered on again, it needs to perform a return-to-origin operation first: specifically including: return to origin in the Z-axis direction -> return to origin in the X-axis direction -> return to origin in the Y-axis direction -> the picker flips to the horizontal position.

[0075] The production process specifically includes: The robotic arm is positioned directly above the loading position of the heating oven (Tr01), waiting for the heating oven to pick up the material (hot1) -> It rapidly descends in the Z-axis direction to a position close to the loading position of the heating oven (Tr02) -> It slowly descends in the Z-axis direction to the picking position of the heating oven (Tr03), the bottom surface of the robotic arm's picking device presses down on the molten prepreg, and the needles of the picking device's needles and suction cups hold the molten prepreg in place -> It rises in the Z-axis direction (Tr05) -> The picking device rotates 90 degrees, placing the prepreg in a vertical position -> It moves in the X-axis direction above the injection molding machine (Tr06) -> It moves in the Y-axis direction to the position entering the injection molding machine (Tr07) -> It descends in the Z-axis direction to the loading position of the injection molding machine mold (Tr08). -> Move along the Y-axis to Tr09. During the movement, the prepreg is pierced by the two needles of the moving mold. -> The needles retract and the air is blown out. -> Retreat along the Y-axis to Tr10 and suspend the prepreg on the two needles. -> Rise along the Z-axis to the injection molding machine inlet position Tr11. -> The feeder flips so that the suction cup is in a horizontal position. -> Directly above the material loading position of the heating oven Tr01, wait for the heating oven material loading signal hot1, and repeat the cycle.

[0076] The preferred method for determining the robot's feeding trajectory is the reverse calculation method. 1. With the robot unloaded, visually teach the robot's material-holding position Tr09 on the moving mold, ensuring that the center holes of the two feeders are coaxial with the two pins of the mold, and leaving a 2-3mm gap between the bottom surface of the feeder in the Y direction and the moving mold. 2. The robot's Tr08 / Tr10 positions are when the feeders in the Y direction have completely withdrawn from the two pins of the mold, leaving a gap of about 10mm. 3. The Tr07 / Tr11 positions are the safe height at which the robot completely withdraws from the injection molding machine's mold closing position. 4. Tr03 is the robot's material-holding position in the heating oven. After accurately determining Tr09, Tr08 / Tr10, Tr07 / Tr11, and Tr03 using the reverse trajectory method, other auxiliary transition points are added.

[0077] More specifically, its simplified path is as follows:

[0078] Tr00->Tr01->Tr02->Tr03->Tr04->Tr05->Tr06->Tr07->Tr08->Tr09->

[0079] Tr10->Tr11.

[0080] Tr00 --- Directly above the injection molding machine;

[0081] Tr01 --- Positive movement along the X-axis, directly above the oven;

[0082] Tr02 --- Positive movement along the Z-axis, intermediate transition point;

[0083] Tr03 --- Positive movement in the Z-axis direction, oven material pick-up point;

[0084] Tr04 --- Negative Z-axis motion, intermediate transition point can coincide with tr02;

[0085] Tr05 --- Negative Z-axis movement, can be aligned with tr01 directly above the oven;

[0086] Tr06 --- Negative movement in the X-axis direction; the point directly above the injection molding machine can coincide with tr00.

[0087] Tr07 --- Moving in the positive Y-axis direction, the point directly above the injection molding machine's mold entry position;

[0088] Tr08 --- Negative movement in the Z-axis direction, point directly in front of the mold loading position;

[0089] Tr09 --- Positive movement in the Y-axis direction, mold loading position;

[0090] Tr10 --- Negative movement in the Y-axis direction; the point directly in front of the mold loading position can coincide with tr08.

[0091] Tr11 --- Negative Z-axis movement, the point directly above the injection molding machine's mold entry point can coincide with tr07;

[0092] The purpose of setting transition points is to make the robot's movement trajectory smoother and its walking trajectory safer.

[0093] Furthermore, the terms "upper," "lower," "inner," "outer," "front," and "rear" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0094] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

[0095] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A composite injection molding all-in-one machine, characterized by, The device comprises a horizontal injection molding machine, a heating oven and a mechanical arm arranged on one side of the horizontal injection molding machine; The horizontal injection molding machine is equipped with a split mold for completing the molding and pressing process of the prepreg, and the split mold comprises a movable mold and a fixed mold for clamping the prepreg laterally; The heating oven is used for heating the prepreg to a molten state; The mechanical arm is used for placing the prepreg in the molten state into the mold, and comprises a mechanical arm base, a mechanical arm fixed on the mechanical arm base, and a material taking device carried on the mechanical arm; The material taking device comprises a fixed plate fixed on one side of the mechanical arm, a needle stinger and a vacuum chuck arranged on the other side of the fixed plate, the needle stinger comprises a base for adhering to the prepreg, and telescopic needles arranged on both sides of the base, the telescopic needles are arranged in a staggered manner and have the same angle with the prepreg adhering surface of the base, and form an outer eight-shaped bifurcation with the prepreg adhering surface of the base to fix the prepreg; A turnover assembly is arranged between the mechanical arm and the fixed plate, and the turnover assembly is used for switching the fixed plate between a horizontal state and a vertical state, and the vertical state means that the fixed plate is parallel to the surface on which the movable mold places the prepreg; The movable mold is provided with mold sharp needles for piercing and fixing the prepreg, the mold sharp needles are located in the upper half of the movable mold, and the fixed mold is provided with an avoiding opening for the mold sharp needles to pass through; The base of the needle stinger is provided with a positioning channel for the mold sharp needles to pass through.

2. The composite injection molding all-in-one machine according to claim 1, characterized in that, The heating oven comprises a box body, a heating tray for placing the prepreg, and upper and lower heaters for heating the prepreg in the heating tray; Both the upper and lower heaters use infrared heating to heat the prepreg.

3. The composite injection molding all-in-one machine according to claim 2, characterized in that, A light blocking plate is arranged between the heating tray and the lower heater, the length of the light blocking plate is one quarter of the length of the heating tray, and the light blocking plate is located at one end of the heating tray.

4. The composite injection molding all-in-one machine according to claim 2, characterized in that, The heating tray is a sparse net woven by steel wires in a cross shape, and the edge of the sparse net is provided with a plurality of cylindrical pins for positioning the contour of the prepreg.

5. The composite injection molding all-in-one machine according to claim 4, characterized in that, A lifting assembly is arranged below the sparse net, and the lifting assembly comprises a cylinder rod for lifting the center part of the sparse net and a cylinder for driving the cylinder rod to move.

6. The composite injection molding all-in-one machine according to claim 1, wherein, The mechanical arm sequentially connects an X-direction moving device, a Y-direction moving device and a Z-direction moving device from the mechanical arm base; The X-direction moving device is used for driving the Y-direction moving device to move linearly laterally between the heating oven and the horizontal injection molding machine; The Y-direction moving device is used for driving the Z-direction moving device to move linearly vertically; The Z-direction moving device is used for driving the material taking device to move vertically.

7. The composite injection molding all-in-one machine according to claim 1, characterized in that, The vacuum chuck has a plurality of vacuum chucks arranged in an array on the fixed plate, and the needle stinger is located on one side of the plurality of vacuum chucks.

8. The composite injection molding all-in-one 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.

9. A control method characterized by, The steps for controlling the composite material injection molding integrated machine according to any one of claims 1-8 comprise: placing the prepreg on the sparse net in the heating oven and heating until the prepreg is in a molten state; The 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 needle stinger base are aligned with the steel wires of the tray grid, then the telescopic needles in the needle stinger are used to pierce and fix the prepreg, and the surface of the prepreg is adsorbed by the vacuum chuck, and the fixed plate is switched from the horizontal state to the vertical state by the turnover assembly during the upward movement of the taking device; When the taking device driven by the mechanical arm is located between the fixed mold and the movable mold, the positioning channel of the needle stinger base is positioned with the mold sharp needle on the movable mold, so as to pierce and fix the prepreg on the movable mold, and the movable mold is moved to close with the fixed mold to perform the subsequent shaping and pressing task.

Images