Fiber placement equipment for aerospace composite material processing and use method thereof

Abstract

The invention discloses fiber placement equipment for aerospace composite material processing, and belongs to the field of composite material processing. Comprising a sliding rail, a portal frame, a connecting seat, a mechanical arm, a rotating seat and a fiber placement machine head, the portal frame is in sliding fit with the sliding rails, and the connecting base is slidably connected to the portal frame. The mechanical arm is fixedly connected to the lower end of the connecting seat, and the lower end of the mechanical arm is fixedly connected with a rotating seat; and the lower end of the rotating seat is fixedly connected with a fiber placement machine head. According to the fiber placement machine, the fiber placement machine head does not need to be repeatedly rotated at the end of the base plate through the two pressing cylinders when the fiber placement machine works, time is saved, efficiency is improved, meanwhile, in the prepreg laying process, the pressing cylinder located in the front of the advancing direction can drive the cleaning belt to roll on the base plate, dust on the base plate is cleaned, and the quality of composite finished products is guaranteed.

Description

Technical Field

[0001] The invention relates to a wire laying device for processing aerospace composite materials, and belongs to the field of composite material processing. Background Art

[0002] A fiber placement machine is a device used in composite material manufacturing. It is mainly used to lay fibers (such as carbon fiber, glass fiber, etc.) on a mold in a specific direction and path to prepare a composite material preform. It is widely used in aerospace, automobile, wind power and other fields.

[0003] At present, in the operation process of the common wire laying machines on the market, the wire laying machine head has only one pressure roller. After the prepreg is cut off at the end of the substrate by the shearing mechanism, the wire laying machine head needs to be rotated 180° before the wire laying operation can continue, which is rather troublesome. Therefore, it is necessary to improve it. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned problems existing in the background technology and to provide a wire placement device for processing aerospace composite materials.

[0005] The present invention achieves the above-mentioned purpose by adopting the following technical solutions:

[0006] A wire laying equipment for processing aerospace composite materials, comprising a slide rail, a gantry, a connecting seat, a robotic arm, a rotating seat and a wire laying head; the gantry is slidably matched with the slide rail, and the connecting seat is slidably connected to the gantry; the robotic arm is fixedly connected to the lower end of the connecting seat, and the lower end of the robotic arm is fixedly connected to the rotating seat; the lower end of the rotating seat is fixedly connected to the wire laying head.

[0007] A method for using a wire placement device for processing aerospace composite materials, the method comprising the following steps:

[0008] Step 1: After adjusting the position of the wire laying head through the gantry, the connecting seat and the rotating seat, the mechanical arm is controlled to press the roller device at the lower end of the wire laying head against the substrate;

[0009] Step 2: After the pressing roller device is pressed against the substrate, the two pressing cylinders move in opposite directions, so that the prepreg passes through the gap between the two pressing cylinders and falls on the substrate. The pressing cylinder located in the front direction of the movement drives the cleaning belt to be wound around the pressing cylinder, and the dust in front of the prepreg is cleaned during the movement. The pressing cylinder located in the rear direction of the movement presses the prepreg on the substrate;

[0010] Step 3: After the prepreg is laid, the shearing mechanism cuts it off and then moves it to the next position through the gantry, connecting seat and rotating seat. The next prepreg laying can be carried out without rotating the fiber laying machine head.

[0011] Compared with the prior art, the beneficial effects of the present invention are: the present invention can not only use two pressing cylinders to eliminate the need for the wire laying machine to repeatedly rotate the wire laying machine head at the end of the substrate during operation, thereby saving time and improving efficiency, but also during the process of laying the prepreg, the pressing cylinder located in front of the traveling direction can drive the cleaning belt to roll on the substrate to clean the dust on the substrate and ensure the quality of the finished composite material. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the three-dimensional structure of a wire placement device for processing aerospace composite materials according to the present invention;

[0013] Figure 2 It is a three-dimensional structural schematic diagram of a wire placing head of a wire placing device for processing aerospace composite materials according to the present invention;

[0014] Figure 3 It is a schematic diagram of the connection structure of a connecting plate, a cleaning belt, and a pressure roller device of a wire laying equipment for processing aerospace composite materials of the present invention;

[0015] Figure 4 yes Figure 3 Section view in the AA direction;

[0016] Figure 5 yes Figure 4 Cross-sectional view in the middle BB direction;

[0017] Figure 6 yes Figure 5 Cross-sectional view in CC direction;

[0018] Figure 7 It is a schematic diagram of the coil spring position of a wire placement device for processing aerospace composite materials of the present invention;

[0019] Figure 8 It is a bottom view of a connecting plate of a wire placement device for processing aerospace composite materials according to the present invention;

[0020] Fig. 9 is a side view of a connection device of a wire placement device for processing aerospace composite materials according to the present invention;

[0021] Fig.10 It is a schematic diagram of the working principle of a wire laying machine in the prior art. DETAILED DESCRIPTION

[0022] The technical solution 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 invention, rather than all of the embodiments. Based on the embodiments of 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.

[0023] Specific implementation method 1: Figure 1-10 As shown, this embodiment records a wire laying equipment for processing aerospace composite materials, including a slide rail 1, a gantry 2, a connecting seat 3, a robot arm 4, a rotating seat 5 and a wire laying head 6; the gantry 2 is slidably matched with the slide rail 1, and the connecting seat 3 is slidably connected to the gantry 2; the robot arm 4 is fixedly connected to the lower end of the connecting seat 3, and the lower end of the robot arm 4 is fixedly connected to the rotating seat 5; the lower end of the rotating seat 5 is fixedly connected to the wire laying head 6.

[0024] The fiber laying machine head 6 includes a connecting head 61; the connecting head 61 is fixedly connected to the lower end of the rotating seat 5, the lower end of the connecting head 61 is fixedly connected to a connecting rod 64, the lower end of the connecting rod 64 is fixedly connected to a protective tube 65; the lower end of the protective tube 65 is fixedly connected to a connecting plate 66; a discharge port 662 is provided on the connecting plate 66, two connecting devices 69 are symmetrically provided at the lower end of the connecting plate 66, and two pressing roller devices 68 are provided between the two connecting devices 69; the lower end of the connecting plate 66 is also fixedly connected to a heating mechanism 611; a plurality of rotating drums 62 are provided at the lower end of the connecting head 61, and prepreg 63 is provided on the rotating drum 62, the prepreg 63 passes through an inner drum 610 provided at the lower end of the connecting head 61, and the prepreg 63 passes through a guide mechanism, a re-feeding mechanism, and a shearing mechanism inside the inner drum 610 and then slides out from the discharge port 662. The heating mechanism 611 is one of an electric heater or a laser heater.

[0025] The connecting device 69 includes a sliding mechanism and two connecting rods 694; the sliding mechanism is arranged at the lower end of the connecting plate 66, and the lower end of the sliding mechanism is hinged with two connecting rods 694, each connecting rod 694 is connected to a corresponding pressing roller device 68. Under the pressure between the fiber placement machine head 6 and the substrate, the two pressing roller devices 68 move in opposite directions, thereby achieving repeated movement on the substrate without rotating the fiber placement machine head 6, completing the laying of the prepreg 63, and saving time.

[0026] Two grooves 661 are symmetrically provided at the lower end of the connecting plate 66; a rotating shaft 672 parallel to the discharge port 662 is connected in each of the grooves 661, and a coil spring 673 is provided between the rotating shaft 672 and the inner wall of the groove 661; a cleaning belt 67 is fixedly connected to the outer circular surface of the rotating shaft 672; the other end of the cleaning belt 67 is fixedly connected to the corresponding pressure roller device 68.

[0027] Each of the pressure roller devices 68 includes a shaft 683; the shaft 683 is connected to the corresponding connecting rod 694 through a bearing, and a pressure cylinder 681 is keyed on the shaft 683; both ends of the pressure cylinder 681 are provided with annular recessed grooves, and a clamping groove 685 is provided on the inner wall of each annular recessed groove, and a clamping block 687 is connected in the clamping groove 685 through a spring I 686; the position of the recessed groove on the pressure cylinder 681 is also connected to a rotating ring 682 through a bearing; an annular groove 684 is provided on the inner circumferential surface of the rotating ring 682, and a transmission block 688 is fixedly connected to the inner wall of the annular groove 684; one side of the clamping block 687 is provided with an inclined surface; the end of the cleaning belt 67 close to the pressure roller device 68 is fixedly connected to an elastic pad 671; the elastic pad 671 is fixedly connected to the outer circumferential surface of the rotating ring 682. When the two pressing rollers 68 are in motion, the pressing cylinder 681 located in the front of the moving direction can be wrapped by the cleaning belt 67 to prevent the pressing cylinder 681 from contacting the dust on the substrate, and the cleaning belt 67 can clean the dust on the substrate. The thickness of the elastic pad 671 is equal to the height difference between the pressing cylinder 681 and the rotating ring 682 to prevent the cleaning belt 67 from deforming when it is wrapped around the outer circumference of the pressing cylinder 681, affecting its service life and dust cleaning effect. At the same time, the contact surface of the cleaning belt 67 and the substrate is sticky to bind the dust.

[0028] The inclined surfaces of the clamping blocks 687 on the two pressing roller devices 68 face opposite directions, so that when the pressing roller device 68 rotates clockwise or counterclockwise, the pressing cylinder 681 located in the front of the traveling direction can drive the cleaning belt 67 to rotate.

[0029] The outer diameter of the rotating ring 682 is smaller than the outer diameter of the pressing cylinder 681 .

[0030] The sliding mechanism includes a slide bar 693; a slideway 662 is provided at the lower end of the connecting plate 66; the slide bar 693 and the sleeve 692 are interference fit, and the sleeve 692 and the slideway 662 are slidingly fit; a spring II 691 is fixedly connected between the upper end surface of the sleeve 692 and the top wall of the slideway 662; the lower end of the slide bar 693 is hinged with two connecting rods 694, and a limiting groove 696 is provided at the bottom end of the side of the slide bar 693; a limiting block 695 is fixedly connected to the side of the connecting rod 694, and after the two connecting rods 694 rotate in opposite directions, the limiting block 695 is embedded in the corresponding limiting groove 696. The limiting block 695 is embedded in the limiting groove 696 and then enters the sleeve 692 to ensure that the angle between the two pressing roller devices 68 is fixed.

[0031] After the pressing roller device 68 contacts the substrate, the two pressing roller devices 68 move in opposite directions, so that the prepreg 63 can pass through the gap between the two pressing roller devices 68 and fall onto the substrate.

[0032] A method for using a wire placement device for processing aerospace composite materials, the method comprising the following steps:

[0033] Step 1: After adjusting the position of the wire laying head 6 through the gantry 2, the connecting seat 3, and the rotating seat 5, the robot arm 4 is controlled to press the pressing roller device 68 at the lower end of the wire laying head 6 against the substrate;

[0034] Step 2: After the pressing roller device 68 is pressed against the substrate, the two pressing cylinders 681 move in opposite directions, so that the prepreg 63 passes through the gap between the two pressing cylinders 681 and falls on the substrate. The pressing cylinder 681 located in the front direction of the movement drives the cleaning belt 67 to be wound around the pressing cylinder 681, and the dust in front of the prepreg 63 is cleaned during the movement. The pressing cylinder 681 located in the rear direction of the movement compacts the prepreg on the substrate;

[0035] Step 3: After the prepreg 63 is laid, the shearing mechanism cuts it off and then moves it to the next position through the gantry 2, the connecting seat 3, and the rotating seat 5. The next prepreg 63 can be laid without rotating the fiber placement machine head 6.

[0036] The working principle of the present invention is as follows: when the device is used, the gantry 2, the connecting seat 3, and the rotating seat 5 are driven to move by the power system, and then the position of the wire laying head 6 is adjusted, and then the pressure roller device 68 at the lower end of the wire laying head 6 is pressed against the substrate by the mechanical arm 4. When the pressure roller device 68 contacts the substrate and the wire laying head 6 continuously moves downward, the pressure cylinder 681 contacts the substrate first, and when the wire laying head 6 moves downward, the two push pressure cylinders 681 move in the opposite direction, thereby driving the connecting rod 694 to move around the sliding rod 69. The spring hinge at the connection 3 rotates to leave a gap between the two pressing cylinders 681. When the opening angle of the two connecting rods 694 reaches the maximum, the limit rod 695 is embedded in the limit groove 696. When the wire laying machine head 6 continuously moves downward, the slide bar 693 slides into the slide cylinder 692, so that the limit rod 695 enters the slide cylinder 692 and abuts against the inner wall of the slide cylinder 692, so that the two pressing cylinders 681 maintain the opening angle. At the same time, the slide cylinder 692 slides into the slideway 663 and compresses the spring II 691.

[0037] The power system drives the re-feeding mechanism to start, driving the prepreg 63 to separate from the rotating drum 62, and then changes direction through the guide mechanism, passes through the shearing mechanism and comes out from the discharge port 662, and finally falls on the substrate after being heated by the heating device 611. The power system drives the gantry 2, the connecting seat 3, and the robot arm 4 to move together, so that the fiber placement head 6 moves along a predetermined track. During the movement of the fiber placement head 6, the pressing drum 681 rolls due to the friction with the substrate, as shown in FIG. Figure 6 The status and direction shown are in the 6-direction of the wire laying machine head. Figure 6 When the pressing cylinder 681 moves to the right side in the direction shown, the two pressing cylinders 681 rotate clockwise under the action of friction force. At this time, the pressing cylinder 681 drives the position where the concave groove is provided to rotate together, thereby driving the block 687 to rotate. Figure 6 The right-side pressing roller device 68 is now located in front of the prepreg traveling direction. During the clockwise rotation of the pressing cylinder 681, the clamping block 687 on the right-side pressing roller device 68 contacts the transmission block 688 on the side away from the inclined surface, and pushes the transmission block 688 to move, thereby driving the rotating ring 682 to rotate together, so that the cleaning belt 67 and the elastic pad 671 fixedly connected to the rotating ring 682 are wound around the outer circumferential surface of the pressing cylinder 681. Since the right-side pressing roller device 68 is located in front of the traveling direction, the pressing roller device 68 and the cleaning belt 67 are directly in contact with the substrate before laying the prepreg. The dust on the substrate is cleaned by the stickiness of the cleaning belt 67 to ensure the finished composite material effect. At the same time, the pressing cylinder 681 is wrapped up to prevent the pressing cylinder 681 from contacting the dust on the substrate, resulting in that when the prepreg is subsequently compacted, the dust on the surface of the pressing cylinder 681 is immersed in the heated prepreg, resulting in the quality of the finished product being damaged.

[0038] At the same time, located Figure 6 The pressing cylinder 681 on the pressing roller device 68 on the left side of the direction shown also rolls clockwise. The inclined surfaces of the clamping blocks 687 at the recessed parts of the pressing cylinders 681 on the two pressing roller devices 68 face opposite directions. Therefore, when the pressing cylinder 681 on the left side rotates clockwise, the inclined surface of the clamping block 687 contacts the transmission block 688. Since coil springs 674 are provided on both sides of the rotating shaft 672, the rotating ring 682 does not rotate under the elastic force of the coil spring 674, so that the transmission block 688 pushes the clamping block 687 to compress the spring I 686 into the clamping groove 685 until the clamping block 687 is separated from the transmission block 688 and pops out. At this time, since the pressing roller device 68 on the left side is located at the rear of the traveling direction, its pressing cylinder 681 will not be wrapped by the cleaning belt 67. After the prepreg 63 is heated and falls on the substrate, the pressing cylinder 681 on the left side compacts the prepreg 63 on the substrate to complete the wire laying operation.

[0039] After the laying of the wire is completed, the shearing mechanism cuts off the prepreg 63, and then under the control of the robot arm 4, the laying head 6 moves upward and separates from the substrate. In the process of moving upward, the sleeve 692 is pushed downward quickly by the elastic force of the spring II 691 until the sleeve 692 stops moving. Under the action of inertia, the slide bar 693 moves away from the sleeve 692, and then the limit rod 695 is separated from the sleeve 692. At this time, the pressing cylinder 681 is separated from the substrate, and the cleaning belt 67 is quickly rolled up under the elastic force of the winding spring 674, so that the cleaning belt 67 is separated from the pressing cylinder 681.

[0040] When the laying operation is performed again, there is no need to rotate the wire laying head 6. The pressing roller device 68 is pressed against the substrate according to the above operation, and then Figure 6In the state and direction shown, the pressing cylinder 681 rotates counterclockwise, so that the pressing roller device 68 on the left is located in front of the traveling direction, and the pressing roller device 68 on the right is located behind the traveling direction. Under the condition of counterclockwise rotation, the pressing cylinder 681 on the left rolls up the corresponding cleaning belt 67, and the pressing cylinder 681 on the right does not roll up the cleaning belt 67 to compact the prepreg 63; the present invention can also repeatedly lay the prepreg 63 on the substrate without rotating the fiber laying machine head 6, thereby saving time and improving efficiency.

[0041] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms of assembly without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0042] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A wire placement equipment for processing aerospace composite materials, characterized by: The invention comprises a slide rail (1), a gantry (2), a connecting seat (3), a mechanical arm (4), a rotating seat (5) and a wire laying machine head (6); the gantry (2) is slidably matched with the slide rail (1), and the connecting seat (3) is slidably connected to the gantry (2); the mechanical arm (4) is fixedly connected to the lower end of the connecting seat (3), and the lower end of the mechanical arm (4) is fixedly connected to the rotating seat (5); and the lower end of the rotating seat (5) is fixedly connected to the wire laying machine head (6).

2. The wire placement equipment for processing aerospace composite materials according to claim 1, characterized in that: The wire laying machine head (6) comprises a connecting head (61); the connecting head (61) is fixedly connected to the lower end of the rotating seat (5); the lower end of the connecting head (61) is fixedly connected to a connecting rod (64); the lower end of the connecting rod (64) is fixedly connected to a protective tube (65); the lower end of the protective tube (65) is fixedly connected to a connecting plate (66); a discharge port (662) is provided on the connecting plate (66); two connecting devices (69) are symmetrically provided at the lower end of the connecting plate (66); the two connecting devices ( 69); the lower end of the connecting plate (66) is also fixedly connected to a heating mechanism (611); a plurality of rotating drums (62) are arranged at the lower end of the connecting head (61), and prepreg (63) is arranged on the rotating drums (62), and the prepreg (63) passes through an inner drum (610) arranged at the lower end of the connecting head (61), and the prepreg (63) passes through a guiding mechanism, a re-feeding mechanism, and a shearing mechanism inside the inner drum (610) and then slides out from a discharge port (662).

3. The wire placement equipment for processing aerospace composite materials according to claim 2, characterized in that: The connecting device (69) comprises a sliding mechanism and two connecting rods (694); the sliding mechanism is arranged at the lower end of the connecting plate (66), the lower end of the sliding mechanism is hinged with two connecting rods (694), and each connecting rod (694) is connected to a corresponding pressure roller device (68).

4. A wire placement equipment for processing aerospace composite materials according to claim 2 or 3, characterized in that: Two grooves (661) are symmetrically provided at the lower end of the connecting plate (66); a rotating shaft (672) parallel to the discharge port (662) is connected in each of the grooves (661), and a coil spring (673) is provided between the rotating shaft (672) and the inner wall of the groove (661); a cleaning belt (67) is fixedly connected to the outer circumferential surface of the rotating shaft (672); the other end of the cleaning belt (67) is fixedly connected to the corresponding pressure roller device (68).

5. The wire placement equipment for processing aerospace composite materials according to claim 4, characterized in that: Each of the pressing roller devices (68) comprises a shaft (683); the shaft (683) is connected to the corresponding connecting rod (694) via a bearing, and a pressing cylinder (681) is keyed on the shaft (683); annular recessed grooves are provided at both ends of the pressing cylinder (681), and a clamping groove (685) is provided on the inner wall of each annular recessed groove, and a clamping block (687) is connected in the clamping groove (685) via a spring I (686); the recessed groove on the pressing cylinder (681) The position is also connected to a rotating ring (682) through a bearing; an annular groove (684) is provided on the inner circumferential surface of the rotating ring (682), and a transmission block (688) is fixedly connected to the inner wall of the annular groove (684); an inclined surface is provided on one side of the clamping block (687); an elastic pad (671) is fixedly connected to one end of the cleaning belt (67) close to the pressure roller device (68); the elastic pad (671) is fixedly connected to the outer circumferential surface of the rotating ring (682).

6. The wire placement equipment for processing aerospace composite materials according to claim 5, characterized in that: The inclined surfaces of the clamping blocks (687) on the two pressing roller devices (68) are oriented in opposite directions.

7. The wire placement equipment for processing aerospace composite materials according to claim 5, characterized in that: The outer diameter of the rotating ring (682) is smaller than the outer diameter of the pressing cylinder (681).

8. The wire placement equipment for processing aerospace composite materials according to claim 5, characterized in that: The sliding mechanism comprises a sliding rod (693); a slideway (662) is provided at the lower end of the connecting plate (66); the sliding rod (693) and the sleeve (692) are interference fit, and the sleeve (692) and the slideway (662) are sliding fit; a spring II (691) is fixedly connected between the upper end surface of the sleeve (692) and the top wall of the slideway (662); the lower end of the sliding rod (693) is hinged to two connecting rods (694), and a limiting groove (696) is provided at the bottom end of the side of the sliding rod (693); a limiting block (695) is fixedly connected to the side of the connecting rod (694), and after the two connecting rods (694) rotate in opposite directions, the limiting block (695) is embedded in the corresponding limiting groove (696).

9. The wire placement equipment for processing aerospace composite materials according to claim 8, characterized in that: After the pressing roller device (68) contacts the substrate, the two pressing roller devices (68) move in opposite directions, so that the prepreg (63) can pass through the gap between the two pressing roller devices (68) and fall onto the substrate.

10. The method for using the wire placement equipment for processing aerospace composite materials according to claim 9, characterized in that: The method of use comprises the following steps: Step 1: After adjusting the position of the wire laying head (6) through the gantry (2), the connecting seat (3) and the rotating seat (5), the mechanical arm (4) is controlled to press the pressing roller device (68) at the lower end of the wire laying head (6) against the substrate; Step 2: After the pressing roller device (68) is pressed against the substrate, the two pressing cylinders (681) move in opposite directions, so that the prepreg (63) passes through the gap between the two pressing cylinders (681) and falls on the substrate. The pressing cylinder (681) located in the front of the moving direction drives the cleaning belt (67) to be wound around the pressing cylinder (681), and cleans the dust in front of the prepreg (63) during the moving process. The pressing cylinder (681) located in the rear of the moving direction compacts the prepreg on the substrate. Step 3: After the prepreg (63) is laid, the shearing mechanism cuts it off and then moves it to the next position through the gantry (2), the connecting seat (3) and the rotating seat (5). The next prepreg (63) can be laid without rotating the fiber laying machine head (6).

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