An inner-circle wire-feeding multi-tow placement head and a fiber placement manipulator

Abstract

The present invention provides an inner-ring wire-feeding type multi-tow laying head and a fiber laying robot, belonging to the technical field of carbon fiber composite material laying, comprising a frame, a rewinding mechanism, a guiding mechanism, a re-feeding mechanism, a shearing mechanism, a heating mechanism and a compacting mechanism; due to the use of inner-ring feeding, the guiding mechanism, the re-feeding mechanism, the shearing mechanism, the heating mechanism, the compacting mechanism and the unwinding bracket can be respectively arranged on both sides of the first frame, so that the area of ​​the first frame is reduced, which is more suitable for working conditions with narrow laying space; the position of the blade can be adjusted according to the contour of the end of the workpiece, so that the end of the prepreg tape or the fiber tow is fitted with the end of the workpiece; the original line contact is changed to surface contact, and the contact time is longer so that the prepreg tape or the fiber tow and the workpiece are fitted more tightly.

Description

Technical Field

[0001] The invention belongs to the technical field of carbon fiber composite material laying, and specifically discloses an inner-circle wire-feeding multi-tow laying head and a fiber laying manipulator. Background Art

[0002] Carbon fiber composite materials have the characteristics of high strength, high modulus, easy integration into large components and light weight, which reduces the number of spliced ​​parts and saves manufacturing and assembly costs. They are increasingly used in aerospace, high-end automobile manufacturing and other fields.

[0003] Fiber placement technology is one of the important means to achieve low-cost manufacturing of carbon fiber composite materials. The fiber tow placement work in the fiber placement equipment is mainly completed by the placement head. The inventor's team designed a Chinese patent with application number CN202311193989.8, and the invention name is a compact multiple thermoplastic prepreg narrow tape placement head and placement method, which can achieve independent placement of multiple prepreg narrow tapes (or fiber tows) with high placement efficiency and good quality. The above patent can also be improved in the following aspects:

[0004] 1. Due to the use of the outer ring of the material coil for feeding, the guide mechanism, re-feeding mechanism, shearing mechanism, heating mechanism, and compacting mechanism need to be arranged on the same side of the frame as the material coil, resulting in a large frame area;

[0005] 2. The end of the prepreg tape (or fiber tow) cut by the shearing mechanism is linear. If the contour of the end of the workpiece is a curve or a broken line, the end of the prepreg tape (or fiber tow) cannot fit with the end of the workpiece;

[0006] 3. When the pressing roller compacts the prepreg tape (or fiber tow) onto the workpiece, there is line contact between the pressing roller and the prepreg tape (or fiber tow), and the compacting effect needs to be improved. Summary of the invention

[0007] The present invention provides an inner-circle wire feeding type multi-tow placement head and a fiber placement robot, which at least solve one of the above-mentioned technical problems.

[0008] The inner ring wire feeding type multi-wire laying head provided by the present invention comprises a frame, a reeling mechanism, a guiding mechanism, a re-feeding mechanism, a shearing mechanism, a heating mechanism and a compacting mechanism; the frame comprises a first frame and a second frame arranged in parallel, and a frame through hole is arranged on the first frame; the reeling mechanism comprises an unreeling bracket, an unreeling disc, a wire feeding shaft and a wire feeding shaft driving part; the unreeling bracket and the second frame are respectively located on both sides of the first frame; the unreeling bracket comprises a first end plate, a second end plate and an end plate connecting plate, the first end plate and the second end plate are arranged in parallel and connected through the end plate connecting plate, the second end plate is connected to the first frame, and the second end plate is provided with a bracket through hole corresponding to the frame through hole; a plurality of unreeling discs are arranged in sequence between the first end plate and the second end plate; each unreeling disc comprises a fixed ring, a rotating ring, a material roll clamping ring and a wire feeding clamping assembly, the fixed ring is fixedly connected to the end plate connecting plate, the rotating ring is located in the fixed ring and rotates with the fixed ring The cam is connected to the rack by a spring, and the cam has a first end connected to the second rack by a spring and a second end connected to the rack by a spring.

[0009] In the above-mentioned inner ring wire feeding type multi-wire bundle laying head, each unwinding disk also includes an unwinding bearing and an unwinding bearing retaining ring; the outer ring and the inner ring of the unwinding bearing are respectively a fixed ring and a rotating ring, and the rotating ring is fixedly connected to the material roll clamping ring through the unwinding connecting plate; the unwinding bearing retaining ring axially presses the fixed ring and is fixedly connected to the end plate connecting plate; the wire feeding clamping assembly also includes a spring fixed seat and a spring movable seat, the spring fixed seat is fixedly connected to the second end of the wire feeding clamping frame, the spring movable seat is rotatably connected to the wire feeding pressure roller, and the two ends of the spring are respectively fixedly connected to the spring fixed seat and the spring movable seat.

[0010] The above-mentioned inner ring wire feeding type multi-bundle laying head also includes a tension control mechanism; each unwinding disk also includes an unwinding gear ring, and the inner ring of the unwinding gear ring is fixedly connected to the rotating ring; the tension control mechanism corresponds to the unwinding disk; each group of tension control mechanisms includes a tension control gear, a tension control shaft and a tension control shaft driving unit, the tension control shaft vertically passes through the first end plate, the first end of the tension control shaft is located outside the first end plate and is connected to the tension control shaft driving unit, the second end of the tension control shaft is rotatably connected to the second end plate, and the tension control gear is fixedly mounted on the tension control shaft and meshes with the unwinding gear ring of the corresponding unwinding disk.

[0011] In the above-mentioned inner ring wire feeding type multi-wire bundle placement head, the wire feeding clamping assemblies on the multiple unwinding reels are staggered, and the wire feeding clamping assemblies of two adjacent unwinding reels have the same staggered angle; the wire feeding shaft and the first end plate are rotatably connected through the wire feeding shaft bearing; a wire feeding shaft bearing end cover is installed on the first end plate to close the wire feeding shaft bearing.

[0012] In the above-mentioned inner ring wire feeding type multi-bundle laying head, the guiding mechanism includes a wire feeding end guide shaft and a wire outlet end guide shaft vertically fixed on the first frame; the re-feeding mechanism includes a re-feeding active shaft, a re-feeding driven shaft and a re-feeding active shaft driving unit; the number of wire feeding end guide shafts is the same as the number of unwinding reels, the wire feeding end guide shafts are arranged around the frame through hole and are located on the inlet side of the re-feeding mechanism, and each wire feeding end guide shaft is provided with an annular wire guide groove; the wire outlet end guide shaft is located on the outlet side of the re-feeding mechanism, and the wire outlet end guide shaft is provided with annular wire guide grooves the same as the number of unwinding reels; the re-feeding active shaft and the re-feeding driven shaft are vertically rotatably installed on the first frame, and the re-feeding active shaft is driven to rotate by the re-feeding active shaft driving unit.

[0013] In the above-mentioned inner ring wire feeding type multi-tow laying head, the shearing mechanism includes a longitudinal control component, a transverse control component, a vertical control component and a cutting component; the longitudinal control component includes a longitudinal fixed frame, a longitudinal sliding frame and a longitudinal sliding frame driving component; the longitudinal fixed frame is fixedly connected to the first frame and the second frame; the longitudinal sliding frame is slidably connected to the longitudinal fixed frame, and the longitudinal sliding frame is provided with a wire inlet and a wire outlet that are flush with each other, and the number of the wire inlets and the wire outlets is the same as the number of the unwinding reel; the longitudinal sliding frame driving component drives the longitudinal sliding frame to slide along the length direction of the prepreg tape or the fiber bundle; the transverse control component includes a transverse fixed frame, a transverse sliding frame and a transverse sliding frame driving component; the transverse fixed frame is fixedly connected to the longitudinal sliding frame; the transverse sliding frame is slidably connected to the transverse fixed frame; The frame driving assembly drives the horizontal sliding frame to slide along the width direction of the prepreg tape or fiber bundle; the vertical control assembly includes a vertical fixed frame, a vertical sliding frame and a vertical sliding frame driving assembly; the vertical fixed frame is fixedly connected to the horizontal sliding frame; the vertical sliding frame is slidably connected to the vertical fixed frame; the vertical sliding frame driving assembly drives the vertical sliding frame to slide in a direction perpendicular to the prepreg tape or fiber bundle; the cutting assembly includes a knife shaft, a knife shaft driving unit, a blade and a blade driving unit; the knife shaft and the blade are located between the wire inlet and the wire outlet; the knife shaft driving unit is installed on the vertical sliding frame and connected to the knife shaft to drive the knife shaft to rotate; the blade is rotatably connected to the knife shaft and is driven to rotate by the blade driving unit; multiple wire guide shafts at the wire outlet are arranged in sequence between the re-feeding mechanism and the wire inlet, and the last wire guide shaft at the wire outlet is flush with the wire inlet.

[0014] In the above-mentioned inner ring wire feeding type multi-tow laying head, the longitudinal fixed frame includes a first longitudinal fixed plate, a second longitudinal fixed plate and a longitudinal guide rail, the first longitudinal fixed plate is fixedly connected to the first frame, the second longitudinal fixed plate is fixedly connected to the second frame, and the longitudinal guide rails are installed on the first longitudinal fixed plate and the second longitudinal fixed plate; the longitudinal sliding frame includes a first longitudinal slide, a second longitudinal slide, a wire feeding bracket, a wire outlet bracket and a longitudinal connecting plate, the first longitudinal slide is slidably connected to the longitudinal guide rail of the first longitudinal fixed plate, the second longitudinal slide is slidably connected to the longitudinal guide rail of the second longitudinal fixed plate, the two ends of the wire feeding bracket are respectively slidably connected to the longitudinal guide rails of the first longitudinal fixed plate and the second longitudinal fixed plate, the two ends of the wire feeding bracket are respectively fixedly connected to the first longitudinal slide and the second longitudinal slide through the longitudinal connecting plate, the wire feeding bracket is provided with a wire feeding port, and the wire outlet bracket is provided with a wire outlet; the longitudinal sliding frame driving assembly includes a longitudinal rack, a longitudinal gear, a longitudinal gear shaft and a longitudinal gear driving unit, the longitudinal rack is installed on the second longitudinal fixed plate, and the longitudinal gear shaft rotates through the second longitudinal slide and is driven to rotate by the longitudinal gear driving unit The longitudinal gear is fixedly mounted on the longitudinal gear shaft and meshes with the longitudinal rack; the transverse fixed frame includes a transverse fixed plate and a transverse guide rail, the transverse fixed plate is fixedly connected to the first longitudinal slide, the second longitudinal slide and the wire outlet bracket, and the transverse guide rail is installed on the transverse fixed plate; the transverse sliding frame is slidably connected to the transverse guide rail; the transverse sliding frame driving assembly includes a transverse rack, a transverse gear, a transverse gear shaft and a transverse gear driving part, the transverse rack is mounted on the transverse fixed plate, the transverse gear shaft rotates through the transverse sliding frame and is driven to rotate by the transverse gear driving part, and the transverse gear The wheel is fixedly mounted on the transverse gear shaft and meshed with the transverse rack; the vertical sliding frame includes a vertical slide and a vertical guide rail, the vertical guide rail is fixedly connected to the vertical slide, and the vertical guide rail is slidably connected to the vertical fixed frame; the vertical sliding frame driving assembly includes a vertical rack, a vertical gear, a vertical gear shaft and a vertical gear driving unit, the vertical rack is mounted on the vertical slide, the vertical gear shaft rotates through the transverse sliding frame and is driven to rotate by the vertical gear driving unit, the vertical gear is fixedly mounted on the vertical gear shaft and meshed with the vertical rack; the knife shaft driving unit is mounted on the vertical slide.

[0015] In the above-mentioned inner ring wire feeding type multi-wire bundle placement head, the compaction mechanism includes a compaction wire feeding guide rail, a crawler pressure roller and a pressure roller driving unit; the compaction wire feeding guide rail is installed between the first frame and the second frame, and a wire feeding channel is arranged in the compaction wire feeding guide rail. The number of wire feeding channels is the same as the number of unwinding drums, and the entrance of the wire feeding channel is flush with the wire outlet of the longitudinal sliding frame; the crawler pressure roller is installed between the first frame and the second frame, and is driven to retract and retract by the pressure roller driving unit, and the compaction surface of the crawler pressure roller is flush with the outlet of the wire feeding channel; the heating mechanism includes a laser heater; the laser heater is installed between the first frame and the second frame, and the laser emission port of the laser heater is aligned with the meshing point of the prepreg tape or fiber bundle and the workpiece.

[0016] In the above-mentioned inner ring wire feeding type multi-bundle placement head, two adjacent wire feeding channels are staggered in a direction perpendicular to the prepreg tape or fiber bundle, and two adjacent wire feeding channels are spaced apart in a width direction of the prepreg tape or fiber bundle; the compaction mechanism also includes a pressure roller connecting frame; the pressure roller connecting frame is fixedly connected to the telescopic end of the pressure roller driving part; the crawler type pressure roller includes a support roller, a rubber inner ring, a sliding shoe and a crawler track; a plurality of support rollers are arranged side by side, and the two ends of the support roller are rotatably connected to the pressure roller connecting frame; the rubber inner ring is fixed to the outside of the support roller; the crawler track is formed by a plurality of crawler teeth connected by pins, the crawler track is located outside the rubber inner ring, and each crawler tooth is connected to the rubber inner ring through a sliding shoe; the sliding shoe includes a sliding shoe block and a sliding shoe column connected to each other, the sliding shoe block is connected to the crawler tooth, and the sliding shoe column is connected to the rubber inner ring; the heating mechanism also includes a laser heater bracket; the laser heater is fixed to the first frame through the laser heater bracket.

[0017] The fiber placement robot provided by the present invention comprises a robot arm, and the execution end of the robot arm is provided with the above-mentioned inner-ring wire-feeding type multi-tow placement head.

[0018] Compared with the prior art, the present invention has the following beneficial effects.

[0019] 1. In the inner ring wire feeding type multi-tow laying head provided by the present invention, the material reel is installed between two material reel clamping rings, the prepreg tape or fiber bundle is drawn out from the inner ring of the material reel and wound on the spiral wire feeding groove of the wire feeding shaft, the wire feeding shaft is driven to rotate by the wire feeding shaft driving part, and the material reel, the material reel clamping ring and the rotating ring are driven to rotate synchronously to realize inner ring feeding, the prepreg tape or fiber bundle passes through the guiding mechanism, the re-feeding mechanism and the shearing mechanism in turn, is heated by the heating mechanism, and is compacted on the workpiece by the compacting mechanism. Due to the use of inner ring feeding, the guiding mechanism, the re-feeding mechanism, the shearing mechanism, the heating mechanism, the compacting mechanism and the unwinding bracket can be arranged on both sides of the first frame respectively, so that the area of ​​the first frame is reduced, which is more suitable for working conditions with narrow laying space.

[0020] 2. The shearing mechanism includes a longitudinal control component, a transverse control component, a vertical control component, and a knife shaft drive unit, which can adjust the position of the blade according to the contour of the end of the workpiece so that the end of the prepreg tape or fiber bundle fits the end of the workpiece.

[0021] 3. The crawler-type pressure roller is adopted. The structure of the crawler and the sliding shoe can adapt to the workpiece with curvature on the surface. It also makes the surface of the pressure roller more closely fit the surface of the workpiece during the laying process, so that the original line contact is changed into surface contact. The contact time is longer, so that the prepreg tape or fiber tow fits the workpiece more tightly. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the structure of the inner-circle wire feeding type multi-tow placement head;

[0024] Figure 2 for Figure 1 A view in the other direction;

[0025] Figure 3 It is the assembly diagram of the unwinding mechanism and the tension control mechanism;

[0026] Figure 4 It is a structural schematic diagram of the unwinding reel;

[0027] Figure 5 It is a structural schematic diagram of the wire feeding and clamping assembly;

[0028] Figure 6 The installation diagram of the guide mechanism, the re-feeding mechanism, the shearing mechanism, the heating mechanism and the compacting mechanism;

[0029] Figure 7 It is a structural schematic diagram of the shearing mechanism;

[0030] Figure 8 is a schematic diagram of the structure of the longitudinal control component;

[0031] Fig. 9 is a schematic diagram of the structure of the lateral control component;

[0032] Fig.10 It is the assembly drawing of the vertical control component and the cutting component;

[0033] Fig.11 It is a schematic diagram of the structure of the compaction wire feeding guide;

[0034] Fig.12 It is a schematic diagram of the structure of the crawler type pressure roller.

[0035] In the figure: 1.1-first rack; 1.2-second rack;

[0036] 2.1- Unwinding bracket; 2.2- Unwinding reel; 2.2.1- Material roll clamping ring; 2.2.2- Wire feeding clamping frame; 2.2.3- Spring; 2.2.4- Wire feeding pressure roller; 2.2.5- Unwinding bearing; 2.2.6- Unwinding bearing retaining ring; 2.2.7- Unwinding gear ring; 2.2.8- Unwinding connecting plate; 2.2.9- Spring fixing seat; 2.2.10- Spring movable seat; 2.3- Wire feeding shaft; 2.4- Wire feeding shaft bearing end cover; 2.5- Wire feeding shaft driving motor;

[0037] 3.1- tension control gear; 3.2- tension control shaft; 3.3- tension control shaft drive motor;

[0038] 4.1-wire guide shaft at the wire feeding end; 4.2-wire guide shaft at the wire outlet end;

[0039] 5.1-heavy feed driving shaft; 5.2-heavy feed driven shaft; 5.3-heavy feed shaft cover; 5.4-heavy feed driving shaft driving motor;

[0040] 6.1.1-first longitudinal fixing plate; 6.1.2-second longitudinal fixing plate; 6.1.3-longitudinal guide rail; 6.1.4-first longitudinal slide; 6.1.5-second longitudinal slide; 6.1.6-wire inlet bracket; 6.1.7-wire outlet bracket; 6.1.8-longitudinal connecting plate; 6.1.9-wire inlet; 6.1.10-wire outlet; 6.1.11-longitudinal rack; 6.1.12-limiting block; 6.1.13-longitudinal gear; 6.1.14-longitudinal gear drive motor;

[0041] 6.2.1- transverse fixed plate; 6.2.2- transverse guide rail; 6.2.3- transverse sliding frame; 6.2.4- transverse rack; 6.2.5- transverse gear; 6.2.6- transverse gear drive motor;

[0042] 6.3.1-vertical fixed frame; 6.3.2-vertical slide; 6.3.3-vertical guide rail; 6.3.4-vertical rack; 6.3.5-vertical gear; 6.3.6-vertical gear drive motor;

[0043] 6.4.1- knife shaft; 6.4.2- blade; 6.4.3- knife shaft drive motor;

[0044] 7.1-compacting wire feed rail; 7.1.1-wire feed channel; 7.2-compacting wire feed rail bracket; 7.3-crawler pressure roller; 7.3.1-support roller; 7.3.2-rubber inner ring; 7.3.3-slip shoe; 7.3.4-crawler; 7.4-pressure roller connecting frame; 7.5-pressure roller driving cylinder; 7.6-cylinder support plate;

[0045] 8.1-Laser heater; 8.2-Laser heater bracket;

[0046] 100-Reel. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Example 1

[0049] The present embodiment provides an inner coil wire feeding type multi-tow laying head, including a frame, an unwinding mechanism, a tension control mechanism, a guiding mechanism, a re-feeding mechanism, a shearing mechanism, a heating mechanism and a compacting mechanism.

[0050] The rack comprises a first rack 1.1 and a second rack 1.2 which are arranged in parallel, and the first rack 1.1 is provided with a rack through hole. The first rack 1.1 and the second rack 1.2 are connected by bolts.

[0051] The unwinding mechanism comprises an unwinding bracket 2.1, an unwinding disk 2.2, a wire feeding shaft 2.3 and a wire feeding shaft driving part; the unwinding bracket 2.1 and the second frame 1.2 are respectively located on both sides of the first frame 1.1; the unwinding bracket 2.1 comprises a first end plate, a second end plate and an end plate connecting plate, the first end plate and the second end plate are arranged in parallel and connected by the end plate connecting plate, the second end plate is connected to the first frame 1.1 by bolts, and the second end plate is provided with a bracket through hole corresponding to the frame through hole; a plurality of unwinding disks 2.2 are arranged in sequence between the first end plate and the second end plate; each unwinding disk 2 .2 include a fixed ring, a rotating ring, a material coil clamping ring 2.2.1 and a wire feeding clamping assembly. The fixed ring is fixedly connected to the end plate connecting plate by screws. The rotating ring is located inside the fixed ring and is rotatably connected to the fixed ring. The outer rings of the two material coil clamping rings 2.2.1 are fixedly connected to the rotating ring. The wire feeding clamping assembly includes a wire feeding clamping frame 2.2.2, a spring 2.2.3 and a wire feeding pressure roller 2.2.4. The first end of the wire feeding clamping frame 2.2.2 is fixedly connected to the fixed ring by screws. The second end of the wire feeding clamping frame 2.2.2 is located inside the material coil clamping ring 2.2.1 On the side, the wire feeding pressure roller 2.2.4 is connected to the second end of the wire feeding pressure frame 2.2.2 through the spring 2.2.3, and the wire feeding pressure roller 2.2.4 is inserted between the two material roll clamping rings 2.2.1. The wire feeding pressure roller 2.2.4 presses the material roll 100 installed between the two material roll clamping rings 2.2.1 through the elastic force of the spring 2.2.3 to ensure that the prepreg tape or fiber bundle of the material roll 100 will not be loosened due to the wire feeding movement; the number of wire feeding shafts 2.3 is the same as the number of unwinding reels 2.2, and the wire feeding shafts 2.3 vertically pass through the first end plate, the bracket through hole and the frame through hole, The first end of the wire feeding shaft 2.3 is located outside the first end plate and is connected to the wire feeding shaft driving unit. The second end of the wire feeding shaft 2.3 is rotatably connected to the second frame 1.2. A spiral wire feeding groove is arranged on the wire feeding shaft 2.3. The prepreg tape or fiber bundle is drawn out from the inner ring of the material roll 100 and wound on the spiral wire feeding groove of the wire feeding shaft 2.3. The wire feeding shaft 2.3 is driven to rotate by the wire feeding shaft driving unit, driving the material roll 100, the material roll clamping ring 2.2.1 and the rotating ring to rotate synchronously to realize inner ring feeding, and the position where the prepreg tape or fiber bundle is delivered is always maintained at the wire feeding pressure roller 2.2.4.

[0052] In the above-mentioned unwinding mechanism, each unwinding disk also includes an unwinding bearing 2.2.5, an unwinding bearing retaining ring 2.2.6 and an unwinding gear ring 2.2.7; the outer ring and the inner ring of the unwinding bearing 2.2.5 are a fixed ring and a rotating ring respectively, and the rotating ring is fixedly connected to the material roll clamping ring 2.2.1 through an unwinding connecting plate 2.2.8; the unwinding bearing retaining ring 2.2.6 axially presses the fixed ring and is fixedly connected to the end plate connecting plate through screws; the inner ring of the unwinding gear ring 2.2.7 is fixedly connected to the rotating ring.

[0053] In the above-mentioned unwinding mechanism, the wire feeding clamping assembly also includes a spring fixed seat 2.2.9 and a spring movable seat 2.2.10. The spring fixed seat 2.2.9 is fixedly connected to the second end of the wire feeding clamping frame 2.2.2, the spring movable seat 2.2.10 is rotationally connected to the wire feeding pressure roller 2.2.4, and the two ends of the spring 2.2.3 are respectively fixedly connected to the spring fixed seat 2.2.9 and the spring movable seat 2.2.10.

[0054] In the above unwinding mechanism, the wire feeding and clamping assemblies on the multiple unwinding discs 2.2 are staggered, and the wire feeding and clamping assemblies of two adjacent unwinding discs 2.2 are staggered at the same angle, so that the prepreg tape or fiber bundle will not interfere with each other when it is wound onto the wire feeding shaft 2.3; the wire feeding shaft 2.3 is rotatably connected to the first end plate through the wire feeding shaft bearing; the first end plate is equipped with a wire feeding shaft bearing end cover 2.4 to close the wire feeding shaft bearing; the wire feeding shaft driving part adopts a wire feeding shaft driving motor 2.5. In this embodiment, the unwinding bracket 2.1 places a total of four unwinding discs 2.2 in parallel, and the wire feeding and clamping assemblies on two adjacent unwinding discs 2.2 are staggered by 90°.

[0055] The tension control mechanism corresponds to the unwinding disk 2.2; each group of tension control mechanisms includes a tension control gear 3.1, a tension control shaft 3.2 and a tension control shaft driving unit, the tension control shaft 3.2 vertically passes through the first end plate, the first end of the tension control shaft 3.2 is located outside the first end plate and is connected to the tension control shaft driving unit, the second end of the tension control shaft 3.2 is rotatably connected to the second end plate, the tension control gear 3.1 is fixedly mounted on the tension control shaft 3.2 by a key and a keyway and meshes with the unwinding gear ring 2.2.7 of the corresponding unwinding disk 2.2, so as to achieve the purpose of controlling the rotation of the material roll clamping ring 2.2.1, and can control the formation of tension in the prepreg tape or fiber bundle during the wire feeding process, and prevent the material roll clamping ring 2.2.1 from generating unnecessary rotation due to inertia during the wire feeding process, resulting in excessive feeding of the prepreg tape or fiber bundle, causing the prepreg tape or fiber bundle on the wire feeding shaft 2.3 to be rolled up loosely.

[0056] In the above tension control mechanism, the tension control shaft 3.2 is rotatably connected to the first end plate and the second end plate via tension control shaft bearings; the tension control shaft driving unit adopts a tension control shaft driving motor 3.3.

[0057] The guiding mechanism, the re-feeding mechanism, the shearing mechanism, the heating mechanism and the compacting mechanism are all connected to the first frame 1.1, and are respectively located on both sides of the first frame 1.1 together with the unwinding bracket 2.1.

[0058] The guiding mechanism comprises a wire feeding end guide shaft 4.1 and a wire outlet end guide shaft 4.2 vertically fixed on the first frame 1.1; the number of the wire feeding end guide shafts 4.1 is the same as the number of the unwinding reel 2.2, the wire feeding end guide shafts 4.1 are arranged around the frame through hole and are located on the inlet side of the re-feeding mechanism, each wire feeding end guide shaft 4.1 is provided with an annular wire guide groove, the prepreg tape or fiber bundle delivered by the wire feeding shaft 2.3 respectively bypasses the corresponding wire feeding end guide shaft 4.1, playing a guiding role; the wire outlet end guide shaft 4.2 is located on the outlet side of the re-feeding mechanism, the wire outlet end guide shaft 4.2 is provided with annular wire guide grooves of the same number as the unwinding reel 2.2, the prepreg tape or fiber bundle bypasses the corresponding annular wire guide grooves on the wire outlet end guide shaft 4.2 after passing through the re-feeding mechanism, and gathers into a bundle.

[0059] The re-feeding mechanism includes a re-feeding active shaft 5.1, a re-feeding driven shaft 5.2, a re-feeding active shaft driving unit and a re-feeding shaft outer cover 5.3; the re-feeding active shaft 5.1 and the re-feeding driven shaft 5.2 are vertically rotatably mounted on the first frame 1.1, and the re-feeding active shaft 5.1 is driven to rotate by the re-feeding active shaft driving unit to deliver the prepreg tape or fiber tow to the wire guide shaft 4.2 at the wire outlet end; the re-feeding shaft outer cover 5.3 is fixed to the first frame 1.1 by screws, and the re-feeding active shaft 5.1 and the re-feeding driven shaft 5.2 are enclosed inside. The re-feeding active shaft driving unit adopts a re-feeding active shaft driving motor 5.4.

[0060] The shearing mechanism comprises a longitudinal control component, a transverse control component, a vertical control component and a cutting component.

[0061] The longitudinal control assembly includes a longitudinal fixed frame, a longitudinal sliding frame and a longitudinal sliding frame driving assembly; the longitudinal fixed frame is fixedly connected to the first frame 1.1 and the second frame 1.2; the longitudinal sliding frame is slidably connected to the longitudinal fixed frame, and the longitudinal sliding frame is provided with a wire inlet 6.1.9 and a wire outlet 6.1.10 which are flush with each other. The number of the wire inlets 6.1.9 and the wire outlet 6.1.10 is the same as the number of the unwinding disk 2.2. The wire inlet 6.1.9 and the wire outlet 6.1.10 are used to fix the movement direction of the prepreg tape or the fiber bundle. The thickness is higher than the thickness of the prepreg tape or the fiber bundle to ensure that the cut is neat when the blade 6.4.2 shears the bundle. The distance between the wire inlet 6.1.9 and the wire outlet 6.1.10 is wider than the diameter of the blade 6.4.2 to facilitate the rotation of the blade 6.4.2; the longitudinal sliding frame driving assembly drives the longitudinal sliding frame to slide along the length direction of the prepreg tape or the fiber bundle.

[0062] Specifically, the longitudinal fixing frame includes a first longitudinal fixing plate 6.1.1, a second longitudinal fixing plate 6.1.2 and a longitudinal guide rail 6.1.3. The first longitudinal fixing plate 6.1.1 is fixedly connected to the first frame 1.1 by screws, the second longitudinal fixing plate 6.1.2 is fixedly connected to the second frame 1.2 by screws, and the longitudinal guide rail 6.1.3 is installed on the first longitudinal fixing plate 6.1.1 and the second longitudinal fixing plate 6.1.2 by screws; the longitudinal sliding frame includes a first longitudinal sliding The first longitudinal slide 6.1.4, the second longitudinal slide 6.1.5, the wire inlet bracket 6.1.6, the wire outlet bracket 6.1.7 and the longitudinal connecting plate 6.1.8, the first longitudinal slide 6.1.4 is slidably connected to the longitudinal guide rail 6.1.3 of the first longitudinal fixing plate 6.1.1, the second longitudinal slide 6.1.5 is slidably connected to the longitudinal guide rail 6.1.3 of the second longitudinal fixing plate 6.1.2, and the two ends of the wire inlet bracket 6.1.6 are respectively connected to the first longitudinal fixing plate 6.1.1 and the second longitudinal fixing plate 6.1.2. The longitudinal guide rail 6.1.3 of the plate 6.1.2 is slidably connected, and the two ends of the wire feeding bracket 6.1.6 are fixedly connected to the first longitudinal slide 6.1.4 and the second longitudinal slide 6.1.5 through the longitudinal connecting plate 6.1.8 respectively. The wire feeding bracket 6.1.6 is provided with a wire feeding port 6.1.9, and the wire outlet bracket 6.1.7 is provided with a wire outlet 6.1.10; the longitudinal sliding frame driving assembly includes a longitudinal rack 6.1.11, a limit block 6.1.12, and a longitudinal gear 6.1. 13. Longitudinal gear shaft and longitudinal gear drive unit, longitudinal rack 6.1.11 is installed on the second longitudinal fixed plate 6.1.2 by screws, the longitudinal gear shaft rotates through the second longitudinal slide 6.1.5 and is driven to rotate by the longitudinal gear drive unit, the longitudinal gear 6.1.13 is fixedly installed on the longitudinal gear shaft and meshes with the longitudinal rack 6.1.11; two limit blocks 6.1.12 are installed on the second longitudinal fixed plate 6.1.2, located on both sides of the second longitudinal slide 6.1.5. The longitudinal gear drive unit adopts a longitudinal gear drive motor 6.1.14.

[0063] The transverse control assembly includes a transverse fixed frame, a transverse sliding frame 6.2.3 and a transverse sliding frame driving assembly; the transverse fixed frame is fixedly connected to the longitudinal sliding frame; the transverse sliding frame 6.2.3 is slidably connected to the transverse fixed frame; the transverse sliding frame driving assembly drives the transverse sliding frame 6.2.3 to slide along the width direction of the prepreg tape or fiber bundle.

[0064] Specifically, the transverse fixed frame includes a transverse fixed plate 6.2.1 and a transverse guide rail 6.2.2, the transverse fixed plate 6.2.1 is fixedly connected to the first longitudinal slide 6.1.4, the second longitudinal slide 6.1.5 and the wire outlet bracket 6.1.7, and the transverse guide rail 6.2.2 is installed on the transverse fixed plate 6.2.1; the transverse sliding frame 6.2.3 is slidably connected to the transverse guide rail 6.2.2; the transverse sliding frame driving assembly includes a transverse rack 6.2.4, a transverse gear 6.2.5, a transverse gear shaft and a transverse gear driving unit, the transverse rack 6.2.4 is installed on the transverse fixed plate 6.2.1, the transverse gear shaft rotates through the transverse sliding frame 6.2.3 and is driven to rotate by the transverse gear driving unit, and the transverse gear 6.2.5 is fixedly installed on the transverse gear shaft and meshes with the transverse rack 6.2.4. The transverse gear driving unit adopts a transverse gear driving motor 6.2.6.

[0065] The vertical control assembly includes a vertical fixed frame 6.3.1, a vertical sliding frame and a vertical sliding frame driving assembly; the vertical fixed frame 6.3.1 is fixedly connected to the horizontal sliding frame 6.3.3; the vertical sliding frame is slidably connected to the vertical fixed frame 6.3.1; the vertical sliding frame driving assembly drives the vertical sliding frame to slide in a direction perpendicular to the prepreg tape or fiber bundle.

[0066] Specifically, the vertical sliding frame includes a vertical slide 6.3.2 and a vertical guide rail 6.3.3, the vertical guide rail 6.3.3 is fixedly connected to the vertical slide 6.3.2, and the vertical guide rail 6.3.3 is slidably connected to the vertical fixed frame 6.3.1; the vertical sliding frame driving assembly includes a vertical rack 6.3.4, a vertical gear 6.3.5, a vertical gear shaft and a vertical gear driving unit, the vertical rack 6.3.4 is installed on the vertical slide 6.3.2, the vertical gear shaft rotates through the horizontal slide 6.3.3 and is driven to rotate by the vertical gear driving unit, the vertical gear 6.3.5 is fixedly installed on the vertical gear shaft and meshes with the vertical rack 6.3.4. The vertical gear driving unit adopts a vertical gear driving motor 6.3.6.

[0067] The cutting assembly includes a knife shaft 6.4.1, a knife shaft driving unit, a blade 6.4.2 and a blade driving unit; the knife shaft 6.4.1 and the blade 6.4.2 are located between the wire inlet 6.1.9 and the wire outlet 6.1.10; the knife shaft driving unit adopts a knife shaft driving motor 6.4.3, which is installed on the vertical slide 6.3.2 and connected to the knife shaft 6.4.1, driving the knife shaft 6.4.1 to rotate; the blade 6.4.2 is rotationally connected to the knife shaft 6.4.1 and is driven to rotate by the blade driving unit; the blade driving unit adopts a blade driving motor.

[0068] The blade 6.4.2 of the shearing mechanism has four degrees of freedom, namely longitudinal, transverse, vertical and rotational, to ensure that the blade 6.4.2 can cut out any contour according to the contour of the laid workpiece during cutting, and the blade 6.4.2 also has a rotation function to ensure that there is enough force to quickly cut the prepreg tape or fiber bundle while ensuring the neatness of the fracture.

[0069] Multiple wire guide shafts 4.2 at the wire outlet are arranged in sequence between the re-feeding mechanism and the wire inlet 6.1.9, and the last wire guide shaft 4.2 at the wire outlet is flush with the wire inlet 6.1.9, so that the prepreg tape or fiber bundle enters the wire inlet 6.1.9 in parallel.

[0070] The compaction mechanism comprises a compaction wire feeding guide rail 7.1, a compaction wire feeding guide rail bracket 7.2, a crawler pressure roller 7.3 and a pressure roller driving unit; the compaction wire feeding guide rail bracket 7.2 is mounted on the first frame 1.1 by screws, the compaction wire feeding guide rail 7.1 is mounted on the compaction wire feeding guide rail bracket 7.2 so that it is located between the first frame 1.1 and the second frame 1.2, a wire feeding channel 7.1.1 is arranged in the compaction wire feeding guide rail 7.1, the number of the wire feeding channels 7.1.1 is the same as the number of the unwinding reel 2.2, the inlet of the wire feeding channel 7.1.1 is flush with the wire outlet 6.1.10 of the longitudinal sliding frame; the crawler pressure roller 7.3 is mounted between the first frame 1.1 and the second frame 1.2, and is driven to extend and retract by the pressure roller driving unit, and the compaction surface of the crawler pressure roller 7.3 (the compaction surface is the surface in contact with the workpiece) is flush with the outlet of the wire feeding channel 7.1.1.

[0071] In the above compaction mechanism, two adjacent wire feeding channels 7.1.1 are staggered in a direction perpendicular to the prepreg tape or fiber bundle, and two adjacent wire feeding channels 7.1.1 are spaced apart in the width direction of the prepreg tape or fiber bundle, so that the prepreg tape or fiber bundle is stacked without gaps in the laying direction.

[0072] The compaction mechanism also includes a roller connecting frame 7.4; the roller connecting frame 7.4 is fixedly connected to the telescopic end of the roller driving unit; the crawler roller 7.3 includes a support roller 7.3.1, a rubber inner ring 7.3.2, a slipper 7.3.3 and a crawler track 7.3.4; a plurality of support rollers 7.3.1 are arranged side by side, and both ends of the support rollers 7.3.1 are rotatably connected to the roller connecting frame 7.4 through bearings; the rubber inner ring 7.3.2 is fixed to the outer side of the support roller 7.3.1; the crawler track 7.3.4 is formed by a plurality of crawler teeth connected by pins, the crawler track 7.3.4 is located outside the rubber inner ring 7.3.2, and each crawler tooth is connected to the rubber inner ring 7.3.2 through a plurality of slippers 7.3.3; the slipper 7.3.3 includes a slipper block and a slipper column connected to each other, the slipper block is connected to the crawler tooth, and the slipper column is connected to the rubber inner ring 7.3.2.

[0073] In this embodiment, the roller driving part adopts a roller driving cylinder 7.5, and the cylinder body of the roller driving cylinder 7.5 is connected to the first frame 1.1 and the second frame 1.2 through a cylinder support plate 7.6.

[0074] The heating mechanism includes a laser heater 8.1 and a laser heater bracket 8.2; the laser heater bracket 8.2 is installed on the first frame 1.1 by screws; the laser heater 8.1 is installed on the laser heater bracket 8.2 by screws so that it is located between the first frame 1.1 and the second frame 1.2, and the laser emission port of the laser heater 8.1 is aligned with the meshing point of the prepreg tape or fiber bundle and the workpiece.

[0075] Example 2

[0076] This embodiment provides a fiber placement robot, including a robot arm, and the above-mentioned inner-ring wire feeding type multi-tow placement head is arranged on the execution end of the robot arm.

[0077] The fiber placement method based on the above-mentioned fiber placement robot includes the following steps.

[0078] S1, installing the material roll 100: installing the material roll 100 between two material roll clamping rings 2.2.1 and clamping them.

[0079] S2, preliminary wire feeding: the prepreg tape or fiber bundle is drawn out from the material roll 100, compacted by the wire feeding pressure roller 2.2.4, and wound on the spiral wire feeding groove of the wire feeding shaft 2.3. The wire feeding shaft 2.3 is driven to rotate by the wire feeding shaft driving motor 2.5 to feed the prepreg tape or fiber bundle to the end of the spiral wire feeding groove, and then fed into between the re-feeding active shaft 5.1 and the re-feeding driven shaft 5.2 through the wire feeding end guide shaft 4.1. The re-feeding active shaft driving motor 5.4 drives the re-feeding active shaft 5.1 to rotate and drive the prepreg tape or fiber bundle to be fed into the subsequent wire outlet end guide shaft 4.2, and then passes through the wire inlet 6.1.9, the wire outlet 6.1.10, and the wire feeding channel 7.1.1 in sequence. The laser heater 8.1 heats the prepreg tape or fiber bundle, and finally the prepreg tape or fiber bundle is compacted on the workpiece by the crawler pressure roller 7.3, and the preliminary wire feeding is completed.

[0080] S3, laying process: the wire feeding shaft driving motor 2.5 drives the wire feeding shaft 2.3 to rotate, the wire feeding clamping assembly remains stationary, the robotic arm drives the inner ring wire feeding type multi-tow laying head to move along the workpiece, the prepreg tape or fiber tow is dragged and sent out, and compacted and bonded along the workpiece surface. When the tension of the prepreg tape or fiber tow is too large or too small, the tension control shaft driving motor 3.3 drives the tension control gear 3.1 to rotate forward or reversely, controlling the rotation of the material roll clamping ring 2.2.1, thereby controlling the tension of the prepreg tape or fiber tow during the wire feeding process.

[0081] S4, shearing process: when it is detected that the crawler pressure roller 7.3 reaches the preset position from the end of the workpiece, the shearing mechanism shears the prepreg tape or fiber bundle according to the contour of the end of the workpiece, and reserves a preset length of prepreg tape or fiber bundle in advance, and moves the blade 6.4.2 to the top of the prepreg tape or fiber bundle through the longitudinal control component and the transverse control component, and controls the blade 6.4.2 to descend by the vertical control component. According to the contour of the end of the workpiece, the blade drive unit drives the blade 6.4.2 to rotate for cutting, and always keeps the cutting direction parallel to the blade 6.4.2, so that the fracture of the prepreg tape or fiber bundle is more neat.

[0082] S5, laying restart process: the re-feeding active shaft driving motor 5.4 drives the re-feeding active shaft 5.1 to rotate, restarting the transportation of the prepreg tape or fiber bundle, and the longitudinal sliding frame in the shearing mechanism moves back to allow the prepreg tape or fiber bundle to pass through the wire outlet 6.1.10, and then the re-feeding active shaft 5.1 continues to rotate, and the longitudinal sliding frame starts to move toward the compaction mechanism. When it approaches the compaction wire feeding guide rail 7.1, the prepreg tape or fiber bundle is re-fed into the wire feeding channel 7.1.1.

[0083] S6, repeat S3-S5 until the laying is completed.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An inner coil wire feeding type multi-tow placement head, characterized in that: It includes a frame, an unwinding mechanism, a guiding mechanism, a re-feeding mechanism, a shearing mechanism, a heating mechanism and a compacting mechanism; The rack comprises a first rack and a second rack arranged in parallel, and the first rack is provided with a rack through hole; The unwinding mechanism comprises an unwinding bracket, an unwinding disc, a wire feeding shaft and a wire feeding shaft driving part; The unwinding bracket and the second frame are respectively located on both sides of the first frame; The unwinding bracket comprises a first end plate, a second end plate and an end plate connecting plate, the first end plate and the second end plate are arranged in parallel and connected by the end plate connecting plate, the second end plate is connected to the first frame, and the second end plate is provided with a bracket through hole corresponding to the frame through hole; A plurality of unwinding reels are sequentially arranged between the first end plate and the second end plate; Each unwinding disk includes a fixed ring, a rotating ring, a material roll clamping ring and a wire feeding clamping assembly, the fixed ring is fixedly connected to the end plate connecting plate, the rotating ring is located in the fixed ring and is rotatably connected to the fixed ring, the outer rings of the two material roll clamping rings are fixedly connected to the rotating ring, and the wire feeding clamping assembly includes a wire feeding clamping frame, a spring and a wire feeding pressure roller, the first end of the wire feeding pressure frame is fixedly connected to the fixed ring, the second end of the wire feeding pressure frame is located on the inner side of the material roll clamping ring, the wire feeding pressure roller is connected to the second end of the wire feeding pressure frame through a spring, the wire feeding pressure roller is inserted between the two material roll clamping rings, and the wire feeding pressure roller presses the material roll installed between the two material roll clamping rings through the elastic force of the spring; The number of the wire feeding shafts is the same as the number of the unwinding reels, the wire feeding shafts vertically pass through the first end plate, the bracket through hole and the frame through hole, the first end of the wire feeding shaft is located outside the first end plate and connected to the wire feeding shaft driving part, the second end of the wire feeding shaft is rotatably connected to the second frame, and the wire feeding shaft is provided with a spiral wire feeding groove; The guiding mechanism, the re-feeding mechanism, the shearing mechanism, the heating mechanism, and the compacting mechanism are all connected to the first frame, and are respectively located on both sides of the first frame together with the unwinding bracket.

2. The inner coil wire feeding multi-tow placement head according to claim 1, characterized in that: Each unwinding reel also includes an unwinding bearing and an unwinding bearing retaining ring; The outer ring and the inner ring of the unwinding bearing are respectively a fixed ring and a rotating ring, and the rotating ring is fixedly connected to the coil clamping ring through an unwinding connecting plate; The unwinding bearing retaining ring axially presses the fixing ring and is fixedly connected to the end plate connecting plate; The wire feeding clamping assembly also includes a spring fixed seat and a spring movable seat. The spring fixed seat is fixedly connected to the second end of the wire feeding clamping frame, the spring movable seat is rotatably connected to the wire feeding pressure roller, and the two ends of the spring are respectively fixedly connected to the spring fixed seat and the spring movable seat.

3. The inner coil wire feeding type multi-tow placement head according to claim 1, characterized in that: Also included is a tension control mechanism; Each unwinding disc also includes an unwinding gear ring, the inner ring of which is fixedly connected to the rotating ring; The tension control mechanism corresponds to the unwinding reel; Each set of tension control mechanisms includes a tension control gear, a tension control shaft and a tension control shaft driving unit. The tension control shaft vertically passes through the first end plate. The first end of the tension control shaft is located outside the first end plate and is connected to the tension control shaft driving unit. The second end of the tension control shaft is rotatably connected to the second end plate. The tension control gear is fixedly mounted on the tension control shaft and meshes with the unwinding gear ring of the corresponding unwinding disk.

4. The inner coil wire feeding type multi-tow placement head according to claim 1, characterized in that: The wire feeding and clamping assemblies on the multiple unwinding reels are staggered, and the staggered angles of the wire feeding and clamping assemblies of two adjacent unwinding reels are the same; The wire feeding shaft is rotatably connected to the first end plate via a wire feeding shaft bearing; A wire feeding shaft bearing end cover is mounted on the first end plate to seal the wire feeding shaft bearing.

5. The inner coil wire feeding type multi-tow placement head according to claim 1, characterized in that: The guide mechanism comprises a wire guide shaft at a wire feeding end and a wire guide shaft at a wire outlet end vertically fixed on the first frame; The re-feeding mechanism comprises a re-feeding active shaft, a re-feeding driven shaft and a re-feeding active shaft driving part; The number of the wire guide shafts at the wire feeding end is the same as the number of the unwinding reels, the wire guide shafts at the wire feeding end are arranged around the through hole of the frame and are located at the entrance side of the re-feeding mechanism, and each wire guide shaft at the wire feeding end is provided with an annular wire guide groove; The wire guide shaft at the wire outlet end is located at the outlet side of the re-feeding mechanism, and the wire guide shaft at the wire outlet end is provided with an annular wire guide groove having the same number as the unwinding reel; The re-feeding active shaft and the re-feeding driven shaft are vertically rotatably mounted on the first frame, and the re-feeding active shaft is driven to rotate by the re-feeding active shaft driving unit.

6. The inner coil wire feeding type multi-tow placement head according to claim 5, characterized in that: The shearing mechanism includes a longitudinal control component, a transverse control component, a vertical control component and a cutting component; The longitudinal control assembly includes a longitudinal fixed frame, a longitudinal sliding frame and a longitudinal sliding frame driving assembly; The longitudinal fixing frame is fixedly connected to the first frame and the second frame; The longitudinal sliding frame is slidably connected to the longitudinal fixed frame, and the longitudinal sliding frame is provided with mutually flush wire inlets and wire outlets, and the number of the wire inlets and wire outlets is the same as the number of the unwinding reels; The longitudinal sliding frame driving assembly drives the longitudinal sliding frame to slide along the length direction of the prepreg tape or the fiber tow; The lateral control assembly includes a lateral fixed frame, a lateral sliding frame and a lateral sliding frame driving assembly; The transverse fixed frame is fixedly connected to the longitudinal sliding frame; The transverse sliding frame is slidably connected to the transverse fixed frame; The transverse sliding frame driving assembly drives the transverse sliding frame to slide along the width direction of the prepreg tape or the fiber tow; The vertical control assembly includes a vertical fixed frame, a vertical sliding frame and a vertical sliding frame driving assembly; The vertical fixed frame is fixedly connected to the horizontal sliding frame; The vertical sliding frame is slidably connected to the vertical fixed frame; The vertical sliding frame driving assembly drives the vertical sliding frame to slide in a direction perpendicular to the prepreg tape or the fiber tow; The cutting assembly includes a cutter shaft, a cutter shaft driving unit, a blade and a blade driving unit; The knife shaft and the blade are located between the wire inlet and the wire outlet; The knife shaft driving part is installed on the vertical sliding frame and connected to the knife shaft to drive the knife shaft to rotate; The blade is rotatably connected to the blade shaft and driven to rotate by the blade driving unit; A plurality of wire guide shafts at the wire outlet ends are sequentially arranged between the re-feeding mechanism and the wire inlet, and the last wire guide shaft at the wire outlet end is flush with the wire inlet.

7. The inner coil wire feeding type multi-tow placement head according to claim 6, characterized in that: The longitudinal fixing frame comprises a first longitudinal fixing plate, a second longitudinal fixing plate and a longitudinal guide rail, the first longitudinal fixing plate is fixedly connected to the first frame, the second longitudinal fixing plate is fixedly connected to the second frame, and the longitudinal guide rail is installed on the first longitudinal fixing plate and the second longitudinal fixing plate; The longitudinal sliding frame includes a first longitudinal slide, a second longitudinal slide, a wire inlet bracket, a wire outlet bracket and a longitudinal connecting plate, the first longitudinal slide is slidably connected to the longitudinal guide rail of the first longitudinal fixed plate, the second longitudinal slide is slidably connected to the longitudinal guide rail of the second longitudinal fixed plate, the two ends of the wire inlet bracket are respectively slidably connected to the longitudinal guide rails of the first longitudinal fixed plate and the second longitudinal fixed plate, the two ends of the wire inlet bracket are respectively fixedly connected to the first longitudinal slide and the second longitudinal slide through the longitudinal connecting plate, the wire inlet bracket is provided with a wire inlet, and the wire outlet bracket is provided with a wire outlet; The longitudinal sliding frame driving assembly includes a longitudinal rack, a longitudinal gear, a longitudinal gear shaft and a longitudinal gear driving part, wherein the longitudinal rack is mounted on the second longitudinal fixed plate, the longitudinal gear shaft rotates through the second longitudinal sliding table and is driven to rotate by the longitudinal gear driving part, and the longitudinal gear is fixedly mounted on the longitudinal gear shaft and meshes with the longitudinal rack; The transverse fixing frame includes a transverse fixing plate and a transverse guide rail, the transverse fixing plate is fixedly connected to the first longitudinal slide, the second longitudinal slide and the wire outlet bracket, and the transverse guide rail is installed on the transverse fixing plate; The transverse sliding frame is slidably connected to the transverse guide rail; The transverse sliding frame driving assembly includes a transverse rack, a transverse gear, a transverse gear shaft and a transverse gear driving unit, wherein the transverse rack is mounted on the transverse fixed plate, the transverse gear shaft rotates through the transverse sliding frame and is driven to rotate by the transverse gear driving unit, and the transverse gear is fixedly mounted on the transverse gear shaft and meshes with the transverse rack; The vertical sliding frame includes a vertical sliding platform and a vertical guide rail, the vertical guide rail is fixedly connected to the vertical sliding platform, and the vertical guide rail is slidably connected to the vertical fixed frame; The vertical sliding frame driving assembly includes a vertical rack, a vertical gear, a vertical gear shaft and a vertical gear driving unit. The vertical rack is installed on the vertical sliding platform. The vertical gear shaft rotates through the horizontal sliding frame and is driven to rotate by the vertical gear driving unit. The vertical gear is fixedly installed on the vertical gear shaft and meshes with the vertical rack. The knife shaft driving part is installed on the vertical slide.

8. The inner coil wire feeding type multi-tow placement head according to claim 6, characterized in that: The compaction mechanism includes a compaction wire feeding guide rail, a crawler type pressure roller and a pressure roller driving unit; The compacting wire feeding guide rail is installed between the first frame and the second frame, and a wire feeding channel is arranged in the compacting wire feeding guide rail. The number of the wire feeding channels is the same as the number of the unwinding reels, and the inlet of the wire feeding channel is flush with the wire outlet of the longitudinal sliding frame; The crawler-type pressure roller is installed between the first frame and the second frame, and is driven to extend and retract by the pressure roller driving unit, and the compacting surface of the crawler-type pressure roller is flush with the outlet of the wire feeding channel; The heating mechanism includes a laser heater; The laser heater is installed between the first frame and the second frame, and the laser emission port of the laser heater is aligned with the meshing point of the prepreg tape or the fiber bundle and the workpiece.

9. The inner coil wire feeding type multi-tow placement head according to claim 8, characterized in that: Two adjacent wire feeding channels are staggered in a direction perpendicular to the prepreg tape or the fiber tow, and two adjacent wire feeding channels are spaced apart in a width direction of the prepreg tape or the fiber tow; The compaction mechanism also includes a pressure roller connecting frame; The pressure roller connecting frame is fixedly connected to the telescopic end of the pressure roller driving part; The crawler type pressure roller comprises a support roller, a rubber inner ring, a sliding shoe and a crawler; Multiple support rollers are arranged side by side, and both ends of the support rollers are rotatably connected to the pressure roller connecting frame; The rubber inner ring is fixed on the outer side of the supporting roller; The crawler is formed by a plurality of crawler teeth connected by bolts, the crawler is located outside the rubber inner ring, and each crawler tooth is connected to the rubber inner ring through a sliding shoe; The sliding shoe comprises a sliding shoe block and a sliding shoe column connected to each other, the sliding shoe block is connected to the track teeth, and the sliding shoe column is connected to the rubber inner ring; The heating mechanism also includes a laser heater support; The laser heater is fixed on the first frame through a laser heater bracket.

10. A fiber placement robot, comprising a robot arm, characterized in that: An inner-circle wire-feeding multi-tow laying head as described in any one of claims 1 to 9 is arranged on the execution end of the robot arm.

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