Material piece paving device and method for prismatic frustum body component

Abstract

The invention discloses a material piece paving device and method for a prismatic frustum body component, and belongs to the technical field of material piece paving. The material piece paving device comprises a paving mechanism and a cutting mechanism; the paving mechanism comprises a base, a rotating plate is rotationally matched below the base, and a plurality of paving heads are uniformly arranged below the rotating plate in the circumferential direction; the paving head comprises a sucking part for sucking a material sheet and a pressing part for pressing the material sheet on the surface of the component to realize paving; the cutting mechanism comprises a base used for containing components, and scissors and a driving mechanism used for driving the scissors to move so as to achieve material piece cutting are arranged on the base. According to the material piece paving device, material piece paving operation of the top face and the side faces can be completed at a time for a prismoid component or a prismoid component with an even number of side faces, and the paving efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of sheet laying, and particularly relates to a sheet laying device and method for prismatic and frustum-shaped members. Background Art

[0002] In industries such as wind power, rail transit, automobile manufacturing, and aerospace, the laying technology, as one of the key production processes, has been widely used in the manufacturing process of various composite materials. In the above industries, prismatic members or frustum-shaped members are widely used due to their advantages of providing stable support and facilitating connection with other components. Especially prismatic members or frustum-shaped members with an even number of side faces. For example, in the aviation field, prismatic members or frustum-shaped members can be used in constructing the fuselage frame and the internal structure of the wing spar and ribs.

[0003] In order to improve the structural performance of prismatic members or frustum-shaped members, it is usually necessary to lay composite material sheets on their side faces and one of the top faces, while the other top face is not laid as a connection face.

[0004] Currently, for the sheet laying on prismatic members or frustum-shaped members, usually sheets with shapes consistent with each face are first cut out, and then each face is laid separately by mechanical means or manually, resulting in low laying efficiency.

[0005] Based on the above problems, the present application proposes a sheet laying device and method for prismatic and frustum-shaped members, which can complete the sheet laying operation on one top face and the side faces of prismatic members or frustum-shaped members with an even number of side faces at one time, improving the laying efficiency. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a sheet laying device for prismatic and frustum-shaped members.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A sheet laying device for prismatic and frustum-shaped members includes a laying mechanism and a cutting mechanism for cutting the sheet during the laying process;

[0009] The laying mechanism includes a base, a rotating plate is rotatably fitted below the base, and a plurality of laying heads are evenly arranged along the circumferential direction below the rotating plate;

[0010] The laying head includes a sucking part for sucking and holding the sheet and a pressing part for pressing the sheet onto the surface of the member to achieve laying;

[0011] The cutting mechanism includes a base for placing components, and a pair of scissors and a driving mechanism for driving the scissors to move to cut the sheet are provided on the base.

[0012] Preferably, a first rotating motor for driving the rotating plate to rotate is provided on the base.

[0013] Preferably, the sucking part includes a suction cup capable of sucking the sheet. The top end of the suction cup is fixedly connected to the telescopic rod of the first cylinder, and the top end of the first cylinder is hinged to the rotating plate.

[0014] Preferably, the pressing part includes a pressing plate for pressing the sheet against the corresponding side of the component. The top end of the pressing plate is fixedly connected to the telescopic rod of the second cylinder, and the top end of the second cylinder is hinged to the rotating plate;

[0015] In each paving head, the second cylinder is located radially inside the first cylinder.

[0016] Preferably, a plurality of slide rails corresponding to the paving heads one by one are arranged along the circumferential direction below the rotating plate, and the slide rails extend along the radial direction of the rotating plate;

[0017] A slider is slidably fitted in the slide rail along the radial direction of the rotating plate. The first cylinder and the second cylinder in each paving head are both hinged to the slider; each slider is equipped with a first adjusting mechanism for driving it to move;

[0018] A first spring is arranged between the slider and the cylinder wall of the first cylinder, and the pulling force of the first spring can urge the first cylinder to move away from the second cylinder;

[0019] A second spring is arranged between the slider and the second cylinder, and the pulling force of the second spring can urge the second cylinder to move away from the first cylinder.

[0020] Preferably, the first adjusting mechanism includes a first nut fixedly arranged on the slider. The first nut is threadedly connected with a first screw rod. Both ends of the first screw rod are rotatably fitted with the slide rail, and a first adjusting motor adapted to be connected with the first screw rod is arranged on the slide rail.

[0021] Preferably, the driving mechanism includes a driving trolley, and an annular track adapted to the driving trolley is provided on the base;

[0022] A guide rod extending in the vertical direction is arranged at the upper end of the driving trolley. A bracket is slidably fitted on the guide rod, and a lifting member for the bracket to move up and down along the guide rod is arranged on the driving trolley;

[0023] A scissor base is slidably fitted along the radial direction of the circular ring track at the upper end of the bracket. A second rotating motor for driving the scissors to rotate about the vertical axis is provided at the top end of the scissor base, and the scissors are fixedly arranged on the output shaft of the second rotating motor.

[0024] The scissor base is fitted with a second adjusting mechanism for driving its movement.

[0025] Preferably, the lifting member is a lifting cylinder or a lifting hydraulic cylinder.

[0026] Preferably, the second adjusting mechanism includes a second nut fixedly arranged on the scissor base. The second nut is in threaded connection with a second screw rod. Both ends of the second screw rod are rotatably fitted with the bracket, and a second adjusting motor adapted to be connected with the second screw rod is arranged on the bracket.

[0027] The present invention also provides a method for laying material sheets for prismatic and frustum-shaped members.

[0028] A method for laying material sheets for prismatic and frustum-shaped members, which is implemented based on a material sheet laying device for prismatic and frustum-shaped members, includes the following steps:

[0029] Step 1: Select a material sheet laying device with the number of laying heads being the same as the number of side surfaces of the member. Connect the base to the robotic arm, and place the member to be laid with material sheets on the base, where the end surface used as the connection surface in the member is located at the bottom.

[0030] Step 2: The robotic arm drives the laying mechanism to move to the material sheet storage area, attach each suction cup to the material sheet, and start the suction cup to suck the material sheet.

[0031] Step 3: The robotic arm drives the laying mechanism sucking the material sheet to move above the base, and controls the rotating plate to rotate so that each side surface of the member corresponds to a laying head.

[0032] Step 4: The piston rods of the first cylinders in each laying head extend, so that the material sheet sucked by the suction cup contacts the top end surface of the member downward, and then the material sheet continues to be tensioned and pressed downward to realize the laying on the top end surface of the member.

[0033] Step 5: The driving mechanism drives the scissors to move to cut the material sheet, forming material sheet segments adapted to each side surface of the member.

[0034] Step 6: Divide two facing laying heads into a group to form multiple working laying units, and the multiple working laying units carry out material sheet laying simultaneously or sequentially.

[0035] The paving process of each group of working paving parts is as follows: control the piston rods of the two second cylinders to extend, so that the pressing plate moves down along the corresponding side of the component and presses the sheet material in slices. During this process, the corresponding two first cylinders are adapted to rotate towards the direction close to the second cylinder;

[0036] Step 7, the second cylinder controls the pressing plate to reset, cancels the suction of the suction cup, and the first cylinder controls the suction cup to reset, completing the paving of the sheet material on the top surface and side surface of the component.

[0037] The beneficial effects of the present invention are as follows:

[0038] (1) The present invention is applicable to prismatic or frustum-shaped components with an even number of sides, and can complete the paving operation of the sheet material on one top surface and side surface at one time, improving the paving efficiency.

[0039] (2) During the process of pressing down the sheet material to pave the top surface of the component by the device of the present invention, the pulling force of the first spring and the suction force of the suction cup act together to realize the tension during the pressing down of the sheet material, thereby avoiding wrinkles and bubbles during the paving of the sheet material on the top surface of the component and improving the paving quality; during the process of the pressing plate moving down, the second spring provides a force pressing towards the side surface of the component, and further realizes pressing the sheet material in slices on the side surface. During this process, the pulling force of the first spring and the suction force of the suction cup act together to realize the tension of the sheet material during the process of the pressing plate pressing the sheet material in slices, thereby avoiding wrinkles and bubbles during the paving of the sheet material on the side surface of the component and improving the paving quality. Description of the Drawings

[0040] The schematic drawings of the specification forming a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application.

[0041] Figure 1 is a schematic three-dimensional structure diagram of the sheet material paving device of the present invention for prismatic and frustum-shaped components;

[0042] Figure 2 is a schematic front view of the sheet material paving device of the present invention for prismatic and frustum-shaped components;

[0043] Figure 3 is a schematic structure diagram of the paving head in the present invention;

[0044] Figure 4 is a schematic working diagram of a group of working paving parts in the present invention;

[0045] Among them:

[0046] 01-component, 02-sheet material;

[0047] 1 - Rotating plate, 11 - Slide rail, 12 - Slide block, 121 - First screw rod, 122 - First adjusting motor, 2 - Laying head, 21 - Suction cup, 211 - Polyester sponge, 22 - First cylinder, 23 - Pressing plate, 24 - Second cylinder, 25 - First spring, 26 - Second spring, 3 - Base, 31 - Circular track, 4 - Scissors, 5 - Driving cart, 51 - Guide rod, 52 - Bracket, 53 - Scissors base, 531 - Second screw rod, 532 - Second adjusting motor, 54 - Second rotating motor, 55 - Lifting member. Detailed implementation manners

[0048] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanations for the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0049] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary implementation manners according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or their combinations.

[0050] In the present invention, terms such as "upper", "lower", "bottom", "top", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only relational terms determined for facilitating the description of the structural relationship of each component or element of the present invention and do not specifically refer to any component or element of the present invention. They should not be construed as a limitation to the present invention.

[0051] In the present invention, terms such as "connected" and "joined" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For those relevant scientific research or technical personnel in the field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances and should not be construed as a limitation to the present invention.

[0052] The present invention will be further described below with reference to the drawings and embodiments.

[0053] Embodiment 1:

[0054] As Figures 1-3 shown, a sheet laying device for prismatic and frustum - shaped members includes a laying mechanism and a cutting mechanism for cutting the sheet during the laying process;

[0055] The paving mechanism includes a base, a rotating plate 1 is rotatably fitted under the base, and a plurality of paving heads 2 are evenly arranged along the circumferential direction under the rotating plate 1, wherein at least two paving heads 2 are provided and the number is even;

[0056] The paving head 2 includes a sucking part for sucking and holding the sheet material and a pressing part for pressing the sheet material against the surface of the component to achieve paving;

[0057] The cutting mechanism includes a base 3 for placing the component, a pair of scissors 4 is arranged on the base 3, and a driving mechanism for driving the scissors 4 to move to cut the sheet material.

[0058] Preferably, a first rotating motor for driving the rotation of the rotating plate 1 is arranged on the base.

[0059] Preferably, the sucking part includes a suction cup 21 capable of sucking and holding the sheet material. The top end of the suction cup 21 is fixedly connected to the telescopic rod of a first cylinder 22, and the top end of the first cylinder 22 is hinged to the rotating plate 1. A polyester sponge 211 is arranged at the lower end of the suction cup 21.

[0060] Preferably, the pressing part includes a pressing plate 23 for pressing the sheet material against the corresponding side of the component. The top end of the pressing plate 23 is fixedly connected to the telescopic rod of a second cylinder 24, and the top end of the second cylinder 24 is hinged to the rotating plate 1;

[0061] In each paving head 2, the second cylinder 24 is located radially inside the first cylinder 22.

[0062] Preferably, a plurality of slide rails 11 corresponding to the paving heads 2 one by one are arranged along the circumferential direction under the rotating plate 1, and the slide rails 11 extend along the radial direction of the rotating plate 1;

[0063] A slider 12 is slidably fitted in the slide rail 11 along the radial direction of the rotating plate 1. The first cylinder 22 and the second cylinder 24 in each paving head 2 are both hinged to the slider 12; each slider 12 is equipped with a first adjusting mechanism for driving its movement;

[0064] A first spring 25 is arranged between the slider 12 and the cylinder wall of the first cylinder 22, and the pulling force of the first spring 25 can urge the first cylinder 22 to move away from the second cylinder 24;

[0065] A second spring 26 is arranged between the slider 12 and the second cylinder 24, and the pulling force of the second spring 26 can urge the second cylinder 24 to move away from the first cylinder 22.

[0066] Preferably, the first adjustment mechanism includes a first nut fixedly arranged on the slider 12. The first nut is in threaded connection with a first screw rod 121. Both ends of the first screw rod 121 are in rotational fit with the slide rail 11. A first adjustment motor 122 adapted to be connected with the first screw rod 121 is arranged on the slide rail 11.

[0067] When the first adjustment motor 122 is started to drive the first screw rod 121 to rotate, under the sliding limit fit between the slider 12 and the slide rail 11 and the threaded fit between the first nut and the first screw rod 121, the first nut drives the slider 12 and the first cylinder 22 and the second cylinder 24 thereon to move along the slide rail 11.

[0068] Preferably, the driving mechanism includes a driving trolley 5. An annular track 31 adapted to the driving trolley 5 is arranged on the base 3;

[0069] A guide rod 51 extending in the vertical direction is arranged at the upper end of the driving trolley 5. A bracket 52 is slidably fitted on the guide rod 51. A lifting member 55 for the bracket 52 to lift along the guide rod 51 is arranged on the driving trolley 5;

[0070] The upper end of the bracket 52 is slidably fitted with a scissors base 53 in the radial direction of the annular track 31. A second rotating motor 54 for driving the scissors 4 to rotate about a vertical axis is arranged at the top of the scissors base 53. The scissors 4 are fixedly arranged on the output shaft of the second rotating motor 54;

[0071] The scissors base 53 is adapted with a second adjustment mechanism for driving its movement.

[0072] Preferably, the lifting member 55 is a lifting cylinder or a lifting hydraulic cylinder.

[0073] Preferably, the second adjustment mechanism includes a second nut fixedly arranged on the scissors base 53. The second nut is in threaded connection with a second screw rod 531. Both ends of the second screw rod 531 are in rotational fit with the bracket 52. A second adjustment motor 532 adapted to be connected with the second screw rod 531 is arranged on the bracket 52.

[0074] When the second adjustment motor 532 is started to drive the second screw rod 531 to rotate, under the sliding limit fit between the scissors base 53 and the bracket 52 and the threaded fit between the second nut and the second screw rod 531, the second nut drives the scissors base 53 and the second rotating motor 54 and the scissors 4 thereon to move in the radial direction of the annular guide rail 31.

[0075] Embodiment 2:

[0076] A method for pasting material sheets on prismatic and frustum-shaped members, which is implemented based on the material sheet pasting device for prismatic and frustum-shaped members in Embodiment 1, includes the following steps:

[0077] Step 1: Select a material sheet pasting device with the same number of pasting heads 2 as the number of sides of the member 01. Connect the base to the robotic arm, and place the member 01 to be pasted with the material sheet on the base 3, where the end face used as the connection surface in the member is at the bottom.

[0078] Step 2: The robotic arm drives the pasting mechanism to move to the material sheet storage area, attach each suction cup 21 to the material sheet 02, and start the suction cup 21 to suck the material sheet 02. Before the suction cup 21 sucks the material sheet, adjust the positions of each pasting head 2 through the first adjustment mechanism to adapt to the size of the sucked material sheet.

[0079] Step 3: The robotic arm drives the pasting mechanism with the sucked material sheet to move above the base 3, and control the rotation plate 1 to rotate so that each side of the member 01 corresponds to a pasting head 2.

[0080] Step 4: The piston rod of the first cylinder 22 in each pasting head 2 extends, so that the material sheet 02 sucked by the suction cup 21 contacts the top end face of the member 01 downward, and then the material sheet 02 continues to be tensioned and pressed down to paste the top end face of the member 01. During this process, the combined action of the tension of the first spring 25 and the suction force of the suction cup 21 realizes the tension during the pressing down of the material sheet 02.

[0081] Step 5: The driving mechanism drives the scissors 4 to move to cut the material sheet, forming material sheet segments adapted to each side of the member 01, where each material sheet segment is connected to the part already pasted on the top end face of the member without being separated.

[0082] Specifically, through the combined operation of controlling the scissors 4 to lift and move along the support 52, the cutting of one place of the material sheet is realized, and then control the driving cart 5 to move along the circular track 31 to make the scissors 4 perform a circular motion to successively realize the cutting of the remaining positions of the material sheet.

[0083] Step 6: Divide two opposite pasting heads into a group to form multiple working pasting units, and the multiple working pasting units paste the material sheets simultaneously or sequentially.

[0084] Such as Figure 4As shown in the figure, the paving process of each group of working paving parts is as follows: control the piston rods of the two second cylinders 24 to extend, so that the pressing plate 23 presses the sliced material pieces while moving downward along the corresponding side surface of the component 01. The force pressing on the side surface of the component is provided by the second spring 26. During this process, the corresponding two first cylinders 22 are adapted to rotate in the direction close to the second cylinder 24. The combined action of the pulling force of the first spring 25 and the suction force of the suction cup 21 realizes the tensioning of the material piece during the process of the pressing plate 23 pressing the sliced material pieces;

[0085] Step 7, the second cylinder 24 controls the pressing plate 23 to reset, cancels the suction force of the suction cup 21, and the first cylinder 22 controls the suction cup 21 to reset, completing the paving of the material pieces on the top surface and side surface of the component.

[0086] The present invention is directed to a prismatic component or a frustum component having an even number of side surfaces, and can complete the paving operation of the material pieces on the top surface and side surface at one time, improving the paving efficiency.

[0087] Although the specific implementation manners of the present invention are described above in conjunction with the drawings, it is not a limitation to the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present invention.

Claims

1. A sheet laying device for a prism-shaped member, characterized in that: It includes a laying mechanism and a cutting mechanism for cutting the material sheets during the laying process; The paving mechanism comprises a base, a rotating plate is rotatably provided below the base, and a plurality of paving heads are evenly arranged along the circumferential direction below the rotating plate; The paving head includes a suction part for sucking the sheet and a pressing part for pressing the sheet onto the surface of the component to achieve paving; The cutting mechanism comprises a base for placing components, on which a pair of scissors and a driving mechanism for driving the scissors to move so as to cut the sheet are arranged.

2. The sheet laying device for prism-shaped prism members according to claim 1, characterized in that: The sucking part comprises a suction cup capable of sucking the sheet, the top end of the suction cup is fixedly connected to the telescopic rod of the first cylinder, and the top end of the first cylinder is hinged to the rotating plate.

3. The sheet laying device for prism-shaped prism-shaped components according to claim 2, characterized in that: The pressing part includes a pressing plate for pressing the sheet against the corresponding side surface of the component, the top end of the pressing plate is fixedly connected to the telescopic rod of the second cylinder, and the top end of the second cylinder is hinged to the rotating plate; In each paving head, the second cylinder is located radially inward of the first cylinder.

4. The sheet laying device for prism-shaped prism-shaped components according to claim 3, characterized in that: A plurality of slide rails corresponding to the paving heads are arranged along the circumferential direction below the rotating plate, and the slide rails extend along the radial direction of the rotating plate; A slider is slidably matched in the slide rail along the radial direction of the rotating plate, and the first cylinder and the second cylinder in each paving head are hingedly connected to the slider; each slider is adapted to be equipped with a first adjustment mechanism for driving it to move; A first spring is arranged between the slider and the cylinder wall of the first cylinder, and the pulling force of the first spring can push the first cylinder away from the second cylinder; A second spring is arranged between the sliding block and the second cylinder, and the pulling force of the second spring can push the second cylinder away from the first cylinder.

5. The sheet laying device for prism-shaped prism-shaped components according to claim 4, characterized in that: The first adjustment mechanism includes a first nut fixedly arranged on the slider, the first nut is threadedly connected to the first screw rod, both ends of the first screw rod are rotationally matched with the slide rail, and the slide rail is provided with a first adjustment motor adaptively connected to the first screw rod.

6. The sheet laying device for prism-shaped prism members according to claim 3, characterized in that: The driving mechanism includes a driving trolley, and the base is provided with a circular track adapted to the driving trolley; The upper end of the driving trolley is provided with a guide rod extending in the vertical direction, the guide rod is slidably matched with a bracket, and the driving trolley is provided with a lifting member for the bracket to be lifted and lowered along the guide rod; The upper end of the bracket is slidably matched with a scissor seat along the radial direction of the circular track, and the top of the scissor seat is provided with a second rotary motor for driving the scissors to rotate around a vertical axis, and the scissors are fixedly arranged on the output shaft of the second rotary motor; The scissor seat is adapted to be equipped with a second adjustment mechanism that drives the scissor seat to move.

7. The sheet laying device for prism-shaped prism members according to claim 6, characterized in that: The lifting member is a lifting cylinder or a lifting hydraulic cylinder.

8. The sheet laying device for prism-shaped prism members according to claim 6, characterized in that: The second adjustment mechanism includes a second nut fixedly arranged on the scissors seat, the second nut is threadedly connected to the second screw, both ends of the second screw are rotationally matched with the bracket, and the bracket is provided with a second adjustment motor adaptively connected to the second screw.

9. The sheet laying device for prism-shaped prism members according to claim 3, characterized in that: The base is provided with a first rotating motor for driving the rotating plate to rotate.

10. A method for laying out a sheet of material for a prism-shaped pyramid-shaped component, implemented based on the device for laying out a sheet of material for a prism-shaped pyramid-shaped component as claimed in any one of claims 3 to 9, characterized in that: The following steps are involved: Step 1, select a sheet laying device with the same number of laying heads as the number of component sides, connect the base with the robot arm, and place the component to be laid with the sheet on the base, wherein the end surface of the component used as the connection surface is located at the bottom; Step 2: The robot arm drives the laying mechanism to move to the sheet storage area, attaches each suction cup to the sheet, and starts the suction cup to absorb the sheet; Step 3: The robot arm drives the paving mechanism with the sheet sucked in to move to the top of the base, and controls the rotating plate to rotate so that each side of the component corresponds to a paving head; Step 4: The piston rod of the first cylinder in each paving head extends, so that the sheet sucked by the suction cup contacts the top surface of the component downward, and then the sheet continues to be tensioned and pressed downward to achieve paving on the top surface of the component; Step 5: The driving mechanism drives the scissors to move and cut the sheet to form sheet segments that match the sides of the component; Step 6, dividing the two facing paving heads into one group to form multiple groups of working paving pieces, and the multiple groups of working paving pieces perform sheet paving at the same time or sequentially; The laying process of each group of working laying parts is as follows: the piston rods of the two second cylinders are controlled to extend, so that the pressing plate moves down along the corresponding side of the component to press the material pieces, and in this process, the corresponding two first cylinders are adapted to rotate in the direction close to the second cylinders; Step 7, the second cylinder controls the pressure plate to reset, cancels the suction of the suction cup, and the first cylinder controls the suction cup to reset, completing the paving of the material sheets on the top and side surfaces of the component.

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