Compression molding rapid flow robot device and method for producing thermoplastic continuous fiber composite materials

Abstract

The present application provides a rapid-flow molding robot device and method for the production of thermoplastic continuous fiber composite materials, which relates to the field of robot technology, including an upper fork arm, an upper support arm is provided at one end of the upper fork arm, a lower support arm is movably connected to the lower end of the upper support arm, and a rotating base is movably connected below the lower support arm. The present application drives the upper fork arm, the upper support arm, the lower support arm and the rotating base to move through a driving structure, and then drives the auxiliary cylinder to rotate by a servo motor, so that the rubber pipe is wrapped around the outer wall of the auxiliary cylinder, and the two side branches are pulled to rotate in the auxiliary slide, so that the two side branches are close to the softened fiber composite material, and at the same time, the tooth plate on one side of the side branch drives the rubber pipe to bite the fiber composite material, so that the softened fiber composite material can be quickly transferred from the infrared heating structure to the pressing structure by the robot, so as to realize the rapid flow of the softened fiber composite material.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a compression molding rapid flow manipulator device and method for producing thermoplastic continuous fiber composite materials. Background Art

[0002] The thermoplastic continuous fiber composite material compression molding process is to composite glass fiber, carbon fiber, ceramic fiber and other materials to form a prepreg tape or fabric, which is placed in a precision mold after being heated and softened. High pressure is used to make the material fit the mold cavity completely and eliminate bubbles. The fiber is fully impregnated and cured under controllable temperature and pressure, and finally quickly cooled and demolded to form high-strength, high-rigidity, recyclable lightweight structural parts, which are widely used in aerospace, automobile and high-end sports equipment fields. Carbon fiber plates are made by unwinding multiple layers of carbon fiber cloth, stacking them together, and then heating and compression molding. In the production process of carbon fiber composite materials, the material needs to be precisely softened at 220-240℃ by infrared heating. This temperature range not only avoids overheating and liquefaction of the matrix, but also prevents premature curing caused by low temperature. The entire preforming stage requires rapid flow to maintain the process temperature.

[0003] During the processing of fiber composite materials, the materials softened by infrared heating need to be strictly controlled within the process temperature window to complete the rapid transfer to the pressing and molding station. However, the traditional production model relies on manual operation, and the transfer efficiency is low. It is easy to cause the fiber composite material to be retained in the infrared heating process for too long or the transfer time is too long, resulting in overheating and liquefaction or premature solidification of the fiber composite material, which ultimately affects the quality of the pressed and molded products.

[0004] For example, the Chinese invention patent (Application No. 201510832324.6) discloses a "PLC-based robot for thermoplastic composite hot press molding." Its specification discloses that the robot is powered by pneumatic cylinders and AC servo motors. This not only offers the advantages of servo motors for high transmission precision, accurate positioning, and easy control, but also incorporates the advantages of pneumatics, enabling the robot to easily achieve desired movements. The robot's motion consists of two linear movements (perpendicular to the arm and along the arm) and one rotation (pitch) about the horizontal axis. Because the center of a heated thermoplastic composite sheet will sag to a certain degree under the influence of gravity, after heating the sheet for a period of time, the front and rear cylinders are retracted, causing the two robot arms to perform a slight back-to-back movement along the arm's direction. This tensions the sheet to reduce bending and prevent contact with the lower heating plate surface. After the sheet is placed in the die, the pitch cylinder is extended to facilitate mold closing, causing the robot arm to tilt downward. This ensures full contact between the composite sheet and the lower die surface, reducing internal stress in the final product. Pitching motion around the horizontal axis is achieved by a pitch cylinder through a connecting rod mechanism. The cylinder's linear motion is converted into pitching motion for the manipulator. Plate handling requires fast transmission speeds and smooth, reliable operation. Accurate positioning and minimal overshoot are required when feeding plates into the heating furnace and press dies. Vertically, a servo motor drives the manipulator via a synchronous belt, producing linear motion on the crossbar. The aforementioned patent demonstrates the shortcomings of the existing technology.

[0005] Therefore, we have made improvements to this and proposed a rapid flow robot device and method for compression molding of thermoplastic continuous fiber composite materials. Summary of the Invention

[0006] The purpose of the present invention is to address the current traditional production mode that relies on manual operation, has low transfer efficiency, and is prone to causing the fiber composite material to be retained in the infrared heating process for too long or the transfer time to be too long, resulting in overheating liquefaction or premature solidification, which ultimately affects the quality of the pressed products.

[0007] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following rapid flow robot device and method for compression molding for the production of thermoplastic continuous fiber composite materials to improve the above-mentioned problems.

[0008] The specific application is as follows:

[0009] The lifting of the lifting of the lifting mechanism is to be further increased by 4%.The lifting of the lifting mechanism is further increased in the amount of 400 tons, and the cost of 400 tons is increased in the amount of 400 tons, and the cost of 400 tons is increased.

[0010] As a preferred technical solution of the present application, the side branch is movably connected to a side shaft at one end away from the auxiliary slide, and one side of the side shaft passes through one end of the auxiliary slide and is fixedly connected to a fixed wheel.

[0011] As a preferred technical solution of the present application, the opposite surfaces of the two side branches on the same side are fixedly connected with tooth plates, and one side of the upper side branch is fixedly connected with an auxiliary arc plate.

[0012] As a preferred technical solution of the present application, the side branch at the bottom is movably connected to one end away from the auxiliary slide with a positioning cylinder, and an auxiliary wheel is movably installed on one side of the positioning cylinder.

[0013] As a preferred technical solution of the present application, the flexible protection component includes an inner pin barrel movably installed in the middle of the auxiliary slide, the inner pin barrel is fixedly connected to an auxiliary ring at one end away from the auxiliary slide, the outer wall of the auxiliary ring is fixedly connected to a side gear, the outer wall of the side gear is meshedly connected to a fixed gear, the fixed gear is fixedly connected to an auxiliary barrel on the side away from the auxiliary slide, a side window is provided on one side of the outer wall of the auxiliary barrel, the inner wall of the side window is provided with a rubber pipe for flexible clamping, and one side of the outer wall of the rubber pipe is movably connected to the fixed wheel, an arc-shaped baffle is fixedly connected to one side of the inner wall of the fixed gear, and a shift plate leaf is movably connected to the inner wall of the auxiliary barrel, a ratchet shaft is provided in the middle of the shift plate leaf, and the other end of the ratchet shaft passes through the fixed gear and is fixedly installed on the side of the auxiliary slide.

[0014] As a preferred technical solution of this application, the front end of the middle part of the auxiliary slide is fixedly connected to an extension frame, the side of the extension frame is movably connected to a limiting wheel, and the limiting wheel is movably connected to the rubber pipe, and the other end of the rubber pipe is fixedly mounted on the outer wall of the positioning cylinder.

[0015] As the preferred technical solution of this application, the inner wall of the inner pin barrel is movably connected with a side groove shaft, one end of the side groove shaft is fixedly connected with a servo motor, the slide frame is fixedly connected to the servo motor, and the rear end of the auxiliary slide is provided with an adjustment component.

[0016] As a preferred technical solution of this application, the adjustment component includes two limiting slide grooves symmetrically and evenly distributed on the surface of the fixed plate, and the inner wall of the limiting slide groove is movably connected to a sliding frame, and one end of the sliding frame is fixedly installed on one end of the auxiliary slide.

[0017] As the preferred technical solution of the present application, the positioning frame is fixedly connected to a driving motor on the side close to the fixed plate, the output shaft end of the driving motor is fixedly connected to a positioning gear, the outer wall of the positioning gear is symmetrically and evenly distributed in meshing connection with a tooth plate, the tooth plate is fixedly connected to a curved frame on the side away from the positioning gear, and the curved frame is fixedly connected to the sliding frame.

[0018] A method for using a compression molding rapid flow robot device for producing thermoplastic continuous fiber composite materials comprises the following steps:

[0019] S1. Movement: The upper fork arm, upper support arm, lower support arm and rotating base drive the fixed plate to adjust the direction of rotation, so that it moves away from the stamping die and contacts the infrared softened fiber composite material, and adjusts its clamping and transportation angle;

[0020] S2. Adjustment: Start the drive motor to drive the positioning gear to rotate, and then the gear plate meshing with it follows the movement. Under the control of its forward or reverse rotation, it drives the auxiliary slide to move in the slide frame, adjusting the distance between the two sets of side branches to adapt to the size of the fiber composite material after softening;

[0021] S3. Clamping: Start the servo motor to drive the side groove shaft to rotate. With the cooperation of the inner pin barrel, the side gear is driven to rotate accordingly. Then, the fixed gear meshing with the side gear is rotated accordingly, driving the auxiliary barrel installed on one side of the fixed gear to rotate, thereby winding the rubber pipe. With the cooperation of the fixed wheel and the limiting wheel, the side branch below the fiber composite material is first pulled upward. As the rubber pipe continues to shorten, the side branch above the fiber composite material moves downward, and both rotate at the connection point between the auxiliary slide and the side branch to clamp the softened fiber composite material. The tooth plate on the side branch bites and clamps the fiber composite material.

[0022] S4, Flexible Assistance: During the bite clamping, the gas in the rubber pipe is wrapped around the outer wall of the auxiliary cylinder. As the rubber pipe is wound, the gap between the auxiliary cylinder and the limiting wheel gradually shrinks and is squeezed, squeezing the gas into the remaining rubber pipe, causing it to expand and achieve flexible clamping of the softened limiting composite material.

[0023] S5. Release: After clamping is completed, the driving structure drives the upper fork arm, upper support arm, lower support arm and rotating base to move, driving them away from the conveying structure of the fiber composite material to transfer the clamped fiber composite material to the pressing mold, and then the servo motor is started to drive the side groove shaft to rotate and change its rotation direction. Under the meshing connection between the side gear and the fixed gear, the auxiliary cylinder is driven to rotate in the opposite direction, and the rubber pipe wrapped around the outer wall of the auxiliary cylinder is gradually released. At the same time, in the process of releasing the rubber pipe, the auxiliary cylinder drives the arc baffle. With the cooperation of the ratchet shaft, the paddle leaf is stationary, and the arc baffle passes over the paddle leaf, so that the air between each paddle leaf is pried and introduced into the rubber pipe, so that it is quickly released, thereby improving the transfer efficiency.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] In the scheme of this application:

[0026] In order to solve the problem that the traditional production mode in the existing technology relies on manual operation, has low transfer efficiency, and is prone to long retention time in the infrared heating process or long transfer time, resulting in overheating and liquefaction of the fiber composite material or premature solidification, which ultimately affects the quality of the pressed and molded products, the present application uses a driving structure to drive the upper fork arm, upper support arm, lower support arm and rotating base to move, and then the servo motor drives the auxiliary cylinder to rotate, so that the rubber pipe is wrapped around the outer wall of the auxiliary cylinder, and the two side branches are pulled to rotate in the auxiliary slide, so that the two side branches approach the softened fiber composite material. At the same time, the tooth plate on one side of the side branch drives the rubber pipe to bite the fiber composite material, so that the softened fiber composite material can be quickly transferred from the infrared heating structure to the pressing structure by a robot arm, and while realizing the rapid flow of the softened fiber composite material, the rubber structure is used instead of the rigid clamp to directly contact the fiber composite material to prevent damage to the softened material and affect the surface quality of the pressed and molded product.

[0027] While the rapid flow mode ensures temperature stability, due to the large acceleration and fast flow speed during the flow process, the fiber composite material is subjected to greater force. Therefore, the part of the fiber composite material in rigid contact with the manipulator is prone to damage or even indentation due to excessive force, which may further lead to structural hazards such as decreased interlayer bonding strength. In this application, the auxiliary cylinder is continuously rotated to wrap the rubber pipe. As the rubber pipe is wrapped, the gap between the auxiliary cylinder and the limiting wheel is gradually reduced and squeezed to squeeze the gas into the remaining rubber pipe, so that the rubber pipes at the upper and lower ends of the softened fiber composite material expand, thereby being able to expand the rubber pipe, thereby further flexibly clamping the fiber composite material to prevent it from indenting the softened fiber composite material during the clamping process.

[0028] The present application drives two meshing tooth plates through a rotating positioning gear, pushing the sliding frame to move in the limiting slide groove, thereby changing the distance between the two sets of side branches, so that the distance between the clamping structures can be adjusted during the transportation of the fiber composite material to adapt to fiber composite materials of different sizes.

[0029] During the clamping process, the rubber tube is wrapped around the outer wall of the auxiliary tube to pull the two side branches toward the fiber reset material. During the flexible clamping process, after the rubber tube is wrapped, the internal gas is squeezed, causing the rubber tubes at the upper and lower ends of the softened fiber composite material to expand to flexibly clamp the fiber composite material, thereby enabling it to flexibly switch between the traction structure and the flexible clamping structure, thereby reducing the impact of the clamping process on the fiber composite material. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of a compression molding rapid flow robot device for the production of thermoplastic continuous fiber composite materials provided in this application.

[0031] Figure 2 Schematic diagram of the local structure of the rapid flow robot device for compression molding of thermoplastic continuous fiber composite materials provided in this application Figure 1 .

[0032] Figure 3 Schematic diagram of the local structure of the rapid flow robot device for compression molding of thermoplastic continuous fiber composite materials provided in this application Figure 2 .

[0033] Figure 4 Schematic diagram of the local structure of the rapid flow robot device for compression molding of thermoplastic continuous fiber composite materials provided in this application Figure 3 .

[0034] Figure 5 Schematic diagram of the local structure of the clamping component and the flexible protective component in the rapid flow robot device for compression molding of thermoplastic continuous fiber composite materials provided in this application Figure 1 .

[0035] Figure 6 Schematic diagram of the local structure of the clamping component and the flexible protective component in the rapid flow robot device for compression molding of thermoplastic continuous fiber composite materials provided in this application Figure 2 .

[0036] Figure 7 Schematic diagram of the local structure of the clamping component and the flexible protective component in the rapid flow robot device for compression molding of thermoplastic continuous fiber composite materials provided in this application Figure 3 .

[0037] Figure 8 Schematic diagram of the local structure of the clamping component and the flexible protective component in the rapid flow robot device for compression molding of thermoplastic continuous fiber composite materials provided in this application Figure 4 .

[0038] Figure 9 A schematic flow chart of a method for producing thermoplastic continuous fiber composite materials using a compression molding rapid flow robot device provided in this application.

[0039] Indicated in the figure:

[0040] 1. Upper fork arm; 2. Upper support arm; 3. Lower support arm; 4. Rotating base; 5. Housing; 6. Auxiliary housing; 7. Clamping assembly; 701. Slide frame; 702. Auxiliary slide frame; 703. Side frame; 704. Side support; 705. Side shaft; 706. Tooth plate; 707. Positioning cylinder; 708. Auxiliary wheel; 709. Auxiliary arc plate; 8. Flexible protection assembly; 801. Servo motor; 802. Side slot shaft; 803. Inner pin cylinder; 804. Auxiliary ring; 80 5. Side gear; 806. Auxiliary cylinder; 807. Fixed gear; 808. Side window; 809. Ratchet shaft; 810. Paddle blade; 811. Extension frame; 812. Arc baffle; 813. Limiting wheel; 814. Rubber pipe; 815. Fixed wheel; 9. Adjustment assembly; 901. Limiting slide; 902. Sliding frame; 903. Curved frame; 904. Tooth plate; 905. Positioning gear; 906. Drive motor; 10. Positioning frame; 11. Fixed plate. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0042] As described in the background technology, the traditional production model relies on manual operation and has low transfer efficiency, which can easily cause the fiber composite material to be retained in the infrared heating process for too long or the transfer time to be too long, resulting in overheating and liquefaction or premature solidification, ultimately affecting the quality of the pressed product.

[0043] In order to solve this technical problem, the present invention provides a rapid-flow robot device and method for compression molding for the production of thermoplastic continuous fiber composite materials, which is applied in the field of robot technology.

[0044] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0045] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions therein may be combined with each other.

[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0047] Example 1, please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 , a rapid flow robot device for compression molding for the production of thermoplastic continuous fiber composite materials, which includes an upper fork arm 1, an upper support arm 2 is provided at one end of the upper fork arm 1, a lower support arm 3 is movably connected to the lower end of the upper support arm 2, a rotating base 4 is movably connected below the lower support arm 3, and a shell 5 is provided below the rotating base 4, an auxiliary shell 6 is provided at the middle of the other end of the upper fork arm 1, a positioning frame 10 is provided at the other end of the auxiliary shell 6, the positioning frame 10 is fixedly connected to a fixed plate 11 at one end away from the auxiliary shell 6, a clamping assembly 7 is provided on the side of the fixed plate 11 away from the positioning frame 10, the clamping assembly 7 includes a slide frame 701 fixedly installed on the side of the fixed plate 11 away from the positioning frame 10, the inner wall of the slide frame 701 is symmetrically and evenly distributed, and two auxiliary slides 702 are movably installed. The upper and lower ends of the slide 702 are movably connected to the side frame 703, and the side frame 703 is fixedly connected to the side branch 704 at one end away from the auxiliary slide 702. A flexible protective component 8 is provided in the middle of the auxiliary slide 702, and its rubber pipe 814 is wound around the outer wall of the auxiliary cylinder 806. With the cooperation of the fixed wheel 815 and the limiting wheel 813, the side branch 704 located below the fiber composite material is first pulled upward. As the rubber pipe 814 continues to shorten, the side branch 704 located above the fiber composite material moves downward, and both rotate at the connection point between the auxiliary slide 702 and the side branch 704 to clamp the softened fiber composite material, and the tooth plate 706 on the side branch 704 is used to bite and clamp the fiber composite material.

[0048] The upper fork arm 1, the upper support arm 2, the lower support arm 3 and the rotating base 4 are driven to move by the driving structure, and then the auxiliary cylinder 806 is driven to rotate by the servo motor 801, so that the rubber tube 814 is wrapped around the outer wall of the auxiliary cylinder 806, pulling the two side branches 704 to rotate in the auxiliary slide 702, so that the two side branches 704 are close to the softened fiber composite material. At the same time, the tooth plate 706 on the side of the side branch 704 drives the rubber tube 814 to bite the fiber composite material, so that the softened fiber composite material can be quickly transferred from the infrared heating structure to the pressing structure by the robot arm, and while realizing the rapid flow of the softened fiber composite material, the rubber structure is used instead of the rigid clamp to directly contact the fiber composite material to prevent damage to the softened material and affect the surface quality of the pressed product.

[0049] Further, such as Figure 2 、 Figure 3 and Figure 4 As shown, the side branch 704 is movably connected to a side shaft 705 at one end away from the auxiliary slide 702, and one side of the side shaft 705 passes through the auxiliary slide 702 and is fixedly connected to a fixed wheel 815 at one end. The rubber pipe 814 is guided by the fixed wheel 815 so that it can be in contact with the tooth plate 706 to prevent it from being offset during the clamping process.

[0050] Further, such as Figure 3 、 Figure 4 and Figure 5 As shown, the opposite surfaces of the two side branches 704 on the same side are fixedly connected with tooth plates 706, and the side of the upper side branch 704 is fixedly connected with an auxiliary arc plate 709. The rubber pipe 814 can be bitten by the tooth plate 706 to limit the fiber composite material, and the auxiliary arc plate 709 is used to limit and support the rubber pipe 814 above the side branch 704, so as to improve the stability of the clamping of the softened fiber composite material.

[0051] Further, such as Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the lower side branch 704 is movably connected to one end of the auxiliary slide 702 with a positioning cylinder 707, and an auxiliary wheel 708 is movably installed on one side of the positioning cylinder 707. The auxiliary wheel 708 contacts the conveying structure of the fiber composite material and rotates with it to prevent direct contact and affect the transmission process.

[0052] Example 2 further optimizes the rapid flow robot device for molding thermoplastic continuous fiber composite material production provided in Example 1. Specifically, Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 As shown, the flexible protection component 8 includes an inner pin barrel 803 movably mounted in the middle of the auxiliary slide 702, and the inner pin barrel 803 is fixedly connected to an auxiliary ring 804 at one end away from the auxiliary slide 702, and the outer wall of the auxiliary ring 804 is fixedly connected to a side gear 805, and the outer wall of the side gear 805 is meshedly connected to a fixed gear 807, and the fixed gear 807 is fixedly connected to an auxiliary barrel 806 at the side away from the auxiliary slide 702, and a side window 808 is provided on one side of the outer wall of the auxiliary barrel 806, and a rubber pipe 814 for flexible clamping is provided on the inner wall of the side window 808, and one side of the outer wall of the rubber pipe 814 is movably connected to the fixed wheel 815, and an arc-shaped baffle 812 is fixedly connected to one side of the inner wall of the fixed gear 807, and a paddle leaf 810 is movably connected to the inner wall of the auxiliary barrel 806, and a ratchet shaft 809 is provided in the middle of the paddle leaf 810, and the other end of the ratchet shaft 809 passes through the fixed gear 807 and is fixedly mounted on the side of the auxiliary slide 702. 10 During the winding process of the auxiliary cylinder 806, it rotates and the side window 808 is wound and closed, so that the gas cannot be introduced into the rubber tube 814. During the process of releasing the rubber tube 814, the auxiliary cylinder 806 drives the arc-shaped baffle 812. With the cooperation of the ratchet shaft 809, the paddle leaf 810 is stationary, and the arc-shaped baffle 812 passes over the paddle leaf 810, so that the air between each paddle leaf 810 is pried and introduced into the rubber tube 814 through the side window 808 to replenish the gas for the rubber tube 814. While the rubber tube 814 is engaged and clamped, the gas in the rubber tube 814 is wound around the outer wall of the auxiliary cylinder 806. As the rubber tube 814 is wound, the gap between the auxiliary cylinder 806 and the limiting wheel 813 gradually shrinks and is squeezed, so as to squeeze the gas into the remaining rubber tube 814, causing it to expand and achieve flexible clamping of the softened limiting composite material.

[0053] The auxiliary cylinder 806 is continuously rotated to wrap the rubber tube 814. As the rubber tube 814 is wrapped, the gap between the auxiliary cylinder 806 and the limiting wheel 813 gradually shrinks and is squeezed to squeeze the gas into the remaining rubber tube 814, so that the rubber tubes 814 at the upper and lower ends of the softened fiber composite material expand, thereby being able to expand the rubber tube 814, thereby further flexibly clamping the fiber composite material to prevent it from causing indentations on the softened fiber composite material during the clamping process.

[0054] Further, such as Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, the front end of the middle part of the auxiliary slide 702 is fixedly connected to an extension frame 811, and the side of the extension frame 811 is movably connected to a limiting wheel 813, and the limiting wheel 813 is movably connected to the rubber pipe 814. The other end of the rubber pipe 814 is fixedly installed on the outer wall of the positioning cylinder 707, and the direction of the rubber pipe 814 is changed by the limiting wheel 813.

[0055] Further, such as Figure 2 and Figure 3 As shown, the inner wall of the inner pin barrel 803 is movably connected to the side groove shaft 802, one end of the side groove shaft 802 is fixedly connected to the servo motor 801, the slide frame 701 is fixedly connected to the servo motor 801, and the rear end of the auxiliary slide 702 is provided with an adjustment component 9, which provides power for the rotation of the side groove shaft 802 through the servo motor 801, and then drives the inner pin barrel 803 sleeved on the outer wall of the side groove shaft 802 to rotate.

[0056] Example 3, further optimizes the rapid flow robot device for molding thermoplastic continuous fiber composite material production provided in Example 1 or 2, specifically, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the adjustment component 9 includes two limiting slide grooves 901 that are symmetrically and evenly distributed on the surface of the fixed plate 11. The inner wall of the limiting slide groove 901 is movably connected to a sliding frame 902. One end of the sliding frame 902 is fixedly installed on one end of the auxiliary slide 702. Its driving motor 906 drives the positioning gear 905 to rotate, and then the gear plate 904 engaged with it follows the movement. Under the control of its forward or reverse rotation, it drives the auxiliary slide 702 to move in the slide frame 701 to adjust the distance between the two groups of side branches 704.

[0057] The rotating positioning gear 905 drives the two meshing tooth plates 904 to push the sliding frame 902 to move in the limiting slide groove 901, thereby changing the distance between the two sets of side branches 704, so that the distance between the clamping structures can be adjusted during the transportation of the fiber composite material to adapt to fiber composite materials of different sizes.

[0058] Further, such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, the positioning frame 10 is fixedly connected to a driving motor 906 on the side close to the fixed plate 11, and the output shaft end of the driving motor 906 is fixedly connected to a positioning gear 905. The outer wall of the positioning gear 905 is evenly distributed and meshed with a tooth plate 904 in a centrally symmetrical manner. The tooth plate 904 is fixedly connected to a curved frame 903 on the side away from the positioning gear 905. The curved frame 903 is fixedly connected to the sliding frame 902. The driving motor 906 provides power for the rotation of the positioning gear 905, and drives the two tooth plates 904 to move relative to each other, providing power for adjusting the distance between the clamping structures.

[0059] Example 4, please refer to Figure 9 A method for using a compression molding rapid flow robot device for producing thermoplastic continuous fiber composite materials, comprising the following steps:

[0060] S1. Movement: The upper fork arm 1, upper support arm 2, lower support arm 3 and rotating base 4 drive the fixed plate 11 to be steered and adjusted so that it moves away from the stamping die and contacts the infrared softened fiber composite material, and adjusts its clamping and transportation angle.

[0061] S2. Adjustment: Start the drive motor 906 to drive the positioning gear 905 to rotate, and then the tooth plate 904 engaged with it follows the movement. Under the control of its forward or reverse rotation, it drives the auxiliary slide 702 to move in the slide frame 701, adjusting the distance between the two sets of side branches 704 to adapt to the size of the fiber composite material after softening.

[0062] S3. Clamping: Start the servo motor 801 to drive the side groove shaft 802 to rotate, and with the cooperation of the inner pin barrel 803, drive the side gear 805 to rotate, and then make the fixed gear 807 meshing with the side gear 805 rotate, driving the auxiliary barrel 806 installed on one side of the fixed gear 807 to rotate, so as to wrap the rubber pipe 814. With the cooperation of the fixed wheel 815 and the limiting wheel 813, first pull the side branch 704 located below the fiber composite material upward. As the rubber pipe 814 continues to shorten, the side branch 704 located above the fiber composite material moves downward, and both rotate at the connection point between the auxiliary slide 702 and the side branch 704 to clamp the softened fiber composite material, and the tooth plate 706 on the side branch 704 bites and clamps the fiber composite material.

[0063] S4. Flexible assistance: During the bite clamping, the gas in the rubber tube 814 is wrapped around the outer wall of the auxiliary tube 806. As the rubber tube 814 is wrapped, the gap between the auxiliary tube 806 and the limiting wheel 813 gradually shrinks and is squeezed, thereby squeezing the gas into the remaining rubber tube 814, causing it to expand and achieve flexible clamping of the softened limiting composite material.

[0064] S5. Release: After the clamping is completed, the driving structure drives the upper fork arm 1, the upper support arm 2, the lower support arm 3 and the rotating base 4 to move, driving them away from the conveying structure of the fiber composite material to transfer the clamped fiber composite material to the pressing mold. Then the servo motor 801 is started to drive the side groove shaft 802 to rotate and change its rotation direction. Under the meshing connection between the side gear 805 and the fixed gear 807, the auxiliary cylinder 806 is driven to rotate in the opposite direction, and the rubber pipe 814 wrapped around the outer wall of the auxiliary cylinder 806 is gradually released. At the same time, when the auxiliary cylinder 806 releases the rubber pipe 814, the auxiliary cylinder 806 drives the arc baffle 812. With the cooperation of the ratchet shaft 809, the paddle leaf 810 is stationary, and the arc baffle 812 passes over the paddle leaf 810, so that the air between each paddle leaf 810 is pried and introduced into the rubber pipe 814, so that it is quickly released, thereby improving the transfer efficiency.

[0065] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0066] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present invention specification and drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A rapid-flow molding robot device for producing thermoplastic continuous fiber composite materials, comprising an upper fork arm (1), an upper support arm (2) provided at one end of the upper fork arm (1), a lower support arm (3) movably connected to the lower end of the upper support arm (2), a rotating base (4) movably connected below the lower support arm (3), a housing (5) provided below the rotating base (4), an auxiliary shell (6) provided at the middle of the other end of the upper fork arm (1), a positioning frame (10) provided at the other end of the auxiliary shell (6), and a fixed plate (11) fixedly connected to the end of the positioning frame (10) away from the auxiliary shell (6), characterized in that: A clamping assembly (7) is provided on the side of the fixed plate (11) away from the positioning frame (10), and the clamping assembly (7) includes a slide frame (701) fixedly mounted on the side of the fixed plate (11) away from the positioning frame (10), and two auxiliary slides (702) are symmetrically and evenly distributed on the inner wall of the slide frame (701), and the upper and lower ends of the auxiliary slides (702) are movably connected to side frames (703), and the side frames (703) are fixedly connected to the side branches (704) at one end away from the auxiliary slide (702), and a flexible protective assembly (8) is provided in the middle of the auxiliary slide (702); One end of the side branch (704) away from the auxiliary slide (702) is movably connected to a side shaft (705); one side of the side shaft (705) passes through the auxiliary slide (702) and one end is fixedly connected to a fixed wheel (815); The flexible protection component (8) includes an inner pin barrel (803) movably mounted in the middle of the auxiliary slide (702), the inner pin barrel (803) is fixedly connected to an auxiliary ring (804) at one end away from the auxiliary slide (702), the outer wall of the auxiliary ring (804) is fixedly connected to a side gear (805), the outer wall of the side gear (805) is meshedly connected to a fixed gear (807), the fixed gear (807) is fixedly connected to an auxiliary barrel (806) at one side away from the auxiliary slide (702), and the outer wall of the auxiliary barrel (806) is provided with a side The side window (808) is provided with a rubber pipe (814) for flexible clamping on the inner wall of the side window (808), and one side of the outer wall of the rubber pipe (814) is movably connected to the fixed wheel (815), and one side of the inner wall of the fixed gear (807) is fixedly connected to an arc-shaped baffle (812), and the inner wall of the auxiliary cylinder (806) is movably connected to a shifting plate (810), and a ratchet shaft (809) is provided in the middle of the shifting plate (810), and the other end of the ratchet shaft (809) passes through the fixed gear (807) and is fixedly mounted on the side of the auxiliary slide (702).

2. The rapid flow robot device for compression molding for the production of thermoplastic continuous fiber composite materials according to claim 1, characterized in that: The opposing surfaces of the two side branches (704) on the same side are both fixedly connected with tooth plates (706), and one side of the upper side branch (704) is fixedly connected with an auxiliary arc plate (709).

3. The rapid flow robot device for compression molding for the production of thermoplastic continuous fiber composite materials according to claim 2, characterized in that: One end of the side branch (704) at the bottom, away from the auxiliary slide (702), is movably connected to a positioning cylinder (707), and an auxiliary wheel (708) is movably mounted on one side of the positioning cylinder (707).

4. The rapid flow robot device for compression molding for the production of thermoplastic continuous fiber composite materials according to claim 3, characterized in that: The front end of the middle portion of the auxiliary slide (702) is fixedly connected to an extension frame (811), the side of the extension frame (811) is movably connected to a limiting wheel (813), and the limiting wheel (813) is movably connected to a rubber pipe (814), and the other end of the rubber pipe (814) is fixedly mounted on the outer wall of the positioning cylinder (707).

5. The rapid flow robot device for compression molding for the production of thermoplastic continuous fiber composite materials according to claim 4, characterized in that: The inner wall of the inner pin barrel (803) is movably connected to a side groove shaft (802), one end of the side groove shaft (802) is fixedly connected to a servo motor (801), the slide frame (701) is fixedly connected to the servo motor (801), and the rear end of the auxiliary slide frame (702) is provided with an adjustment component (9).

6. The rapid flow robot device for compression molding for the production of thermoplastic continuous fiber composite materials according to claim 5, characterized in that: The adjustment assembly (9) comprises two limiting slide grooves (901) symmetrically and evenly distributed on the surface of the fixed plate (11), the inner wall of the limiting slide groove (901) is movably connected to a sliding frame (902), and one end of the sliding frame (902) is fixedly mounted on one end of the auxiliary slide frame (702).

7. The rapid flow robot device for compression molding for the production of thermoplastic continuous fiber composite materials according to claim 6, characterized in that: A driving motor (906) is fixedly connected to a side of the positioning frame (10) close to the fixed plate (11); a positioning gear (905) is fixedly connected to an output shaft end of the driving motor (906); a tooth plate (904) is meshed and connected to an outer wall of the positioning gear (905) in a centrally symmetrical and evenly distributed manner; a curved frame (903) is fixedly connected to a side of the tooth plate (904) away from the positioning gear (905); and the curved frame (903) is fixedly connected to the sliding frame (902).

8. A method for using a compression molding rapid flow robot device for producing thermoplastic continuous fiber composite materials, using the compression molding rapid flow robot device for producing thermoplastic continuous fiber composite materials according to claim 7, characterized in that: The following steps are involved: S1. Movement: The upper fork arm (1), the upper support arm (2), the lower support arm (3) and the rotating base (4) are used to drive the fixed plate (11) to perform steering adjustment so that it moves away from the stamping die and contacts the infrared softened fiber composite material, and adjusts its clamping and transportation angle; S2. Adjustment: Start the driving motor (906) to drive the positioning gear (905) to rotate, and then the tooth plate (904) engaged therewith follows the movement. Under the control of the forward or reverse rotation, the auxiliary slide (702) is driven to move in the slide frame (701), and the distance between the two sets of side branches (704) is adjusted to adapt to the size of the fiber composite material after softening; S3, clamping: start the servo motor (801) to drive the side groove shaft (802) to rotate, and with the cooperation of the inner pin barrel (803), drive the side gear (805) to rotate, and then make the fixed gear (807) meshed with the side gear (805) rotate, drive the auxiliary barrel (806) installed on one side of the fixed gear (807) to rotate, and then wind the rubber pipe (814). With the cooperation of the fixed wheel (815) and the limiting wheel (813), first pull the side branch (704) located below the fiber composite material to move upward. As the rubber pipe (814) continues to shorten, the side branch (704) located above the fiber composite material moves downward, and both rotate at the connection point between the auxiliary slide (702) and the side branch (704) to clamp the softened fiber composite material. The tooth plate (706) on the side branch (704) bites and clamps the fiber composite material. S4, flexible assistance: while engaging and clamping, the gas in the rubber tube (814) is wound around the outer wall of the auxiliary tube (806). As the rubber tube (814) is wound, the gap between the auxiliary tube (806) and the limiting wheel (813) gradually shrinks and is squeezed, thereby squeezing the gas into the remaining rubber tube (814), causing it to expand and achieve flexible clamping of the softened limiting composite material. S5. Release: After the clamping is completed, the driving structure drives the upper fork arm (1), the upper support arm (2), the lower support arm (3) and the rotating base (4) to move, driving them away from the conveying structure of the fiber composite material to transfer the clamped fiber composite material to the pressing mold, and then the servo motor (801) is started to drive the side groove shaft (802) to rotate and change its rotation direction. Under the meshing connection between the side gear (805) and the fixed gear (807), the auxiliary cylinder (806) is driven to rotate in the opposite direction. , the rubber tube (814) wrapped around the outer wall of the auxiliary tube (806) is gradually released. At the same time, when the auxiliary tube (806) releases the rubber tube (814), the auxiliary tube (806) drives the arc-shaped baffle (812). With the cooperation of the ratchet shaft (809), the paddle leaf (810) is stationary, and the arc-shaped baffle (812) passes over the paddle leaf (810), so that the air between each paddle leaf (810) is paddled and introduced into the rubber tube (814), so that it is quickly released, thereby improving the transfer efficiency.

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