A method, apparatus and medium for curing non-standard carbon fiber arms of a drone

Abstract

Embodiments of the present application provide a curing method, device and medium for a non-standard carbon fiber arm of a UAV, the method comprising: cutting a carbon fiber cloth to be processed to obtain a first target carbon fiber cloth, a second target carbon fiber cloth and a third target carbon fiber cloth; covering the first target carbon fiber cloth on a first shape mold, covering the second target carbon fiber cloth on a second shape mold, and covering the third target carbon fiber cloth on a third shape mold; sequentially disassembling the first shape mold, the third shape mold and the second shape mold to obtain a pre-shaped carbon fiber cloth; and moving the pre-shaped carbon fiber cloth to a curing module for fixation to obtain a non-standard carbon fiber arm. The pre-shaped carbon fiber cloth is obtained after shaping by the pre-shaping module, thereby reducing the risk of skewing and wrinkling of the carbon fiber cloth during curing, and thereby improving the production quality of the non-standard carbon fiber arm.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of drone manufacturing technology, and particularly to a method, equipment, and medium for curing non-standard carbon fiber arms for drones. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are widely used due to their characteristics such as maneuverability, fast response speed, no need for human piloting, low operating requirements, and ability to carry various small devices or objects.

[0003] Currently, the production process of carbon fiber arms for drones involves placing carbon fiber cloth inside a mold, inflating it with an airbag, and then heating and curing it. However, since the carbon fiber cloth is placed directly into the mold in one piece, it is difficult to achieve a perfect match with the mold. Furthermore, during the airbag inflation process, the carbon fiber cloth is prone to skewing and wrinkling, affecting the shaping quality and resulting in poor production quality of the carbon fiber arms. Summary of the Invention

[0004] The following is an overview of the topics described in detail in this article.

[0005] The main objective of this invention is to provide a curing method, equipment, and medium for non-standard carbon fiber arms of drones, which can improve the production quality of non-standard carbon fiber arms of drones.

[0006] In a first aspect, embodiments of the present invention provide a curing method for a non-standard carbon fiber arm, applied to a curing device. The curing device includes a pre-forming module and a curing module. The pre-forming module includes a first-shaped mold, a second-shaped mold, and a third-shaped mold. The second end of the first-shaped mold is detachably connected to the first end of the second-shaped mold, and the second end of the second-shaped mold is detachably connected to the side of the third-shaped mold. The curing method for the non-standard carbon fiber arm of the UAV includes:

[0007] After cutting the carbon fiber cloth to be treated, a first target carbon fiber cloth, a second target carbon fiber cloth and a third target carbon fiber cloth are obtained. The carbon fiber cloth to be treated is coated with resin glue.

[0008] After covering the first target carbon fiber cloth onto the first shape mold, the second target carbon fiber cloth onto the second shape mold, and the third target carbon fiber cloth onto the third shape mold, a first shape carbon fiber cloth, a second shape carbon fiber cloth, and a third shape carbon fiber cloth are obtained connected in sequence.

[0009] After disassembling the first shape mold, the third shape mold and the second shape mold in sequence, a pre-shaped carbon fiber cloth is obtained. The pre-shaped carbon fiber cloth is obtained by connecting the first shape carbon fiber cloth, the second shape carbon fiber cloth and the third shape carbon fiber cloth in sequence.

[0010] After the pre-shaped carbon fiber cloth is transferred to the curing module for fixation, a non-standard carbon fiber machine arm is obtained.

[0011] In some optional embodiments, the curing apparatus further includes a cutting device; the step of cutting the carbon fiber cloth to be treated to obtain the first target carbon fiber cloth, the second target carbon fiber cloth, and the third target carbon fiber cloth includes:

[0012] Obtain pre-designed mold information, wherein the pre-designed mold information represents the shape information, size information, and connection relationship information of the first shape mold, the second shape mold, and the third shape mold;

[0013] The first length information and the first width information of the carbon fiber cloth to be processed are determined based on the shape information and the size information;

[0014] The carbon fiber cloth to be processed is cut from the raw material according to the first length information and the first width information;

[0015] The first cutting area, the second cutting area, and the third cutting area on the carbon fiber cloth to be processed are determined sequentially based on the shape information, the size information, and the connection relationship information.

[0016] After cutting the first cutting area, the second cutting area, and the third cutting area, the first target carbon fiber cloth, the second target carbon fiber cloth, and the third target carbon fiber cloth are obtained.

[0017] In some optional embodiments, the step of sequentially determining the first cutting area, the second cutting area, and the third cutting area on the carbon fiber cloth to be processed based on the shape information, the size information, and the connection relationship information includes:

[0018] The cutting order of the first target carbon fiber cloth, the second target carbon fiber cloth, and the third target carbon fiber cloth on the carbon fiber cloth to be processed is determined based on the connection relationship information.

[0019] The first cutting shape of the first target carbon fiber cloth, the second cutting shape of the second target carbon fiber cloth, and the third cutting shape of the third target carbon fiber cloth are determined based on the shape information and the size information.

[0020] According to the cutting sequence, the first cutting area corresponding to the first cutting shape, the second cutting area corresponding to the second cutting shape, and the third cutting area corresponding to the third cutting shape are sequentially determined on the carbon fiber cloth to be processed.

[0021] In some optional embodiments, the step of covering the first target carbon fiber cloth onto the first shape mold, the second target carbon fiber cloth onto the second shape mold, and the third target carbon fiber cloth onto the third shape mold to obtain the first shape carbon fiber cloth, the second shape carbon fiber cloth, and the third shape carbon fiber cloth connected in sequence includes:

[0022] Obtain the first pose information of the first shape mold;

[0023] The first marking point of the first shape mold is determined based on the first pose information and the first target texture, wherein the first target texture represents the fiber weaving direction after the first target carbon fiber cloth is covered on the first shape mold.

[0024] Align the first side of the first target carbon fiber cloth with the first mark point, and rotate the first shape mold along the first direction starting from the first mark point, so that the second side of the first target carbon fiber cloth is aligned with the first mark point to obtain the first shape carbon fiber cloth;

[0025] Obtain the second pose information of the second shape mold;

[0026] The second mark point of the second shape mold is determined based on the second pose information and the second target texture, wherein the second target texture represents the fiber weaving direction after the second target carbon fiber cloth is covered on the second shape mold;

[0027] Align the first side of the second target carbon fiber cloth with the second mark point, and rotate the second shape mold along the second direction starting from the second mark point, so that the second side of the second target carbon fiber cloth is aligned with the second mark point to obtain the second shape carbon fiber cloth, and the first end of the second shape carbon fiber cloth is connected to the second end of the first shape carbon fiber cloth.

[0028] Obtain the third pose information of the third shape mold;

[0029] The third target carbon fiber cloth is covered on the third shape mold according to the third pose information and the third target texture to obtain the third shape carbon fiber cloth. The third shape carbon fiber cloth is connected to the second end of the second shape carbon fiber cloth. The first direction is the same as or opposite to the second direction.

[0030] In some optional embodiments, the third target carbon fiber cloth includes circular carbon fiber cloth and rectangular carbon fiber cloth; the step of covering the third target carbon fiber cloth onto the third shape mold according to the third pose information and the third target texture to obtain the third shape carbon fiber cloth includes:

[0031] The center position of the first surface of the third shape mold is determined based on the third pose information;

[0032] After flattening the circular carbon fiber cloth, move it to the relative position of the first surface of the third shape mold, align the target center of the circular carbon fiber cloth with the center position, rotate the circular carbon fiber cloth according to the third target texture of the circular carbon fiber cloth, and cover the first surface of the third shape mold with the circular carbon fiber cloth.

[0033] The third marker point is determined based on the third pose information and the fourth target texture. The fourth target texture represents the fiber weaving direction of the rectangular carbon fiber cloth covering the second surface of the third shape mold. The second surface of the third shape mold is perpendicular to the first surface of the third shape mold.

[0034] Align the first side of the rectangular carbon fiber cloth with the third mark point, and rotate the third shape mold along the third direction starting from the third mark point so that the second side of the rectangular carbon fiber cloth is aligned with the third mark point to obtain the third shape carbon fiber cloth. The third direction is perpendicular to the first direction and the second direction respectively, and the third side of the rectangular carbon fiber cloth is connected to the round edge of the circular carbon fiber cloth.

[0035] In some optional embodiments, before sequentially disassembling the first shape mold, the third shape mold, and the second shape mold to obtain the predetermined carbon fiber cloth, the method further includes:

[0036] The first disassembly time range of the first-shaped carbon fiber cloth is determined based on the first shape size information, carbon fiber information and resin adhesive information. The carbon fiber information indicates the elastic modulus, density and tensile strength of the carbon fiber. The first disassembly time range characterizes the time range within which the first-shaped carbon fiber cloth can be disassembled without deformation.

[0037] The second disassembly time range of the second-shaped carbon fiber cloth is determined based on the second shape size information of the second-shaped carbon fiber cloth, the carbon fiber information and the resin adhesive information. The second disassembly time range characterizes the time range during which the second-shaped carbon fiber cloth can be disassembled without deformation.

[0038] The third disassembly time range of the third-shaped carbon fiber cloth is determined based on the third shape size information, the carbon fiber information, and the resin adhesive information. The third disassembly time range characterizes the time range within which the third-shaped carbon fiber cloth can be disassembled without deformation.

[0039] The intersection of the first disassembly time range, the second disassembly time range, and the third disassembly time range is determined as the target time range.

[0040] In some optional embodiments, a synchronous support device is connected to a first end of the first-shaped mold. The first synchronous plate of the synchronous support device matches the first-shaped carbon fiber cloth. The first synchronous plate moves synchronously with the first-shaped mold, and the first synchronous plate starts moving from the second end of the first-shaped mold. The step of sequentially disassembling the first-shaped mold, the third-shaped mold, and the second-shaped mold to obtain the pre-shaped carbon fiber cloth includes:

[0041] Within the target time range:

[0042] Loosen the connection structure between the second end of the first shape mold and the first end of the second shape mold, move the first shape mold along the first axis of the first shape mold so that the second end of the first shape mold is away from the second end of the first shape carbon fiber cloth, the first synchronization plate moves synchronously with the second end of the first shape mold, and the first synchronization plate supports the first shape carbon fiber cloth that is detached from the first shape mold.

[0043] Loosen the connection structure between the second end of the second shape mold and the first end of the third shape mold, and move the third shape mold along the third axis of the third shape mold so that the third shape mold is detached from the third shape carbon fiber cloth;

[0044] The second-shaped mold is moved along the second axis of the second-shaped mold so that the second-shaped mold is released after passing the third-shaped carbon fiber cloth to obtain the predetermined carbon fiber cloth. The first axis is opposite to the second axis, and the third axis is perpendicular to the first axis and the second axis respectively. The cross-sectional area of ​​the first end of the second-shaped mold is smaller than the cross-sectional area of ​​the second end of the second-shaped mold.

[0045] In some optional embodiments, the curing module includes a support mold, an inflatable inner bladder, and a heating unit; the step of transferring the pre-shaped carbon fiber cloth to the curing module for fixation to obtain a non-standard carbon fiber machine arm includes:

[0046] The pre-shaped carbon fiber cloth is transferred to the support mold;

[0047] After the inflatable inner bladder is placed inside the pre-shaped carbon fiber cloth, it is inflated so that the inflatable inner bladder fits against the inner surface of the pre-shaped carbon fiber cloth, and the inflatable inner bladder has a preset air pressure.

[0048] After the support mold containing the pre-shaped carbon fiber cloth is placed inside the heating unit, the pre-shaped carbon fiber cloth is heated by a preset heating curve so that the pre-shaped carbon fiber cloth is cured to obtain the non-standard carbon fiber machine arm.

[0049] Secondly, embodiments of the present invention provide a curing device for a non-standard carbon fiber arm of a drone, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the curing method for the non-standard carbon fiber arm described in the first aspect.

[0050] Thirdly, a computer storage medium stores computer-executable instructions for performing the curing method for the non-standard carbon fiber arm described in the first aspect.

[0051] The beneficial effects of this invention include: during the curing of a non-standard carbon fiber machine arm, the carbon fiber cloth to be treated is cut to obtain a first target carbon fiber cloth, a second target carbon fiber cloth, and a third target carbon fiber cloth, the carbon fiber cloth to be treated being coated with resin adhesive; the first target carbon fiber cloth is covered on the first shape mold, the second target carbon fiber cloth is covered on the second shape mold, and the third target carbon fiber cloth is covered on the third shape mold, resulting in a first-shaped carbon fiber cloth, a second-shaped carbon fiber cloth, and a third-shaped carbon fiber cloth connected in sequence; the first shape mold, the third shape mold, and the second shape mold are disassembled in sequence to obtain a pre-shaped carbon fiber cloth, the pre-shaped carbon fiber cloth being obtained by connecting the first-shaped carbon fiber cloth, the second-shaped carbon fiber cloth, and the third-shaped carbon fiber cloth in sequence; the pre-shaped carbon fiber cloth is transferred to the curing module for fixation to obtain a non-standard carbon fiber machine arm. In the technical solution of this embodiment, the carbon fiber cloth to be processed is cut into corresponding parts, and the first target carbon fiber cloth, the second target carbon fiber cloth and the third target carbon fiber cloth are shaped by the pre-shaped module to obtain the pre-shaped carbon fiber cloth. In this way, the risk of the carbon fiber cloth becoming skewed and wrinkled is reduced during the airbag inflation process of the curing module, thereby improving the production quality of non-standard carbon fiber machine arms.

[0052] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of a system platform architecture for performing a curing method for a non-standard carbon fiber arm of a drone, provided by an embodiment of the present invention;

[0054] Figure 2 This is a flowchart of a curing method for a non-standard carbon fiber arm of a drone provided in one embodiment of the present invention;

[0055] Figure 3 This is a schematic diagram of the structure of a pre-formed mold provided in one embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the structure of a rectangular carbon fiber cloth provided in one embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the structure of a synchronous support device provided in one embodiment of the present invention.

[0058] Figure label:

[0059] System platform architecture 1000, processor 1100, memory 1200;

[0060] First shape mold 100, connecting rod 110, connecting rope 120, second synchronization plate 130, support base 140, synchronization gear 150, first synchronization plate 160, second shape mold 200, third shape mold 300, rectangular carbon fiber cloth 310, first arc opening 311, second arc opening 312. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0062] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0063] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0064] like Figure 1 As shown, Figure 1 This is a schematic diagram of a system platform architecture for performing a curing method for non-standard carbon fiber machine arms, provided by an embodiment of the present invention.

[0065] exist Figure 1 In the example, the system platform architecture 1000 includes a processor 1100 and a memory 1200, which can be connected via a bus or other means. Figure 1 Taking the example of a connection between China and Israel via a bus.

[0066] Memory 1200, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory 1200 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 1200 may optionally include memory remotely located relative to processor 1100, and these remote memories can be connected to the solid-state device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0067] Those skilled in the art will understand that the system platform architecture 1000 can be applied to 5G communication network systems and subsequent evolved mobile communication network systems, etc., and this embodiment does not specifically limit it.

[0068] It will be understood by those skilled in the art that Figure 1 The system platform architecture 1000 shown does not constitute a limitation on the embodiments of the present invention. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0069] Reference Figure 2 , Figure 2 This is a flowchart of a curing method for a non-standard carbon fiber machine arm according to an embodiment of the present invention. Figure 3-4 The curing device shown includes a pre-forming module and a curing module. The pre-forming module includes a first shape mold 100, a second shape mold 200, and a third shape mold 300. The second end of the first shape mold 100 is detachably connected to the first end of the second shape mold 200, and the second end of the second shape mold 200 is detachably connected to the side of the third shape mold 300. The curing method for the non-standard carbon fiber machine arm in this embodiment of the invention may include, but is not limited to, steps S100, S200, S300, and S400.

[0070] Step S100: The carbon fiber cloth to be treated is cut to obtain a first target carbon fiber cloth, a second target carbon fiber cloth and a third target carbon fiber cloth, wherein the carbon fiber cloth to be treated is coated with resin glue.

[0071] Step S200: After covering the first target carbon fiber cloth on the first shape mold 100, the second target carbon fiber cloth on the second shape mold 200, and the third target carbon fiber cloth on the third shape mold 300, the first shape carbon fiber cloth, the second shape carbon fiber cloth and the third shape carbon fiber cloth are connected in sequence.

[0072] Step S300: The first shape mold 100, the third shape mold 300 and the second shape mold 200 are disassembled in sequence to obtain a pre-shaped carbon fiber cloth. The pre-shaped carbon fiber cloth is obtained by connecting the first shape carbon fiber cloth, the second shape carbon fiber cloth and the third shape carbon fiber cloth in sequence.

[0073] Step S400: The pre-shaped carbon fiber cloth is transferred to the curing module for fixing to obtain a non-standard carbon fiber machine arm.

[0074] Specifically, this application includes a corresponding cutting device to cut the carbon fiber cloth to be processed into a first target carbon fiber cloth, a second target carbon fiber cloth, and a third target carbon fiber cloth. The cutting device includes a vision detection unit, a placement stage, a cutting unit, and a control unit. The control unit controls the cutting unit to cut the carbon fiber cloth to be processed on the placement stage. The vision detection unit can be set on the cutting unit to detect the position and shape of the carbon fiber cloth to be processed in real time. The specific structure of the cutting device is not limited here.

[0075] The specific curing process is as follows: First, prepare carbon fiber cloth coated with resin adhesive. Then, a cutting device cuts out three target carbon fiber cloths as needed: a first target carbon fiber cloth, a second target carbon fiber cloth, and a third target carbon fiber cloth. Next, lay the first target carbon fiber cloth on the first shape mold 100, the second target carbon fiber cloth on the second shape mold 200, and the third target carbon fiber cloth on the third shape mold 300, connecting these three pieces of carbon fiber cloth sequentially to form the first, second, and third shape carbon fiber cloths. Afterward, remove the first shape mold 100, the third shape mold 300, and the second shape mold 200 in sequence to obtain a pre-shaped carbon fiber cloth formed by sequentially connecting the first, second, and third shape carbon fiber cloths. Finally, transfer the pre-shaped carbon fiber cloth to the curing module for fixation, ultimately producing a non-standard carbon fiber arm for the UAV. By using regional shaping and overall curing, the complex shape of the non-standard arm can be formed. Furthermore, by preparing the pre-shaped carbon fiber cloth in advance, the risk of wrinkles and skewing during curing is reduced, improving the curing quality of the non-standard carbon fiber arm.

[0076] In some optional embodiments, the curing apparatus further includes a cutting device; the step of cutting the carbon fiber cloth to be treated to obtain the first target carbon fiber cloth, the second target carbon fiber cloth, and the third target carbon fiber cloth includes:

[0077] S110. Obtain predetermined mold information, wherein the predetermined mold information represents the shape information, size information and connection relationship information of the first shape mold 100, the second shape mold 200 and the third shape mold 300;

[0078] Specifically, the equipment control system (such as a PLC or industrial computer, the specific type is not limited) collects the shape information, dimensional information, and connection relationship information of the first shape mold 100, the second shape mold 200, and the third shape mold 300. The shape information includes the three-dimensional contour parameters of each mold (such as surface curvature, corner radius, and cavity depth), for example, the arcuate surface parameters of the first shape mold 100 (the front end of the machine arm) and the stepped structural dimensions of the third shape mold 300. The dimensional information includes the key dimensions of each mold (length, width, height, and dimensions of characteristic parts), such as the maximum length and cross-sectional diameter of the second shape mold 200, and the process allowance at the mold edges. The connection relationship information includes the assembly parameters between the molds, including the mating angle between the first shape mold 100 and the second shape mold 200 (e.g., 135 degrees) and the overlap length between the second shape mold 200 and the third shape mold 300 (e.g., 20 mm), ensuring that the cut carbon fiber cloth can be accurately spliced ​​according to this relationship.

[0079] Shape information, size information, and connection relationship information can be entered by scanning the QR code on the mold itself, or directly imported from the CAD model into the equipment system; there are no specific limitations.

[0080] S120. Determine the first length information and the first width information of the carbon fiber cloth to be processed based on the shape information and the size information;

[0081] Specifically, based on the shape and size information of the pre-designed molds, the overall specifications of the carbon fiber fabric to be processed are derived in reverse through a system algorithm. The length calculation is based on the maximum axial dimension of the unfolded outline of the pre-designed mold, plus the overlap at the connection points of the first shape mold 100, the second shape mold 200, and the third shape mold 300 (e.g., if the overlap between the first and second molds is 15mm, the total length needs to be increased by 15mm). The width calculation takes the maximum width value after the cross-section of each mold (first shape mold 100, second shape mold 200, and third shape mold 300) is unfolded, plus the process allowance on both sides, ensuring that the fabric can completely cover the molds without stretching.

[0082] S130. The carbon fiber cloth to be processed is cut from the raw material according to the first length information and the first width information;

[0083] Specifically, the raw material is cut using the cutting device of the curing equipment (such as a CNC laser cutter or a vibrating knife cutter). The rolled carbon fiber cloth (coated with resin adhesive) is laid flat on the cutting platform of the cutting device and secured with positioning clamps at the platform edge to ensure a smooth, wrinkle-free surface. Based on the initial length and width information, the cutting dimensions are input into the cutting system, the cutting method is selected, and the cutting speed is set. The cutting device then cuts a complete piece of the carbon fiber cloth to be processed from the raw material according to the set parameters.

[0084] S140. Based on the shape information, the size information, and the connection relationship information, the first cutting area, the second cutting area, and the third cutting area on the carbon fiber cloth to be processed are determined sequentially.

[0085] Specifically, based on the shape, size, and connection relationship of the mold, areas are divided on the carbon fiber cloth to be treated by system marking or physical marking.

[0086] The first cutting area corresponds to the first shape mold 100. Its outline is defined on one end of the fabric according to its shape information, including the projected dimensions of the mold's unfolded surface and the overlap edge with the second area (the width of which equals the overlap amount between the molds). The second cutting area corresponds to the second shape mold 200, located in the middle of the fabric. It needs to be aligned with the overlap edge of the first area, while also reserving an overlap edge for the third area. The shape of this area needs to match the variable cross-sectional characteristics of the mold body (such as a tapered transition from wide to narrow). The third cutting area corresponds to the third shape mold 300, located at the other end of the fabric. Its outline is defined according to the unfolded shape of the third shape mold 300. The area division requires system simulation of the mold splicing state to verify the matching between the fabric fiber direction and the mold's force direction (e.g., the arm axis aligns with the carbon fiber texture), and the area boundaries are marked on the fabric surface.

[0087] S150, After cutting the first cutting area, the second cutting area and the third cutting area, the first target carbon fiber cloth, the second target carbon fiber cloth and the third target carbon fiber cloth are obtained.

[0088] Specifically, the cutting device sequentially cuts the first cutting area, the second cutting area, and the third cutting area to obtain the first target carbon fiber cloth, the second target carbon fiber cloth, and the third target carbon fiber cloth.

[0089] During the cutting process, the cutting speed and blade angle are fine-tuned according to the shape complexity of different areas (such as the stepped corners of the third area). The laser head or blade tip is tilted by 3-5° to reduce edge damage. Cutting is performed sequentially in the order of the first, second, and third cutting areas. After each area is cut, the actual contour is compared with the design value using a visual inspection device. Only after passing the inspection can the next area be cut. After cutting, the edges of the first, second, and third target carbon fiber fabrics are inspected, and any rough edges are smoothed to ensure a smooth overlap.

[0090] In some optional embodiments, the step of sequentially determining the first cutting area, the second cutting area, and the third cutting area on the carbon fiber cloth to be processed based on the shape information, the size information, and the connection relationship information includes:

[0091] S141. Determine the cutting order of the first target carbon fiber cloth, the second target carbon fiber cloth and the third target carbon fiber cloth on the carbon fiber cloth to be processed according to the connection relationship information.

[0092] Specifically, the connection information indicates the assembly logic (such as mating position, overlapping method, and relative angle) of the first shape mold 100, the second shape mold 200, and the third shape mold 300. The corresponding cutting sequence is calculated based on this assembly logic. The specific calculation method is as follows:

[0093] If the mold connection is in series (the first mold is directly connected to the second mold, and the second mold is then connected to the third mold), the cutting order should be determined first target carbon fiber cloth → second target carbon fiber cloth → third target carbon fiber cloth, to ensure that the overlap edge of the previous area provides a positioning reference for the next area.

[0094] If the third mold and the second mold are laterally overlapped (not axially connected), the cutting area of ​​the second target carbon fiber cloth must be determined first (as an intermediate reference), and then the areas of the first and third target carbon fiber cloths must be determined in sequence to avoid conflict at the overlapping edge positions.

[0095] The cutting order needs to be marked in the coordinate system of the carbon fiber cloth to be processed (e.g., taking the lower left corner of the cloth as the origin and arranging the areas in sequence along the X-axis direction) to ensure that the relative position of each area is consistent with the connection relationship of the mold.

[0096] S142. Determine the first cutting shape of the first target carbon fiber cloth, the second cutting shape of the second target carbon fiber cloth, and the third cutting shape of the third target carbon fiber cloth based on the shape information and the size information.

[0097] Specifically, based on the three-dimensional shape and dimensions of the mold, it is transformed into a cutting outline after the carbon fiber fabric is unfolded. The first cutting shape is determined by the unfolded surface dimensions of the first-shape mold 100 (including compensation after flattening the curved surface; the compensation can be the overlap dimension). For example, if the first-shape mold 100 is a cylindrical mold, compensation in the length direction needs to be added after unfolding. The second cutting shape is determined based on the main outline of the second-shape mold 200, and must be compatible with the overlap requirements of both the first and third target carbon fiber fabrics. The third cutting shape is designed based on the stepped or irregular structure of the third-shape mold 300, incorporating multiple right angles or oblique angles to ensure complete fit with the lateral overlap edges of the second target fabric.

[0098] S143. According to the cutting order, the first cutting area corresponding to the first cutting shape, the second cutting area corresponding to the second cutting shape, and the third cutting area corresponding to the third cutting shape are sequentially determined on the carbon fiber cloth to be processed.

[0099] Specifically, according to the determined cutting sequence, the first cutting area, the second cutting area, and the third cutting area are positioned sequentially. Positioning the first cutting area includes: using the edge of the carbon fiber fabric to be treated as a reference, projecting the first cutting shape onto the fabric surface, and controlling the positioning laser marking outline of the cutting device. Positioning the second cutting area includes: using the overlap edge of the first cutting area as a reference, translating according to the mold mating gap to determine the starting position of the second cutting shape, ensuring that the overlap edges of the two areas (the first and second cutting areas) completely coincide, and simultaneously verifying the parallelism between the main body of the second cutting shape and the length direction of the carbon fiber fabric to be treated. Positioning the third cutting area includes: based on the lateral connection relationship with the second cutting area, marking the position of the third cutting shape on a designated side of the second cutting shape according to the overlap length, ensuring that its outline is perpendicular to the side of the second area or at a preset angle.

[0100] S200: After covering the first target carbon fiber cloth onto the first shape mold 100, the second target carbon fiber cloth onto the second shape mold 200, and the third target carbon fiber cloth onto the third shape mold 300, a first shape carbon fiber cloth, a second shape carbon fiber cloth, and a third shape carbon fiber cloth are obtained in sequence.

[0101] Specifically, a first target carbon fiber cloth is laid on a first-shaped mold 100, adhering to the mold to form a first-shaped carbon fiber cloth; a second target carbon fiber cloth is laid on a second-shaped mold 200, adhering to the mold to form a second-shaped carbon fiber cloth, with the first end of the second-shaped carbon fiber cloth connected to the second end of the first-shaped carbon fiber cloth; a third target carbon fiber cloth is laid on a third-shaped mold 300, adhering to the mold to form a third-shaped carbon fiber cloth, with the second end of the third-shaped carbon fiber cloth connected to the second-shaped carbon fiber cloth. Through laying and connecting, a first-shaped carbon fiber cloth, a second-shaped carbon fiber cloth, and a third-shaped carbon fiber cloth are finally obtained connected in sequence.

[0102] In some optional embodiments, the step of covering the first target carbon fiber cloth onto the first shape mold 100, the second target carbon fiber cloth onto the second shape mold 200, and the third target carbon fiber cloth onto the third shape mold 300 to obtain the first shape carbon fiber cloth, the second shape carbon fiber cloth, and the third shape carbon fiber cloth connected in sequence includes:

[0103] S210. Obtain the first pose information of the first shape mold 100;

[0104] Specifically, the spatial position (coordinates, tilt angle, etc.) and spatial orientation (such as surface orientation) of the first shape mold 100 are obtained by a vision detection device set above the first shape mold 100, thereby establishing the spatial pose information of the first shape mold 100, which is to obtain the first pose information.

[0105] S220. Determine the first marking point of the first shape mold 100 according to the first pose information and the first target texture, wherein the first target texture represents the fiber weaving direction after the first target carbon fiber cloth is covered on the first shape mold 100.

[0106] Specifically, based on the first pose information and the first target texture (the fiber weaving direction after the first target carbon fiber cloth is covered, such as 0 degrees or ±45 degrees along the mold axis), at least two reference points (first marking points) are marked on the surface of the first shape mold 100. The first marking points are distributed at key positions on the edge of the first shape mold 100 (such as the two ends of the arc surface), and the direction of the line connecting them (other first marking points can also be set on the line, and the specific number is not limited here) is parallel to the first target texture, serving as the positioning reference for the bonding of the carbon fiber cloth.

[0107] S230. Align the first side of the first target carbon fiber cloth with the first mark point, and rotate the first shape mold 100 along the first direction starting from the first mark point, so that the second side of the first target carbon fiber cloth is aligned with the first mark point to obtain the first shape carbon fiber cloth.

[0108] Specifically, align the first side edge (e.g., the left side) of the first target carbon fiber cloth with the first mark point, keeping the cloth surface of the first target carbon fiber cloth initially in contact with the surface of the first shape mold 100; starting from the mark point, slowly rotate the first shape mold 100 along the first direction (e.g., clockwise), while gently pressing the cloth surface with a scraper, so that the second side edge (the edge opposite to the first side edge) of the first target carbon fiber cloth gradually aligns with the first mark point (the first side edge and the second side edge of the first target carbon fiber cloth overlap, completing the coverage of the first target carbon fiber cloth), ensuring that the fiber texture and the line connecting the mark point are completely coincident, forming a tightly fitted first shape carbon fiber cloth.

[0109] S240: Obtain the second pose information of the second shape mold 200;

[0110] Specifically, the method for acquiring the second pose information is the same as that for the first shape mold 100. The spatial position (including the relative coordinates with the first shape mold 100) and posture parameters (such as the direction of the main axis) of the second shape mold 200 are collected by a visual inspection device, and the docking relationship with the first shape mold 100 is determined.

[0111] S250. Determine the second marking point of the second shape mold 200 according to the second pose information and the second target texture, wherein the second target texture represents the fiber weaving direction after the second target carbon fiber cloth is covered on the second shape mold 200.

[0112] Specifically, based on the second pose information and the second target texture (the second target texture and the first target texture can be the same or different, depending on the actual needs, and are not limited here), a reference point (second mark point) matching the first mark point is marked on the surface of the second shape mold 200, wherein at least one second mark point is located at the mating edge with the first shape mold 100 to ensure that the texture is continuous when splicing.

[0113] S260. Align the first side of the second target carbon fiber cloth with the second mark point, and rotate the second shape mold 200 in the second direction starting from the second mark point, so that the second side of the second target carbon fiber cloth is aligned with the second mark point to obtain the second shape carbon fiber cloth, and the first end of the second shape carbon fiber cloth is connected to the second end of the first shape carbon fiber cloth.

[0114] Specifically, the first side of the second target carbon fiber cloth is aligned with the second mark point, and the second shape mold 200 is rotated along the second direction (which is the same as or opposite to the first direction, depending on the mold docking angle; for example, if the first direction is clockwise, the second direction can be set to clockwise to maintain the continuity of the texture) so that the second side of the second target carbon fiber cloth is aligned with the second mark point, thus completing the bonding of the second shape carbon fiber cloth (the first side of the second target carbon fiber cloth overlaps with the second side, thus completing the coverage of the second target carbon fiber cloth to obtain the second shape carbon fiber cloth); the first end of the second shape carbon fiber cloth is precisely overlapped with the second end of the first shape carbon fiber cloth, and the fiber texture (the first target texture and the second target texture) remains continuous in the overlap area, forming an integrated transition, thereby increasing the connection strength.

[0115] S270, Obtain the third pose information of the third shape mold 300;

[0116] Specifically, the method for acquiring the third pose information is the same as that for the first shape mold 100 and the second shape mold 200. The spatial position (including the relative coordinates with the second shape mold 200) and pose parameters of the third shape mold 300 are acquired by a visual inspection device, and the lateral connection relationship with the second shape mold 200 is determined.

[0117] S280. The third target carbon fiber cloth is covered on the third shape mold 300 according to the third pose information and the third target texture to obtain the third shape carbon fiber cloth. The third shape carbon fiber cloth is connected to the second end of the second shape carbon fiber cloth. The first direction is the same as or opposite to the second direction.

[0118] Specifically, based on the third pose information and the third target texture (such as a ±45° cross pattern to adapt to the shear force of the connecting part), the third target carbon fiber cloth is directly covered onto the third shape mold 300, and the texture direction is calibrated by the positioning lines on the mold surface; the position of the third shape mold 300 is adjusted so that the butt end of the third shape carbon fiber cloth and the second end of the second shape carbon fiber cloth achieve a lateral overlap, the overlap length meets the design value, and the second and third target carbon fiber cloths remain flat in the connecting area. After the first, second, and third target carbon fiber cloths are covered onto the first shape mold 100, the second shape mold 200, and the third shape mold 300 in one go, an integral structure of the first, second, and third shape carbon fiber cloths connected in sequence is formed.

[0119] In some optional embodiments, the third target carbon fiber cloth includes circular carbon fiber cloth and rectangular carbon fiber cloth 310; the step of covering the third target carbon fiber cloth onto the third shape mold 300 according to the third pose information and the third target texture to obtain the third shape carbon fiber cloth includes:

[0120] S281. Determine the center position of the first surface of the third shape mold 300 based on the third pose information;

[0121] Specifically, based on the third pose information (the spatial position and attitude parameters of the third shape mold 300), the geometric center of its first surface (such as a horizontally placed circular surface) is located, and the center position is marked by a positioning device (such as a laser dotting device) as the reference origin of the circular carbon fiber cloth.

[0122] S282. After flattening the circular carbon fiber cloth, move it to the relative position of the first surface of the third shape mold 300, align the target center of the circular carbon fiber cloth with the center position, rotate the circular carbon fiber cloth according to the third target texture of the circular carbon fiber cloth, and cover the first surface of the third shape mold 300 with the circular carbon fiber cloth.

[0123] Specifically, lay the circular carbon fiber cloth flat (avoiding wrinkles) and move it to a position directly above the first surface of the third shape mold 300; adjust the position of the cloth so that the target center of the circular carbon fiber cloth (the pre-marked center of the cloth) is precisely aligned with the center of the first surface; according to the third target texture of the circular carbon fiber cloth, rotate the cloth around the center position to ensure that the fiber weaving direction matches the force direction of the first surface (e.g., the radial texture is aligned with the main force axis of the machine arm); after confirming that the texture direction is correct, smoothly cover the first surface with the circular carbon fiber cloth, and use a silicone scraper to gently press from the center to the edge to expel air and achieve a tight fit.

[0124] S283. Determine a third marker point based on the third pose information and the fourth target texture. The fourth target texture represents the fiber weaving direction of the rectangular carbon fiber cloth 310 covering the second surface of the third shape mold 300. The second surface of the third shape mold 300 is perpendicular to the first surface of the third shape mold 300.

[0125] Specifically, based on the third pose information, the spatial pose of the second surface of the third shape mold 300 (perpendicular to the first surface, such as the side of a cylinder) is determined. Combined with the fourth target texture (the fiber direction after the rectangular carbon fiber cloth 310 is covered), at least two third marker points are marked on the second surface. The direction of the line connecting the third marker points is parallel to the fourth target texture, and one of the third marker points is close to the intersection of the first surface and the second surface (to ensure connection with the circular carbon fiber cloth).

[0126] S284. Align the first side of the rectangular carbon fiber cloth 310 with the third mark point, and rotate the third shape mold 300 along the third direction starting from the third mark point, so that the second side of the rectangular carbon fiber cloth 310 is aligned with the third mark point to obtain the third shape carbon fiber cloth. The third direction is perpendicular to the first direction and the second direction respectively, and the third side of the rectangular carbon fiber cloth 310 is connected to the round edge of the circular carbon fiber cloth.

[0127] Specifically, refer to Figure 4 Align the first side of the rectangular carbon fiber cloth 310 with the third mark point (the first side of the rectangular carbon fiber cloth 310 has a first arc opening 311, which overlaps with the first side of the second end of the second-shaped carbon fiber cloth), keeping the cloth surface initially attached to the second surface; starting from the third mark point, slowly rotate the third-shaped mold 300 along a third direction (perpendicular to both the first and second directions, such as the rotation direction in a vertical plane), while pressing the cloth surface with a scraper, so that the second side of the rectangular carbon fiber cloth 310 (opposite to the first side, having a second arc opening 312, which overlaps with the second side of the second end of the second-shaped carbon fiber cloth) gradually aligns with the third mark point, ensuring that the fiber texture and the line connecting the mark point are completely coincident; at this time, the third side of the rectangular carbon fiber cloth 310 (the edge connected to the circular carbon fiber cloth) precisely overlaps with the circular edge of the circular carbon fiber cloth, with a uniform overlap width, finally forming a third-shaped carbon fiber cloth composed of a circular cloth and a rectangular cloth.

[0128] S300: After disassembling the first shape mold 100, the third shape mold 300 and the second shape mold 200 in sequence, a pre-shaped carbon fiber cloth is obtained. The pre-shaped carbon fiber cloth is obtained by connecting the first shape carbon fiber cloth, the second shape carbon fiber cloth and the third shape carbon fiber cloth in sequence.

[0129] Specifically, by sequentially disassembling the first shape mold 100, the third shape mold 300, and the second shape mold 200, a pre-shaped carbon fiber cloth can be obtained. The pre-shaped carbon fiber cloth is an integral structure formed by sequentially connecting the first shape carbon fiber cloth, the second shape carbon fiber cloth, and the third shape carbon fiber cloth.

[0130] During disassembly, the first-shaped mold 100 is removed first. At this point, the first-shaped carbon fiber cloth maintains its shape due to its pre-formed state and its connection with the second-shaped carbon fiber cloth. Next, the third-shaped mold 300 is removed. The third-shaped carbon fiber cloth maintains its predetermined shape through its connection with the second-shaped carbon fiber cloth. Finally, the second-shaped mold 200 is removed. Since the first and third-shaped carbon fiber cloths are firmly connected to the second-shaped carbon fiber cloth, the overall structure formed by the three can maintain the predetermined shape, thus forming a complete predetermined carbon fiber cloth. Furthermore, the cross-sectional area of ​​the side where the second-shaped carbon fiber cloth is connected to the third-shaped carbon fiber cloth is larger than the cross-sectional area of ​​the side where it is connected to the first-shaped carbon fiber cloth. Therefore, it is necessary to remove the first-shaped mold 100 first, then the third mold, and finally remove the second-shaped mold 200 from the third-shaped carbon fiber cloth.

[0131] Specifically, the first shape mold 100 is a long cylindrical mold, the first end of the second shape mold 200 matches the diameter of the first shape mold, the second end of the second shape mold 200 is a curved surface structure, the second end of the second shape mold 200 matches the cylindrical side surface of the third shape mold 300, and the third shape mold 300 is a cylindrical mold. That is, the second end of the second shape mold 200 is a curved surface structure that can fit into the cylindrical side surface; and the cross-sectional area of ​​the second end of the second shape mold 200 is larger than the cross-sectional area of ​​the first end, so that the second shape mold 200 can only be disassembled after the first shape mold 100 and the third shape mold 300 have been disassembled.

[0132] In some optional embodiments, before sequentially disassembling the first shape mold 100, the third shape mold 300, and the second shape mold 200 to obtain the predetermined carbon fiber cloth, the method further includes:

[0133] S301. Determine the first disassembly time range of the first-shaped carbon fiber cloth based on the first shape size information, carbon fiber information and resin adhesive information. The carbon fiber information indicates the elastic modulus, density and tensile strength of the carbon fiber. The first disassembly time range characterizes the time range within which the first-shaped carbon fiber cloth can be disassembled without deformation.

[0134] Specifically, based on the first shape dimension information of the first-shaped carbon fiber cloth (such as surface curvature, wall thickness, and overall length), carbon fiber information (including mechanical parameters such as elastic modulus, density, and tensile strength of the carbon fiber), and resin adhesive information (such as resin type, curing rate, and viscosity change curve), the first disassembly time range is calculated through a material mechanics model. This range must meet the following conditions: at this time, the resin of the first-shaped carbon fiber cloth has been initially cured (gel rate 30% to 40%), possessing sufficient shape retention ability, and will not deform (such as bending or wrinkling) due to its own gravity or external forces during disassembly; at the same time, it has not been fully cured, and can be smoothly separated from the first-shaped mold 100.

[0135] S302. Determine a second disassembly time range for the second-shaped carbon fiber cloth based on the second shape size information of the second-shaped carbon fiber cloth, the carbon fiber information and the resin adhesive information. The second disassembly time range characterizes the time range within which the second-shaped carbon fiber cloth can be disassembled without deformation.

[0136] Specifically, based on the second shape dimension information of the second-shaped carbon fiber cloth (such as the length of the main section, the rate of change of cross section, and the overlap area with other cloths), the same carbon fiber information, and the resin adhesive information, a similar calculation logic is used to determine the second disassembly time range. This range must ensure that the second-shaped carbon fiber cloth can maintain its own shape and the stability of its connection with the first-shaped carbon fiber cloth during disassembly, while avoiding adhesion to the second-shaped mold 200 or the generation of internal stress due to excessive resin curing.

[0137] S303. Determine the third disassembly time range of the third-shaped carbon fiber cloth based on the third shape size information, the carbon fiber information and the resin adhesive information. The third disassembly time range characterizes the time range within which the third-shaped carbon fiber cloth can be disassembled without deformation.

[0138] Specifically, by combining the third-shape dimensional information of the carbon fiber cloth (such as the diameter of the circular cloth, the length and width of the rectangular cloth, and the structural parameters of the vertical connection parts), carbon fiber information, and resin adhesive information, the third disassembly time range is calculated. This range must ensure that when the third-shape carbon fiber cloth is disassembled, the connection between its circular and rectangular parts is stable, and it can maintain the docking accuracy with the second-shape carbon fiber cloth, while also being able to smoothly detach from the third-shape mold 300.

[0139] S304. The intersection of the first disassembly time range, the second disassembly time range, and the third disassembly time range is determined as the target time range.

[0140] Specifically, the intersection of the first, second, and third dismantling time ranges is calculated to obtain the overlapping portion of the target time range. Dismantling the mold within this target time range simultaneously satisfies the dismantling conditions for the three carbon fiber fabric shapes, ensuring smooth detachment from their respective molds while maintaining the stability of their shapes and interconnections.

[0141] In some optional embodiments, a synchronous support device is connected to the first end of the first shape mold 100. The first synchronous plate 160 of the synchronous support device matches the first shape carbon fiber cloth. The first synchronous plate 160 moves synchronously with the first shape mold 100, and the first synchronous plate 160 starts moving from the second end of the first shape mold 100. The step of sequentially disassembling the first shape mold 100, the third shape mold 300, and the second shape mold 200 to obtain the pre-shaped carbon fiber cloth includes:

[0142] Within the target time range:

[0143] S310, Loosen the connection structure between the second end of the first shape mold 100 and the first end of the second shape mold 200, move the first shape mold 100 along the first axis of the first shape mold 100 so that the second end of the first shape mold 100 is away from the second end of the first shape carbon fiber cloth, the first synchronization plate 160 moves synchronously with the second end of the first shape mold 100, and the first synchronization plate 160 supports the first shape carbon fiber cloth that has been separated from the first shape mold 100.

[0144] Specifically, first, loosen the connection structure (such as a latch or positioning pin) between the second end of the first-shaped mold 100 and the first end of the second-shaped mold 200. Move the mold along the first axis of the first-shaped mold 100, gradually moving the second end of the first-shaped mold 100 away from the second end of the first-shaped carbon fiber cloth. At this time, the first synchronization plate 160 (whose shape matches the first-shaped carbon fiber cloth) moves synchronously with the first-shaped mold 100, starting from the second end of the first-shaped mold 100, supporting the portion of the first-shaped carbon fiber cloth that has detached from the mold throughout the process, preventing it from deforming due to loss of support. (Refer to...) Figure 5Specifically, a connecting rod 110 is provided at the first end of the first shape mold 100, and a connecting rope 120 is provided on the connecting rod 110. The other end of the connecting rope 120 is connected to the first end of the first synchronization plate 160. The first end of the first synchronization plate 160 is aligned with the second end of the first shape mold 100. The first synchronization plate 160 meshes with the second synchronization plate 130 through the synchronization gear 150, and the second synchronization plate 130 is mounted on the support base 140 through the slide rail. When the first shape mold 100 begins to move in the first axis, the first end of the first synchronization plate 160 moves synchronously through the connecting rope 120. The first end of the first synchronization plate 160 and the second end of the first shape mold 100 are always aligned, thereby lifting the first-shaped carbon fiber cloth that has detached from the first shape mold 100 and preventing deformation.

[0145] S320: Loosen the connection structure between the second end of the second shape mold 200 and the first end of the third shape mold 300, and move the third shape mold 300 along the third axis of the third shape mold 300 so that the third shape mold 300 is detached from the third shape carbon fiber cloth.

[0146] Specifically, the connection structure between the second end of the second shape mold 200 and the first end of the third shape mold 300 is loosened, and the third shape mold 300 is moved along the third axis of the third shape mold 300 (which is perpendicular to both the first and second axes) so that it is completely separated from the third shape carbon fiber cloth without affecting the connection between the third shape carbon fiber cloth and the second shape carbon fiber cloth.

[0147] S330. Move the second shape mold 200 along the second axis of the second shape mold 200 so that the second shape mold 200 passes through the third shape carbon fiber cloth and then exits to obtain the predetermined carbon fiber cloth. The first axis is opposite to the second axis, and the third axis is perpendicular to the first axis and the second axis respectively. The cross-sectional area of ​​the first end of the second shape mold 200 is smaller than the cross-sectional area of ​​the second end of the second shape mold 200.

[0148] Specifically, the mold is moved along the second axis (opposite to the first axis) of the second-shaped mold 200. Since the cross-sectional area of ​​the first end of the second-shaped mold 200 is smaller than that of the second end, the mold needs to pass through the area where the third-shaped carbon fiber cloth is located when it moves (therefore, the first-shaped mold 100 needs to be disassembled first, then the third-shaped mold 300 needs to be disassembled, and finally the second-shaped mold 200 can be disassembled), and finally completely detached to form a predetermined carbon fiber cloth composed of the first-shaped carbon fiber cloth, the second-shaped carbon fiber cloth and the third-shaped carbon fiber cloth connected in sequence.

[0149] S400: The pre-shaped carbon fiber cloth is transferred to the curing module for fixing to obtain a non-standard carbon fiber machine arm.

[0150] Specifically, the pre-shaped carbon fiber cloth is first transferred from the demolding unit to the curing module. During the transfer, a support fixture matching the contour of the pre-shaped carbon fiber cloth must be used to ensure that the connection parts of the first-shaped carbon fiber cloth, the second-shaped carbon fiber cloth, and the third-shaped carbon fiber cloth are not pulled by external forces, maintain relative position stability, and keep the cloth surface level throughout the transfer process to avoid local deformation caused by tilting.

[0151] Upon reaching the curing module, a suitable fixing method is selected based on the structural characteristics of the pre-designed carbon fiber cloth. After fixing, the curing module initiates the curing program according to preset process parameters (such as heating rate, holding temperature, and curing time), allowing the resin adhesive on the cloth surface to fully cross-link and cure, permanently fixing the fiber structure and connection form of the carbon fiber cloth. After curing, cooling and demolding processes are performed to finally obtain a non-standard carbon fiber arm with a complete structure, accurate dimensions, and satisfactory mechanical properties.

[0152] In some optional embodiments, the curing module includes a support mold, an inflatable inner bladder, and a heating unit; the step of transferring the pre-shaped carbon fiber cloth to the curing module for fixation to obtain a non-standard carbon fiber machine arm includes:

[0153] S410. Transfer the pre-shaped carbon fiber cloth to the support mold;

[0154] Specifically, using a transfer fixture that matches the outer contour of the pre-shaped carbon fiber cloth, it is placed smoothly into the cavity of the support mold. During placement, the surface of the support mold must be precisely aligned with the pre-shaped carbon fiber cloth to ensure that the central axis of the pre-shaped carbon fiber cloth coincides with the baseline of the support mold, and that the connection points of the first-shaped carbon fiber cloth, the second-shaped carbon fiber cloth, and the third-shaped carbon fiber cloth are aligned with the parting line of the support mold to avoid flash or shape deviation after curing.

[0155] S420. After placing the inflatable inner bladder inside the pre-shaped carbon fiber cloth, inflate it so that the inflatable inner bladder fits against the inner surface of the pre-shaped carbon fiber cloth, and the inflatable inner bladder has a preset air pressure.

[0156] Specifically, the uninflated flexible inflatable bladder is inserted into the internal cavity of the pre-shaped carbon fiber fabric through one end opening; the inflation device is then activated to inflate the bladder, gradually expanding it to a preset pressure (typically 0.2-0.4 MPa, adjusted according to the arm wall thickness). During inflation, the bladder pressure must be monitored in real time to ensure it adheres evenly to the inner surface of the pre-shaped carbon fiber fabric, preventing both insufficient pressure leading to fabric depressions and excessive pressure causing overstretching. After inflation, the bladder maintains a constant pressure, providing uniform internal support to the pre-shaped carbon fiber fabric.

[0157] S430. After placing the support mold containing the pre-shaped carbon fiber cloth into the heating unit, the pre-shaped carbon fiber cloth is heated by a preset heating curve so that the pre-shaped carbon fiber cloth is cured to obtain the non-standard carbon fiber arm.

[0158] Specifically, the support mold containing the pre-shaped carbon fiber cloth is moved into the heating unit (such as a hot air circulating oven or autoclave). After closing the heating unit door, the curing process is started: the pre-shaped carbon fiber cloth is heated according to a preset heating curve. During heating, the support mold provides external shape constraints, and the inflatable inner bladder maintains internal pressure, ensuring the carbon fiber cloth maintains its precise shape during resin curing. Simultaneously, the temperature uniformity of the heating unit prevents localized overheating that could lead to resin carbonization or incomplete curing. After curing, the cloth is cooled, the inner bladder pressure is released, and it is removed, ultimately yielding a non-standard carbon fiber arm with a precise shape and dense structure.

[0159] The embodiments of the present invention have the following beneficial effects: During the curing of a non-standard carbon fiber machine arm, the carbon fiber cloth to be treated is cut to obtain a first target carbon fiber cloth, a second target carbon fiber cloth, and a third target carbon fiber cloth, the carbon fiber cloth to be treated being coated with resin adhesive; the first target carbon fiber cloth is covered on the first shape mold 100, the second target carbon fiber cloth is covered on the second shape mold 200, and the third target carbon fiber cloth is covered on the third shape mold 300, resulting in a first-shaped carbon fiber cloth, a second-shaped carbon fiber cloth, and a third-shaped carbon fiber cloth connected in sequence; the first shape mold 100, the third shape mold 300, and the second shape mold 200 are disassembled sequentially to obtain a pre-shaped carbon fiber cloth, which is obtained by sequentially connecting the first-shaped carbon fiber cloth, the second-shaped carbon fiber cloth, and the third-shaped carbon fiber cloth; the pre-shaped carbon fiber cloth is transferred to the curing module for fixation to obtain a non-standard carbon fiber machine arm. In the technical solution of this embodiment, the carbon fiber cloth to be processed is cut into corresponding parts, and the first target carbon fiber cloth, the second target carbon fiber cloth and the third target carbon fiber cloth are shaped by the pre-shaped module to obtain the pre-shaped carbon fiber cloth. In this way, the risk of the carbon fiber cloth becoming skewed and wrinkled is reduced during the airbag inflation process of the curing module, thereby improving the production quality of non-standard carbon fiber machine arms.

[0160] In addition, one embodiment of the present invention provides a curing device for a non-standard carbon fiber arm of a drone, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0161] The processor and memory can be connected via a bus or other means.

[0162] It should be noted that the computer in this embodiment may correspond to, for example, including, Figure 1 The memory and processor in the illustrated embodiment can constitute Figure 1 The system architecture platform shown in the embodiment is part of the same inventive concept, and therefore has the same implementation principle and beneficial effects, which will not be described in detail here.

[0163] The non-transient software program and instructions required to implement the curing method for the non-standard carbon fiber machine arm in the above embodiments are stored in memory. When executed by a processor, the curing method for the non-standard carbon fiber machine arm in the above embodiments is executed, for example, the method described above is executed. Figure 2 Method steps S100 to S400.

[0164] Furthermore, one embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when used to execute the curing method for the non-standard carbon fiber arm of a drone using the curing device described above, for example, execute the above-described method... Figure 2 Method steps S100 to S400.

[0165] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as processors, such as central processing units, digital signal processors, or microprocessors executing software, or as hardware, or as integrated circuits, such as application-specific integrated circuits. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0166] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A method of curing a non-standard carbon fiber drone arm, comprising: The application is applied to a curing device, the curing device comprises a pre-molding module, a cutting device and a curing module, the pre-molding module comprises a first shape mold, a second shape mold and a third shape mold, a second end of the first shape mold is detachably connected with a first end of the second shape mold, a second end of the second shape mold is detachably connected with a side of the third shape mold, and the curing method of the unmanned aerial vehicle non-standard carbon fiber arm comprises: The first target carbon fiber cloth, the second target carbon fiber cloth and the third target carbon fiber cloth are obtained after the to-be-processed carbon fiber cloth is cut, and the to-be-processed carbon fiber cloth is coated with resin glue; specifically comprising: obtaining pre-molding mold information, the pre-molding mold information represents shape information, size information and connection relationship information of the first shape mold, the second shape mold and the third shape mold; determining first length information and first width information of the to-be-processed carbon fiber cloth according to the shape information and the size information; the to-be-processed carbon fiber cloth is obtained by cutting from the raw material according to the first length information and the first width information; determining the cutting sequence of the first target carbon fiber cloth, the second target carbon fiber cloth and the third target carbon fiber cloth on the to-be-processed carbon fiber cloth according to the connection relationship information; determining the first cutting shape of the first target carbon fiber cloth, the second cutting shape of the second target carbon fiber cloth and the third cutting shape of the third target carbon fiber cloth according to the shape information and the size information; determining the first cutting area corresponding to the first cutting shape, the second cutting area corresponding to the second cutting shape and the third cutting area corresponding to the third cutting shape on the to-be-processed carbon fiber cloth in sequence according to the cutting sequence; the first target carbon fiber cloth, the second target carbon fiber cloth and the third target carbon fiber cloth are obtained after the first cutting area, the second cutting area and the third cutting area are cut; After the first target carbon fiber cloth is covered on the first shape mold, the second target carbon fiber cloth is covered on the second shape mold, and the third target carbon fiber cloth is covered on the third shape mold, first shape carbon fiber cloth, second shape carbon fiber cloth and third shape carbon fiber cloth connected in sequence are obtained; The first shape mold, the third shape mold and the second shape mold are sequentially detached to obtain a pre-molding carbon fiber cloth, which is obtained by sequentially connecting the first shape carbon fiber cloth, the second shape carbon fiber cloth and the third shape carbon fiber cloth; The pre-molding carbon fiber cloth is transferred to the curing module for fixation to obtain a non-standard carbon fiber arm.

2. The method of claim 1, wherein the non-standard carbon fiber drone arm is cured by, After the first target carbon fiber cloth is covered on the first shape mold, the second target carbon fiber cloth is covered on the second shape mold, and the third target carbon fiber cloth is covered on the third shape mold, first shape carbon fiber cloth, second shape carbon fiber cloth and third shape carbon fiber cloth connected in sequence are obtained, comprising: Obtaining first pose information of the first shape mold; determining a first mark point of the first shape mold according to the first pose information and a first target pattern, the first target pattern representing a fiber weaving direction of the first target carbon fiber cloth after the first target carbon fiber cloth is covered on the first shape mold; aligning a first side edge of the first target carbon fiber cloth to the first mark point, and rotating the first shape mold from the first mark point in a first direction to make a second side edge of the first target carbon fiber cloth align to the first mark point to obtain the first shape carbon fiber cloth; obtaining second pose information of the second shape mold; determining a second mark point of the second shape mold according to the second pose information and a second target pattern, the second target pattern representing a fiber weaving direction of the second target carbon fiber cloth after the second target carbon fiber cloth is covered on the second shape mold; aligning a first side edge of the second target carbon fiber cloth to the second mark point, and rotating the second shape mold from the second mark point in a second direction to make a second side edge of the second target carbon fiber cloth align to the second mark point to obtain the second shape carbon fiber cloth, a first end of the second shape carbon fiber cloth being connected to a second end of the first shape carbon fiber cloth; obtaining third pose information of the third shape mold; covering the third target carbon fiber cloth on the third shape mold according to the third pose information and a third target pattern to obtain the third shape carbon fiber cloth, the third shape carbon fiber cloth being connected to the second end of the second shape carbon fiber cloth, the first direction being the same as or opposite to the second direction.

3. The method of claim 2, wherein the curing is performed by a curing oven. The third target carbon fiber cloth includes a circular carbon fiber cloth and a rectangular carbon fiber cloth; and the covering the third target carbon fiber cloth on the third shape mold according to the third pose information and a third target pattern to obtain the third shape carbon fiber cloth includes: determining a center position of a first surface of the third shape mold according to the third pose information; moving the circular carbon fiber cloth to a relative position of the first surface of the third shape mold after the circular carbon fiber cloth is flattened, aligning a target center of the circular carbon fiber cloth to the center position, rotating the circular carbon fiber cloth according to a third target pattern of the circular carbon fiber cloth, and covering the circular carbon fiber cloth on the first surface of the third shape mold; determining a third mark point according to the third pose information and a fourth target pattern, the fourth target pattern representing a fiber weaving direction of the rectangular carbon fiber cloth after the rectangular carbon fiber cloth is covered on a second surface of the third shape mold, the second surface of the third shape mold being perpendicular to the first surface of the third shape mold; aligning a first side edge of the rectangular carbon fiber cloth to the third mark point, and rotating the third shape mold from the third mark point in a third direction to make a second side edge of the rectangular carbon fiber cloth align to the third mark point to obtain the third shape carbon fiber cloth, the third direction being perpendicular to the first direction and the second direction respectively, and a third side edge of the rectangular carbon fiber cloth being connected to a circular edge of the circular carbon fiber cloth.

4. The method of claim 1, wherein the non-standard carbon fiber drone arm is cured by, The sequentially disassembling the first shape mold, the third shape mold and the second shape mold to obtain the pre-shaped carbon fiber cloth further comprises the following steps: determining a first disassembling time range of the first shape carbon fiber cloth according to the first shape size information of the first shape carbon fiber cloth, carbon fiber information and resin glue information, the carbon fiber information indicating the elastic modulus, density and tensile strength of the carbon fiber, the first disassembling time range representing a time range in which the first shape carbon fiber cloth can be disassembled without deformation; determining a second disassembling time range of the second shape carbon fiber cloth according to the second shape size information of the second shape carbon fiber cloth, the carbon fiber information and the resin glue information, the second disassembling time range representing a time range in which the second shape carbon fiber cloth can be disassembled without deformation; determining a third disassembling time range of the third shape carbon fiber cloth according to the third shape size information of the third shape carbon fiber cloth, the carbon fiber information and the resin glue information, the third disassembling time range representing a time range in which the third shape carbon fiber cloth can be disassembled without deformation; determining a target time range as an intersection of the first disassembling time range, the second disassembling time range and the third disassembling time range.

5. The method of claim 4, wherein the curing of the UAV non-standard carbon fiber arm is performed by, The first end of the first shape mold is connected with a synchronous support device, a first synchronous plate of the synchronous support device matches the first shape carbon fiber cloth, the first synchronous plate moves synchronously with the first shape mold, and the first synchronous plate moves from the second end of the first shape mold; the sequentially disassembling the first shape mold, the third shape mold and the second shape mold to obtain the pre-shaped carbon fiber cloth comprises the following steps: in the target time range: loosening a connection structure between the second end of the first shape mold and the first end of the second shape mold, moving the first shape mold along a first axis direction of the first shape mold to make the second end of the first shape mold away from the second end of the first shape carbon fiber cloth, the first synchronous plate moving synchronously with the second end of the first shape mold and the first synchronous plate supporting the first shape carbon fiber cloth disengaging from the first shape mold; loosening a connection structure between the second end of the second shape mold and the first end of the third shape mold, moving the third shape mold along a third axis direction of the third shape mold to make the third shape mold disengage from the third shape carbon fiber cloth; moving the second shape mold along a second axis direction of the second shape mold to make the second shape mold disengage from the third shape carbon fiber cloth after passing through the third shape carbon fiber cloth to obtain the pre-shaped carbon fiber cloth, the first axis direction being opposite to the second axis direction, the third axis direction being perpendicular to the first axis direction and the second axis direction respectively, and a cross-sectional area of the first end of the second shape mold being smaller than a cross-sectional area of the second end of the second shape mold.

6. The method of claim 1, wherein the non-standard carbon fiber drone arm is cured by, The curing module comprises a support mold, an inflatable inner capsule and a heating unit; the pre-shaped carbon fiber cloth is moved to the curing module for fixation to obtain a non-standard carbon fiber robot arm, comprising the following steps: moving the preformed carbon fiber cloth to the support mold; inflating the inflatable inner bag after being put into the preformed carbon fiber cloth, so that the inflatable inner bag is attached to the inner surface of the preformed carbon fiber cloth, and the inflatable inner bag has a preset air pressure; heating the preformed carbon fiber cloth by a preset heating curve after the support mold with the preformed carbon fiber cloth is put into a heating unit, so that the preformed carbon fiber cloth is cured to obtain the non-standard carbon fiber arm of the unmanned aerial vehicle.

7. A curing apparatus for non-standard carbon fiber drone arms, comprising: comprise: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the curing method of the non-standard carbon fiber arm of the unmanned aerial vehicle according to any one of claims 1-6.

8. A computer storage medium, characterized in that The computer storage medium stores computer executable instructions for executing the curing method of the non-standard carbon fiber arm of the unmanned aerial vehicle according to any one of claims 1-6.

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