Carbon fiber composite product winding and sticking integrated equipment

Abstract

The application provides a carbon fiber composite product winding and pasting integrated equipment, and relates to the technical field of carbon fiber composite product forming. The equipment comprises a mounting platform, a winding module, a pasting module and a main shaft module. The main shaft module comprises a main shaft mechanism and a core mold. The winding module comprises a two-degree-of-freedom working platform, an integrated yarn rack, a tension control device and a winding online heating device. The pasting module comprises a linear working platform of a robot hand, a six-degree-of-freedom robot hand, a terminal pasting executor, a prepreg tape conveying and cutting device, a pasting quality online detection device and a pasting online heating device. The application has the functions of high-precision winding and pasting linkage control, digitalized layer simulation, flexible variable-angle pasting, multi-specification pasting online preparation, anti-deformation vacuum grabbing, online heating and quality online control, and can break through the limitations of traditional carbon fiber composite material manufacturing equipment.

Description

Technical Field

[0001] This invention relates to the field of carbon fiber composite material product molding technology, and more particularly to an integrated equipment for wrapping carbon fiber composite material products. Background Technology

[0002] The manufacturing technology of carbon fiber composite materials mainly includes winding, layup, and weaving. Combined with the concept of intelligent manufacturing technology, it has become an indispensable cutting-edge technology for the mass production of composite materials in my country's aerospace, defense, new energy, and automotive industries. The development of its corresponding manufacturing equipment has also achieved a mature technology system of localization, standardization, and high-end development. However, as the application scenarios of carbon fiber composite materials continue to expand, the limitations of traditional composite material manufacturing equipment in industrial application are becoming increasingly prominent: First, when manufacturing structural components with large negative curvature or alternating positive and negative curvature, fiber bridging or suspension effects will occur; second, when manufacturing structural components with variable angle design features of the layup, in-plane bending will cause the fibers on the inner side of the fiber strip to fluctuate, requiring strong matching requirements for the width of the fiber strip, the preset trajectory length, and positioning; third, when manufacturing composite products with local reinforcement requirements, winding or fiber layup technologies all use the addition of continuous high-angle layups, increasing layup thickness, or manual laying of carbon cloth to ensure performance requirements. Therefore, traditional carbon fiber composite molding equipment often faces problems such as the inability to achieve integrated molding, the need for downstream manual processes to complete supplementary manufacturing, increased material consumption, and decreased production efficiency when dealing with composite products with complex geometries, variable stiffness designs, and local reinforcement requirements. These problems have become common technical challenges in the industry, restricting the research and development and commercial application of high-end composite products in my country. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides an integrated equipment for bonding carbon fiber composite materials. This equipment features high-precision bonding linkage control, digital layup simulation, flexible variable-angle bonding, online fabrication of multi-specification patches, deformation-resistant vacuum gripping, online heating, and online quality control, overcoming the limitations of traditional carbon fiber composite material manufacturing equipment. This equipment is particularly suitable for the integrated manufacturing of high-end composite material products with complex geometries, small curvature variable stiffness designs, and localized reinforcement, providing a novel solution for the mass production of high-performance precision composite material products.

[0004] The technical means employed in this invention are as follows: A carbon fiber composite material product wrapping and bonding integrated equipment includes: three mounting platforms and a winding module, a bonding module and a spindle module respectively mounted on the three mounting platforms. The winding module, bonding module and spindle module are placed parallel to each other along the length of the mounting platforms, with the spindle module located in the middle and the winding module and bonding module distributed on both sides of the spindle module. The spindle module includes a spindle mechanism and a mandrel. The spindle mechanism is mounted on a mounting platform, and the mandrel is rotatably connected to the spindle mechanism. The winding module includes a two-degree-of-freedom working platform and an integrated yarn frame, a tension control device, and an online winding heating device mounted on the two-degree-of-freedom working platform. The two-degree-of-freedom working platform is slidably connected to an installation platform. The prepreg tape is placed in the integrated yarn frame and led out through the integrated yarn frame into the tension control device. The online winding heating device is used to heat the prepreg tape, and the heated prepreg tape is wound onto the outer surface of the mandrel by the winding machine. The placement module includes a robotic arm linear work platform, a six-degree-of-freedom robotic arm, an end effector for placement, a prepreg tape conveying and cutting device, an online placement quality inspection device, and an online placement heating device. The robotic arm linear work platform is slidably connected to a mounting platform. The six-degree-of-freedom robotic arm and the prepreg tape conveying and cutting device are both mounted on the robotic arm linear work platform. The online placement quality inspection device and the online placement heating device are both located on the output side of the prepreg tape conveying and cutting device. The end effector for placement is mounted at the end of the six-degree-of-freedom robotic arm. The prepreg tape conveying and cutting device is used to prepare prepreg tape patches. The online placement heating device is used to heat the prepreg tape patches. The online placement quality inspection device is used to perform real-time quality inspection of the prepreg tape patches. The end effector for placement the prepreg tape patches that meet the quality requirements onto the outer surface of the mandrel and the wound prepreg tape.

[0005] Furthermore, the installation platform includes a rigid platform, a gear and rack transmission assembly, and a slide rail and slider assembly. The slide rail and slider assembly includes a slider and a slide rail. The slide rail is installed on the rigid platform, and the slider is slidably connected to the slide rail. The gear and rack transmission assembly is installed on the rigid platform, and the output end of the gear and rack transmission assembly is connected to the slider. The two-degree-of-freedom working platform is fixedly connected to the slider of one installation platform.

[0006] Furthermore, the integrated yarn frame includes a yarn frame cabinet and an unwinding / rewinding mechanism and a yarn guide mechanism installed on the yarn frame cabinet. The yarn frame cabinet is placed on a two-degree-of-freedom working platform. The unwinding / rewinding mechanism and the yarn guide mechanism are arranged vertically. The unwinding / rewinding mechanism consists of a tile-type air shaft and a recovery roller. The prepreg tape is placed on the air shaft. After the air shaft is inflated, the tiles pop out, and the prepreg tape is fixed. The yarn guide mechanism consists of a set of guide rollers. The prepreg tape starts from the unwinding / rewinding mechanism, passes through a set of guide rollers, and is led out from the integrated yarn frame. When there is a backing paper on the outside of the prepreg tape, the recovery roller of the unwinding / rewinding mechanism is driven by a motor to recover the backing paper.

[0007] Furthermore, the tension control device has an adaptive tension control function, including a support, multiple sets of tension rollers, a linear displacement sensor, and a pressure sensor. The support is mounted on a two-degree-of-freedom working platform, and the multiple sets of tension rollers are placed in a certain spatial distribution and fixed on the support. The linear displacement sensor is located inside the integrated yarn frame, and the pressure sensor is associated with the end tension roller and electrically connected to the host computer.

[0008] Furthermore, the online heating device for winding includes a hot air gun, which is fixed on a bracket above the winding nozzle of the winding machine.

[0009] Furthermore, the prepreg tape conveying and cutting device is arranged horizontally parallel to the six-degree-of-freedom robot arm, including a prepreg tape unwinding and rewinding mechanism, a tension adjustment mechanism, a transmission belt mechanism, a pre-compression and preheating mechanism, and a cutting mechanism. The prepreg tape unwinding and rewinding mechanism is used to release the prepreg tape, automatically separate the prepreg tape from the liner paper, and recycle the liner paper. The tension adjustment mechanism includes a set of tension rollers distributed vertically to apply tension to the prepreg tape released by the prepreg tape unwinding and rewinding mechanism. The transmission belt mechanism is used to convey the separated prepreg tape. The pre-compression and preheating mechanism includes a cylinder, a pressure roller, and a controllable electric heater. The output end of the cylinder is connected to the pressure roller, which is used to pre-compress the conveyed prepreg tape. The controllable electric heater is used to preheat the prepreg tape after pre-compression. The cutting mechanism includes a cutter to cut the prepreg tape after preheating to obtain prepreg tape patches.

[0010] Furthermore, the online patch quality inspection device includes a vision system, which includes a high-definition camera. The high-definition camera takes pictures and displays the surface quality and position information of the prepreg patch on a computer, realizing real-time quality inspection of the prepreg patch. Prepreg patches that do not meet the requirements are automatically transported to the tail collection box.

[0011] Furthermore, the patch online heating device uses infrared technology for online heating.

[0012] Furthermore, the end-effector includes a support plate, a quick-release structure, a flexible sponge body, multiple laser positioning devices, a pressure sensor, and a vacuum generator. The support plate is connected to a six-degree-of-freedom robot arm via the quick-release structure. The flexible sponge body is located at the front end of the support plate to achieve bonding to surfaces with different curvatures. The multiple laser positioning devices are rectangularly distributed on the support plate. The pressure sensor is mounted on the flexible sponge body. The vacuum generator generates a vacuum flow to adsorb the prepreg tape patch onto the front side of the flexible sponge body.

[0013] Furthermore, the spindle mechanism includes a first spindle seat, a second spindle seat, and a pneumatic three-jaw chuck. The first spindle seat is fixed on the mounting platform, and the second spindle seat is slidably connected to the mounting platform. Both the first spindle seat and the second spindle are equipped with pneumatic three-jaw chucks, and the two ends of the core mold are clamped and fixedly connected to the pneumatic three-jaw chucks on both sides.

[0014] Compared with the prior art, the present invention has the following advantages: 1. The carbon fiber composite material product wrapping equipment provided by the present invention can achieve the wrapping and molding of concave surfaces with large negative curvature or structural components with alternating positive and negative curvature through a flexible end effector, without producing fiber bridging or bridging effects.

[0015] 2. The carbon fiber composite material product wrapping equipment provided by the present invention can realize the laying and molding of structural components with variable angle design features through existing programming, and the fibers will not be buckled or wrinkled, resulting in high strength utilization.

[0016] 3. The carbon fiber composite material product wrapping and bonding equipment provided by the present invention can achieve local reinforcement of any area through the bonding module, effectively avoiding the problems of thickening and material waste caused by wrapping reinforcement.

[0017] 4. The carbon fiber composite material product bonding equipment provided by this invention breaks through the limitations of traditional carbon fiber composite material manufacturing equipment. It features high-precision bonding linkage control, digital layup simulation, flexible variable-angle bonding, online fabrication of multi-specification patches, deformation-resistant vacuum gripping, online heating, and online quality control. High-precision bonding linkage control and digital layup simulation can be achieved through existing programming. This equipment is particularly suitable for the integrated manufacturing of high-end composite material products with complex geometries, small curvature variable stiffness designs, and local reinforcement, providing a completely new solution for the mass production of high-performance precision composite material products.

[0018] Based on the above reasons, this invention can be widely promoted in fields such as carbon fiber composite material product manufacturing. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the integrated equipment for wrapping carbon fiber composite materials according to the present invention.

[0021] Figure 2 This is a schematic diagram of the yarn frame part of the integrated wrapping equipment for carbon fiber composite materials of the present invention.

[0022] Figure 3 This is a schematic diagram of the robotic arm structure of the integrated equipment for wrapping carbon fiber composite products according to the present invention.

[0023] Figure 4 This is a schematic diagram of the laying section of the integrated wrapping equipment for carbon fiber composite products of the present invention.

[0024] In the diagram: 1. Mounting platform; 2. Two-degree-of-freedom working platform; 3. Integrated yarn rack; 4. Tension control device; 5. Online winding heating device; 6. Robotic arm linear working platform; 7. Six-degree-of-freedom robotic arm; 8. Prepreg tape conveying and cutting device; 9. Online patch quality inspection device; 10. Online patch heating device; 11. End-effector. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0029] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0030] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0031] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0032] Please see Figure 1 This invention provides a technical solution: an integrated equipment for bonding carbon fiber composite products. This equipment is based on the flexible placement and fusion technology of discontinuous carbon fiber prepreg tape patches. The equipment consists of four parts: three mounting platforms 1, a winding module, a bonding module, and a main shaft module. The winding module, bonding module, and main shaft module are all located on their respective mounting platforms 1, and are placed parallel to each other along the length of the mounting platform 1. The main shaft module is located in the middle, and the winding module and bonding module are distributed on both sides. The spacing between each module needs to meet the equipment's operational requirements, but must avoid interference between the modules.

[0033] The mounting platform 1 mainly includes a rigid platform, a gear and rack transmission assembly, and a slide rail and slider assembly. The slide rail and slider assembly includes a slider and a slide rail. The slide rail is mounted on the rigid platform, and the slider is slidably connected to the slide rail. The gear and rack transmission assembly is mounted on the rigid platform, and the output end of the gear and rack transmission assembly is connected to the slider to drive the slider to slide along the slide rail.

[0034] like Figure 1 and Figure 2 As shown, the winding module mainly includes a two-degree-of-freedom working platform 2, an integrated yarn frame 3, a tension control device 4, and an online winding heating device 5. The two-degree-of-freedom working platform 2 is fixedly connected to the slider of the corresponding mounting platform 1. The two-degree-of-freedom working platform 2 achieves precise position adjustment of the winding module in the front-back, left-right, and right directions through the gear and rack transmission group and the slide rail slider group of the mounting platform 1.

[0035] The integrated yarn frame 3 consists of a yarn frame cabinet and an unwinding / rewinding mechanism and a yarn bundle guiding mechanism installed on the yarn frame cabinet. The yarn frame cabinet is placed on a two-degree-of-freedom working platform 2. The unwinding / rewinding mechanism consists of a tile-type air shaft and a recovery roller. The prepreg tape is placed on the air shaft. After the air shaft is inflated, the tiles of the air shaft pop out, and the prepreg tape is fixed on the air shaft. The yarn bundle guiding mechanism consists of a set of guide rollers. The unwinding / rewinding mechanism and the yarn bundle guiding mechanism are distributed vertically. The prepreg tape starts from the unwinding / rewinding mechanism, passes through a set of guide rollers, and is led out from the integrated yarn frame 3 into the tension control roller group of the tension control device 4. If there is a backing paper on the outside of the prepreg tape, the recovery roller of the unwinding / rewinding mechanism can be driven by a motor to recover the backing paper.

[0036] The tension control device 4 has an adaptive tension control function and mainly includes a support, a series of tension control rollers, a linear displacement sensor, and a pressure sensor. The support is mounted on the two-degree-of-freedom working platform 2. The tension control rollers are placed in a certain spatial distribution and fixed on the support. The linear displacement sensor is located inside the integrated yarn frame 3 and reflects the tension by the amount of displacement. The pressure sensor is associated with the end tension roller and reflects the tension by the pressure. The value of the end pressure sensor is fed back to the host computer, which adjusts the tension according to the received signal to achieve active tension control.

[0037] The online heating device 5 for winding mainly includes a hot air gun controlled by an analog signal, which is fixed on a bracket above the winding nozzle of the winding machine. The temperature control of the winding process can be achieved by inputting the required temperature through the control panel.

[0038] like Figure 1 and Figure 3 As shown, the tiling module mainly includes a robotic arm linear work platform 6, a six-degree-of-freedom robotic arm 7, an end-effector tiling actuator 11, a prepreg tape conveying and cutting device 8, an online tiling quality inspection device 9, and an online tiling heating device 10.

[0039] The robotic arm linear work platform 6 achieves precise left-right position adjustment of the tiling module through a gear and rack transmission assembly and a slide rail slider assembly, thereby expanding the tiling coverage area. The robotic arm linear work platform 6 is slidably connected to a mounting platform 1, and is fixedly connected to the slider of the slide rail slider assembly.

[0040] The six-DOF robotic arm 7 can be virtualized and optimized through software, and the path planning and simulation verification of the robotic arm's laying trajectory can be performed. It can also achieve real-time communication with the winding module to achieve the effect of winding and pasting linkage.

[0041] The prepreg conveyor and cutting device 8 and the six-degree-of-freedom robot arm 7 are arranged horizontally and parallel to each other, with a controlled working distance, and are located on the same workbench (robot arm linear work platform 6). Figure 4 As shown, the prepreg tape conveying and cutting device 8 mainly includes a prepreg tape unwinding and rewinding mechanism, a tension adjustment mechanism, a transmission belt mechanism, a pre-compression and preheating mechanism, and a cutting mechanism. The tension adjustment mechanism includes a set of tension rollers distributed vertically. The pre-compression and preheating mechanism includes a cylinder, a pressure roller, and a controllable electric heater. The output end of the cylinder is connected to the pressure roller. The cutting mechanism includes a cutter. The continuous prepreg tape starts from the prepreg tape unwinding and rewinding mechanism. The prepreg tape is separated from the liner paper, the liner paper is recycled, and after passing through a set of tension rollers distributed vertically, it arrives at the transmission belt mechanism. The cylinder drives the pressure roller to pre-compress the prepreg tape, and then the controllable electric heater preheats it. Finally, the cutter completes the cutting, realizing the preparation of prepreg tape patches.

[0042] The online inspection device 9 for prepreg quality mainly includes a vision system, which includes a high-definition camera. The high-definition camera takes pictures and displays the surface quality and position information of the prepreg tape patch on a computer, enabling real-time quality inspection of the prepreg tape patch. Prepreg tape patches that meet the quality requirements are adsorbed and laid by the end laying actuator 11, while prepreg tape patches that do not meet the quality requirements are automatically dropped into the tail collection box by the conveyor belt.

[0043] The online heating device 10 mainly uses infrared heating for online heating, which can control the heating temperature in real time, so that the prepreg tape patch meets the temperature required for installation.

[0044] The end-effector 11 is located at the end of the six-degree-of-freedom robot arm 7 and mainly includes a support plate, a quick-release structure, a flexible sponge body, laser positioning devices, pressure sensors, and a vacuum generator. The support plate is connected to the six-degree-of-freedom robot arm 7 through the quick-release structure, which allows for rapid insertion and removal of the end-effector 11. The flexible sponge body is located at the front end of the support plate and can be applied to surfaces with different curvatures, making it highly adaptable. Four laser positioning devices are arranged in a rectangle on the support plate, enabling precise leveling and positioning. The pressure sensor is installed on the flexible sponge body and can directly and accurately measure the pressure during the laying process for real-time adjustment. The vacuum generator can generate a high-quality vacuum flow to obtain a stable adsorption force, adsorbing the prepreg tape patch onto the front side of the flexible sponge body.

[0045] like Figure 1As shown, the spindle module mainly includes a spindle mechanism and a mandrel. The spindle mechanism mainly includes a first spindle seat, a second spindle seat, and a pneumatic three-jaw chuck. The first spindle seat is fixed on the mounting platform 1, and the second spindle seat is slidably connected to the mounting platform 1 and can slide along the mounting platform 1. The second spindle seat is fixedly connected to the slider of the slide rail slider group. The sliding of the second spindle seat is realized through the gear and rack transmission group and the slide rail slider group to match mandrels of different lengths. Both the first spindle seat and the second spindle are equipped with pneumatic three-jaw chucks. The pneumatic three-jaw chucks on both sides realize the clamping and fixing of the mandrel. The pneumatic three-jaw chucks are driven by a motor, thereby driving the mandrel to rotate. The motor is installed on the first spindle seat or the second spindle seat.

[0046] The working method of the equipment of this invention: Step S1: Install the workpiece on the main shaft module and install the prepreg tape on the corresponding yarn roller; Step S2: The prepreg tape is cut into prepreg tape patches of a certain size and specification using a prepreg tape conveying and cutting device; Step S3: Perform dimensional and quality inspection on the cut prepreg tape patches; Step S4: The end-mount actuator 11 picks up the prepreg tape patches that meet the requirements and automatically recycles the prepreg tape patches that do not meet the requirements. Step S4: After the gripping is completed, the end-mounting actuator 11 moves to the online patch heating device 10 and heats the prepreg tape patch through the online patch heating device 10. Step S5: After heating is completed, the end-mounted actuator 11 moves to a local weak area of ​​the workpiece, adjusts the angle along the force flow direction, and then lays the prepreg tape patch on the outer surface of the workpiece to achieve local reinforcement. Step S6: After the laying is completed, rotate the spindle at a certain angle and repeat steps S2-S5 to continue laying the prepreg tape patch. Step S7: After the prepreg tape patch layup is completed, the prepreg tape is wound onto the outer surface of the workpiece and the prepreg tape patch layup at the specified angle and number of layers using a fiber winding machine. Step S8: Alternately stack prepreg tape patch layers and prepreg tape winding layers until all layers are applied; Step S8: After the wrapping is completed, unload the workpiece and shape it using a curing device.

[0047] This invention overcomes the limitations of traditional carbon fiber composite material manufacturing equipment, featuring high-precision wrapping and linkage control, digital layup simulation, flexible variable-angle layup, online fabrication of multi-specification patches, deformation-resistant vacuum gripping, online heating, and online quality control. The equipment described in this invention utilizes a software system for layup structure design and trajectory planning based on discontinuous patch wrapping and linkage technology (existing software systems can be embedded with corresponding algorithms). This system enables digital layup simulation, and the equipment includes a customized control system (which can be a control system developed based on Siemens 840D) to achieve high-precision linkage control of the wrapping and linkage process.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for integrated wrapping of carbon fiber composite materials, characterized in that, include: Three mounting platforms (1) and winding modules, laying modules and spindle modules respectively mounted on the three mounting platforms (1), the winding modules, laying modules and spindle modules are placed parallel to each other along the length of the mounting platform (1), the spindle module is located in the middle, and the winding modules and laying modules are distributed on both sides of the spindle module; The spindle module includes a spindle mechanism and a mandrel. The spindle mechanism is mounted on a mounting platform (1), and the mandrel is rotatably connected to the spindle mechanism. The winding module includes a two-degree-of-freedom working platform (2) and an integrated yarn frame (3), a tension control device (4) and an online winding heating device (5) installed on the two-degree-of-freedom working platform (2). The two-degree-of-freedom working platform (2) is slidably connected to an installation platform (1). The prepreg tape is placed in the integrated yarn frame (3) and led out through the integrated yarn frame (3) into the tension control device (4). The online winding heating device (5) is used to heat the prepreg tape, and the heated prepreg tape is wound on the outer surface of the mandrel by the winding machine. The laying module includes a robotic arm linear work platform (6), a six-degree-of-freedom robotic arm (7), an end-effector laying actuator (11), a prepreg tape conveying and cutting device (8), an online patch quality detection device (9), and an online patch heating device (10). The robotic arm linear work platform (6) is slidably connected to a mounting platform (1). The six-degree-of-freedom robotic arm (7) and the prepreg tape conveying and cutting device (8) are both mounted on the robotic arm linear work platform (6). The online patch quality detection device (9) and the online patch heating device (10) are mounted on the same platform. 0) All are located on the output side of the prepreg conveying and cutting device (8). The end-laying actuator (11) is installed at the end of the six-degree-of-freedom robot (7). The prepreg conveying and cutting device (8) is used to prepare the prepreg patch. The patch online heating device (10) is used to heat the prepreg patch. The patch quality online detection device (9) is used to perform real-time quality detection on the prepreg patch. The end-laying actuator (11) is used to lay the prepreg patch that meets the quality requirements on the outer surface of the core mold and the wound prepreg tape. The end-mount actuator (11) includes a support plate, a quick-release structure, a flexible sponge body, multiple laser positioning devices, a pressure sensor, and a vacuum generator. The support plate is connected to a six-degree-of-freedom robot (7) via the quick-release structure. The flexible sponge body is located at the front end of the support plate and is used to achieve bonding to surfaces with different curvatures. The multiple laser positioning devices are arranged in a rectangular pattern on the support plate. The pressure sensor is installed on the flexible sponge body. The vacuum generator generates a vacuum flow to adsorb the prepreg tape patch onto the front side of the flexible sponge body.

2. The integrated equipment for wrapping carbon fiber composite materials according to claim 1, characterized in that, The installation platform (1) includes a rigid platform, a gear and rack transmission group and a slide rail and slider group. The slide rail and slider group includes a slider and a slide rail. The slide rail is installed on the rigid platform and the slider is slidably connected to the slide rail. The gear and rack transmission group is installed on the rigid platform and the output end of the gear and rack transmission group is connected to the slider. The two-degree-of-freedom working platform (2) is fixedly connected to the slider of an installation platform (1).

3. The integrated equipment for wrapping carbon fiber composite materials according to claim 1, characterized in that, The integrated yarn frame (3) includes a yarn frame cabinet and an unwinding and rewinding mechanism and a yarn guide mechanism installed on the yarn frame cabinet. The yarn frame cabinet is placed on a two-degree-of-freedom working platform (2). The unwinding and rewinding mechanism and the yarn guide mechanism are distributed vertically. The unwinding and rewinding mechanism consists of a tile-type air shaft and a recovery roller. The prepreg tape is placed on the air shaft. After the air shaft is inflated, the tiles pop out and the prepreg tape is fixed. The yarn guide mechanism consists of a set of guide rollers. The prepreg tape starts from the unwinding and rewinding mechanism, passes through a set of guide rollers, and is led out from the integrated yarn frame (3). When there is a liner paper on the outside of the prepreg tape, the liner paper is recovered by the recovery roller of the unwinding and rewinding mechanism driven by the motor.

4. The integrated wrapping equipment for carbon fiber composite materials according to claim 1, characterized in that, The tension control device (4) has an adaptive tension control function, including a bracket, multiple tension roller groups, a linear displacement sensor and a pressure sensor. The bracket is installed on a two-degree-of-freedom working platform (2). The multiple tension roller groups are placed in a certain spatial distribution and fixed on the bracket. The linear displacement sensor is located inside the integrated yarn frame (3). The pressure sensor is associated with the end tension roller and is electrically connected to the host computer.

5. The integrated wrapping equipment for carbon fiber composite materials according to claim 1, characterized in that, The online heating device (5) for winding includes a hot air gun, which is fixed on a bracket above the winding nozzle of the winding machine.

6. The integrated wrapping equipment for carbon fiber composite materials according to claim 1, characterized in that, The prepreg tape conveying and cutting device (8) and the six-degree-of-freedom robot (7) are arranged in parallel left and right. The device includes a prepreg tape unwinding and rewinding mechanism, a tension adjustment mechanism, a transmission belt mechanism, a pre-pressing and preheating mechanism, and a cutting mechanism. The prepreg tape unwinding and rewinding mechanism is used to release the prepreg tape, automatically separate the prepreg tape from the liner paper, and recycle the liner paper. The tension adjustment mechanism includes a set of tension rollers distributed vertically to apply tension to the prepreg tape released by the prepreg tape unwinding and rewinding mechanism. The transmission belt mechanism is used to convey the separated prepreg tape. The pre-pressing and preheating mechanism includes a cylinder, a pressure roller, and a controllable electric heater. The output end of the cylinder is connected to the pressure roller. The pressure roller is used to pre-press the conveyed prepreg tape. The controllable electric heater is used to preheat the prepreg tape after pre-pressing. The cutting mechanism includes a cutter to cut the prepreg tape after preheating to obtain prepreg tape patches.

7. The integrated equipment for wrapping carbon fiber composite materials according to claim 6, characterized in that, The online patch quality inspection device (9) includes a vision system, which includes a high-definition camera. The high-definition camera takes pictures and displays the surface quality and position information of the prepreg patch on a computer, thereby realizing real-time quality inspection of the prepreg patch.

8. The integrated wrapping equipment for carbon fiber composite products according to claim 1, characterized in that, The patch online heating device (10) performs online heating via infrared radiation.

9. The integrated wrapping equipment for carbon fiber composite materials according to claim 1, characterized in that, The spindle mechanism includes a first spindle seat, a second spindle seat, and a pneumatic three-jaw chuck. The first spindle seat is fixed on the mounting platform (1), and the second spindle seat is slidably connected to the mounting platform (1). Both the first spindle seat and the second spindle are equipped with pneumatic three-jaw chucks, and the two ends of the core mold are clamped and fixedly connected to the pneumatic three-jaw chucks on both sides.

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