A simultaneous circularly distributed multi-narrow-band laying equipment and method

Abstract

The present application belongs to the technical field of carbon fiber laying equipment, aiming at solving the problem of low manufacturing efficiency and quality of complex rotary body caused by the complex structure of the laying head of the traditional laying equipment and the low laying efficiency of single laying head. A kind of ring distribution multi-narrow band simultaneous laying equipment and method is provided, which is composed of five parts including a yarn guide head assembly, a yarn guide head spinning mechanism, a yarn guide head radial telescopic mechanism, a laid part fixing mechanism and a laying equipment moving mechanism. The yarn guide head spinning mechanism and the yarn guide head radial telescopic mechanism are connected and installed on the laying equipment moving mechanism, and the yarn guide head spinning mechanism and the yarn guide head radial telescopic mechanism are connected with the yarn guide head assembly to realize the spinning and radial telescopic of the yarn guide head. At the same time, on the basis of the radial telescopic and spinning of the yarn guide head assembly, an adaptive infrared heating device and a semi-automatic yarn guide mechanism are introduced. The present application can realize the synchronous laying of multiple fiber beams, improve the laying efficiency and avoid the stress concentration problem in the laying process of winding technology.

Description

Technical Field

[0001] This invention belongs to the technical field of carbon fiber laying equipment, specifically relating to a circumferentially distributed multi-narrow strip simultaneous laying equipment and method. Background Technology

[0002] In the field of composite material manufacturing, prepreg tape spiral layup technology is widely used in many industries such as aerospace and pipeline production to manufacture high-performance composite material structural components. With the continuous advancement of industrial technology, higher requirements are being placed on the performance and adaptability of prepreg tape layup equipment.

[0003] Traditional prepreg tape spiral layup equipment often faces numerous limitations when dealing with substrates of varying sizes and shapes. When laying complex-shaped components, such as pipes with variable cross-sections or irregularly shaped structures, traditional equipment struggles to meet process requirements, frequently resulting in uneven prepreg tape laying and inconsistent tension, severely impacting the mechanical properties and appearance quality of composite products. Furthermore, traditional layup equipment typically uses a single layup head, leading to low laying efficiency. Summary of the Invention

[0004] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a circumferentially distributed multi-narrow-band simultaneous laying equipment and method.

[0005] This invention is achieved using the following technical solution: a circumferentially distributed multi-narrow-band simultaneous laying equipment, comprising a guide head assembly, a guide head spin mechanism, a guide head radial extension mechanism, a laid-up component fixing mechanism, and a laying equipment moving mechanism; the guide head radial extension mechanism includes a first disc-shaped frame plate, a second disc-shaped frame plate, a screw, a screw nut, a slider connecting plate, a turntable, a guide wire tube, and a tube connecting plate; the first disc-shaped frame plate and the second disc-shaped frame plate are coaxially arranged, and multiple screws are circumferentially and rotatably connected to the first disc-shaped frame plate, with synchronous rotation of all screws achieved through a first gear transmission mechanism; a screw nut is threaded onto the screw, and the turntable is fixedly connected to the screw nut via a slider connecting plate; the end of the guide wire tube is rotatably connected to the turntable, and the rotation of the screw drives the guide wire tube to achieve radial extension. The guide tube is connected to the front of the guide tube for position adjustment, and the guide tube is slidably connected to the guide head assembly. The guide head spin mechanism is used to drive the guide tube to achieve spin motion. The guide tube and the guide head assembly correspond one-to-one. The guide head assembly includes an infrared heating device, a yarn guiding mechanism, and a prepreg tape clamping mechanism. The prepreg tape clamping mechanism is used to clamp the prepreg tape coming out of the guide tube. The yarn guiding mechanism is used to guide the prepreg tape coming out of the prepreg tape clamping mechanism. The heating end of the infrared heating device is used to irradiate the joint between the laid prepreg tape and the laid piece. The laid piece fixing mechanism is used to clamp the laid piece while driving the laid piece to perform spin motion. The laying equipment moving mechanism is used to drive the first disc frame plate and the second disc frame plate to slide along the axial direction of the laid piece.

[0006] Preferably, the guide head assembly further includes a first frame plate and a second frame plate; the first frame plate and the second frame plate are arranged in parallel and are both slidably connected to the through pipe connecting plate; the prepreg tape pressing mechanism and the infrared heating device are both installed on the first frame plate and the second frame plate; the yarn guiding mechanism is installed on the first frame plate; the prepreg tape pressing mechanism includes a prepreg tape pressing cylinder, a pressing block, a first transmission roller, a second transmission roller, a first transmission shaft, a second transmission shaft, and a sliding transmission assembly; the prepreg tape pressing cylinder is fixed to the inner surface of the second frame plate and a pressing block is fixed to the piston end; the first transmission roller and the second transmission roller are rotatably connected between the first frame plate and the second frame plate, and a space for clamping the prepreg tape is formed between the first transmission roller and the second transmission roller; the first transmission shaft of the first transmission roller is driven by a first disc motor; the second transmission shaft of the second transmission roller can move closer to or further away from the first transmission roller under the drive of the sliding transmission assembly. The conveyor roller moves in one direction; the prepreg tape, after being guided, wraps around a silicone rubber outer ring roller installed between the bottom of the first frame plate and the second frame plate; the sliding conveyor assembly includes a first slide rod, a second slide rod, a slide rod mounting seat, a first conveyor cylinder, a second conveyor cylinder, and a conveyor cylinder connector; the first slide rod and the second slide rod are respectively fixedly connected to the slide rod mounting seat on the first frame plate and the second frame plate, and the two ends of the second conveyor shaft are respectively slidably connected to the first slide rod and the second slide rod. The second conveyor shaft is driven by the first conveyor cylinder and the second conveyor cylinder, and the first conveyor cylinder and the second conveyor cylinder are respectively installed on the first frame plate and the second frame plate. The piston ends of the first conveyor cylinder and the second conveyor cylinder are connected and fixed to the second conveyor shaft through the conveyor cylinder connector; the inner surface of the second frame plate is also provided with a prepreg tape cutting mechanism, which includes a punching cylinder and a cutter connected to the piston end of the punching cylinder.

[0007] Preferably, the yarn guiding mechanism includes a guide groove and a second disc motor. The rotating rod of the guide groove is rotatably connected to the inner surface of the first frame plate. The second disc motor, fixed on the first frame plate, is splinedly connected to the rotating rod of the guide groove. The infrared heating device includes a third disc motor, a fourth disc motor, a cylinder frame, an infrared small rotating gear, a small gear positioning shaft, an infrared large rotating gear, a large gear positioning shaft, a first rotation drive shaft, a second rotation drive shaft, an infrared base, an infrared heater, a first rotation bevel gear, a second rotation bevel gear, a roller positioning shaft, a silicone rubber outer ring roller, and a metal inner ring roller. The third disc motor is fixed by the cylinder frame set on the outer surface of the second frame plate. The first rotation drive shaft is parallel to the second frame plate and connected to the third disc motor via a spline. The first rotation drive shaft and the second rotation drive shaft are connected by a universal coupling. The large gear positioning shaft is connected to the second frame plate via a rolling bearing. The infrared revolving gear is splined to the gear positioning shaft. The infrared base is fixed on the outer surface of the infrared revolving gear. The second rotation drive shaft can rotate within the through hole of the infrared base. The second rotation drive shaft is splined to the first rotation bevel gear. The infrared heater is fixedly connected to the rotating shaft of the second rotation bevel gear. The rotating shaft of the second rotation bevel gear is rotatably connected to the extension section of the infrared base. The first and second rotation bevel gears mesh and drive each other, forming a bevel gear set. The pinion positioning shaft is connected to the first and second frame plates through rolling bearings. The infrared revolving pinion is splined to the pinion positioning shaft. The fourth disc motor is splined to the pinion positioning shaft. The silicone rubber outer ring roller is splined to the metal inner ring roller. The metal inner ring roller is connected to the roller positioning shaft through rolling bearings. The roller positioning shaft is fixedly connected between the first and second frame plates.

[0008] Preferably, the radial telescopic mechanism of the guide wire head further includes a first radial telescopic cylinder, a second radial telescopic cylinder, a third radial telescopic cylinder, a fourth radial telescopic cylinder, a first linear slide rail, a second linear slide rail, a first linear slider, a second linear slider, a third linear slide rail, a fourth linear slide rail, a third linear slider, a fourth linear slider, a first gear transmission mechanism, and a first wheel frame; the first wheel frame is fixed to the second disc-shaped frame plate and coaxially arranged with the second disc-shaped frame plate; the first gear transmission mechanism includes a telescopic drive large gear, a first telescopic drive small gear, and a second telescopic drive small gear; the first telescopic drive small gear is driven by a first motor mounted on the second disc-shaped frame plate; the first telescopic drive small gear meshes externally with the cylindrical gear portion of the telescopic drive large gear; the telescopic drive large gear is connected to the first wheel frame through a rotary support, and the end face gear portion of the telescopic drive large gear meshes externally with the second telescopic drive small gear; the second telescopic drive small gear is connected to the screw through a spline; multiple screws are arranged circumferentially at intervals. Each of the two cylinders points to the center of a virtual circle, and the center of the virtual circle is on the central axis of the first disc-shaped frame plate. The first and second radial telescopic cylinders are fixed to the outer surface of the first disc-shaped frame plate and their piston ends are connected to the slider connecting plate. The first and second linear sliders are both fixed to the lead screw nut. The first and second linear sliders are slidably connected to the first and second linear slide rails on the first disc-shaped frame plate, respectively. The third and fourth linear sliders are slidably connected to the third and fourth linear slide rails at the lower end of the through-pipe connecting plate, respectively. The first and second frame plates are fixedly connected to the third and fourth linear sliders, respectively. The first radial telescopic cylinder connecting plate on the first frame plate is connected to the piston end of the third radial telescopic cylinder. The second radial telescopic cylinder connecting plate on the second frame plate is connected to the piston end of the fourth radial telescopic cylinder. The third and fourth radial telescopic cylinders are fixed to the vertical plate at the lower end of the through-pipe connecting plate.

[0009] Preferably, the yarn roll is rotatably connected to the outer surface of the second disc-shaped frame plate. The yarn roll is driven by a damping motor to output the prepreg tape. The first disc-shaped frame plate and the second disc-shaped frame plate are also provided with rollers for assisting the transmission and guidance of the prepreg tape. The prepreg tape passes around the rollers, passes through the guide tube, and reaches the guide head assembly.

[0010] Preferably, the guide wire spin mechanism includes a second wheel frame and a second gear transmission mechanism. The second wheel frame is fixed to the first disc-shaped frame plate and coaxially arranged with the first disc-shaped frame plate. The second gear transmission mechanism mounted on the second wheel frame is used to drive the guide wire tube to perform spin motion. The second gear transmission mechanism includes a second rotating shaft, a large rotating drive gear, a first rotating drive pinion, and a second rotating drive pinion. The first rotating drive pinion meshes externally with the cylindrical gear portion of the large rotating drive gear. The large rotating drive gear is connected to the second wheel frame through a rotary support. The second rotating drive pinion meshes externally with the end face gear portion of the large rotating drive gear. The second rotating drive pinion is connected and fixed to the guide wire tube through a spline. The first rotating drive pinion is connected to the second rotating shaft through a spline. The second rotating shaft is driven by a second motor mounted on the second disc-shaped frame plate.

[0011] Preferably, the placement component fixing mechanism includes a chuck, a pin table, a pin holder, a chuck drive assembly, and a pin table drive assembly. The chuck drive assembly is used to drive the chuck to rotate, and the chuck engages with the first end of the placement component. The pin table drive assembly is used to drive the pin holder and the pin table to move so that the pins on the pin table press against the second end of the placement component.

[0012] Preferably, the laying equipment moving mechanism includes a frame structure, a laying equipment connecting structure, and a moving drive mechanism; the laying equipment connecting structure is slidably connected to the frame structure, and the moving drive mechanism provided on the frame structure is used to drive the laying equipment connecting structure to slide along the axial direction of the chuck; the laying equipment connecting structure is used to connect the first disc-shaped frame plate and the second disc-shaped frame plate.

[0013] The present invention also provides a method for simultaneously laying multiple narrow bands in a circumferential distribution, comprising the following steps:

[0014] S1: Move the ejector pin holder to the highest position it can reach;

[0015] S2: The first motor drives the first telescopic drive pinion to rotate forward. The first telescopic drive pinion meshes with the telescopic drive large gear. The end gear portion of the telescopic drive large gear meshes with the second telescopic drive pinion. The second telescopic drive pinion drives the screw to rotate, thereby causing the lead screw nut to move away from the central axis of the first disc-shaped frame plate. The lead screw nut drives the slider connecting plate to move to the position furthest from the central axis of the first disc-shaped frame plate that the slider connecting plate can reach. The slider connecting plate drives the turntable and the guide wire tube to move to the position furthest from the central axis of the first disc-shaped frame plate that the turntable and the guide wire tube can reach. The guide wire tube then drives the guide wire head assembly to move to the position furthest from the central axis of the first disc-shaped frame plate that the guide wire head assembly can reach. At the same time, the piston rods of the first radial telescopic cylinder and the second radial telescopic cylinder retract with the slider connecting plate.

[0016] S3: The second motor drives the first rotary drive pinion to rotate. The first rotary drive pinion meshes with the rotary drive large gear for transmission. The end face gear part of the rotary drive large gear meshes with the second rotary drive pinion for transmission. The second rotary drive pinion drives the guide wire tube to rotate, so that the guide wire head assembly rotates to the initial position.

[0017] S4: Transport the part to be laid into the laying equipment, the chuck fixes one end of the part to be laid, and moves the ejector pin frame and ejector pin table to the preset position so that the ejector pins fix the other end of the part to be laid, thereby making the part to be laid coaxial with the first disc type frame plate and the second disc type frame plate.

[0018] S5: The laying equipment moving mechanism drives the first disc-shaped frame plate and the second disc-shaped frame plate to move to the end near the chuck;

[0019] S6: The first motor drives the first telescopic drive pinion to reverse, the first telescopic drive pinion meshes with the telescopic drive large gear, the end gear part of the telescopic drive large gear meshes with the second telescopic drive pinion, the drive screw rotates and causes the lead screw nut to move towards the central axis of the first disc-shaped frame plate, which in turn drives the slider connecting plate to move towards the central axis of the first disc-shaped frame plate, and then drives the guide wire tube and guide wire head assembly to move towards the central axis of the first disc-shaped frame plate, until the silicone rubber outer ring roller moves to a position tangent to the laid part;

[0020] S7: The prepreg tape passes around the roller, through the guide tube, and reaches the guide head assembly; the first and second transmission cylinders provide power to move the second transmission roller along the first and second slide bars, clamping the prepreg tape with the first transmission roller; the first disc motor provides power to rotate the first transmission roller around the first transmission shaft, providing downward movement power for the prepreg tape; the guide groove powered by the second disc motor drives the prepreg tape to be guided, so that the prepreg tape wraps around the silicone rubber outer ring roller;

[0021] S8: The fourth disc motor provides power to rotate the pinion positioning shaft, which in turn rotates the infrared orbital pinion. The infrared orbital pinion meshes with the infrared orbital large gear and rotates, thereby driving the infrared base to rotate and rotating the infrared heater to the corresponding position. The third disc motor provides power to rotate the first self-rotating drive shaft. The first self-rotating drive shaft drives the second self-rotating drive shaft to rotate through a universal coupling. The second self-rotating drive shaft, through a bevel gear set, ensures that the heating end of the infrared heater always irradiates the joint between the laid prepreg tape and the laid part.

[0022] S9: Drive the chuck to rotate the laid-out component;

[0023] S10: The moving drive mechanism drives the laying equipment connection structure to move to the other end of the laid part; at the start of laying, during the laying process, the first motor and the second motor are controlled to control the radial extension mechanism and the spin mechanism of the guide head, so that the guide head assembly adjusts its position and deflection angle according to the change of the outer contour of the laid part, and always keeps the silicone rubber outer ring roller in close contact with the laid part; at the same time, the third disc motor and the fourth disc motor operate so that the heating end of the infrared heater always irradiates the joint between the laid prepreg tape and the laid part;

[0024] S11: When the laying is finished, the moving drive mechanism and chuck drive assembly stop operating; the prepreg tape pressing cylinder pushes the pressing block to press the prepreg tape, and the breaking cylinder pushes the cutter to cut the prepreg tape; the first motor drives the guide head radial extension mechanism to return the guide head assembly to the position furthest from the center axis of the first disc frame plate that the guide head assembly can reach; the ejector pin table is retracted and detached from the laid part; then the ejector pin frame is moved to the highest position, the laid part is removed, the forward laying is completed, and then the equipment automatically returns to the initial state according to the set trajectory.

[0025] Preferably, if the laying direction needs to be changed to the reverse during the laying process, the following steps are performed: all motors stop operating, the prepreg tape clamping cylinder pushes the clamping block to clamp the prepreg tape; the cutting cylinder pushes the cutter to cut the prepreg tape; the first motor drives the guide head radial extension mechanism to move the guide head assembly a preset distance away from the central axis of the first disc-shaped frame plate; the operation of the fourth disc-shaped motor causes the infrared heater to rotate to the other end of the guide head assembly; the second disc-shaped motor drives the guide groove to rotate to the other side; the first motor drives the guide head radial extension mechanism to move the guide head radial extension mechanism to the other side. The telescopic mechanism moves the guide head assembly toward the central axis of the first disc-shaped frame plate until the silicone rubber outer ring roller is tangent to the workpiece being laid. The third disc-shaped motor provides power to rotate the first self-rotating drive shaft, which drives the second self-rotating drive shaft to rotate via a universal coupling. The second self-rotating drive shaft, through a bevel gear set, ensures that the heating end of the infrared heater always irradiates the joint between the laid prepreg tape and the workpiece. The prepreg tape clamping cylinder and the break-off cylinder reset, and all motors resume operation. The subsequent laying process is the same as the forward laying process.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] This invention introduces an adaptive infrared heating device and a semi-automatic yarn guiding mechanism based on the radial extension and rotation of the guide head assembly. The infrared heater, through the coordinated action of a disc motor and a rotating drive shaft, can dynamically adjust the heating angle according to changes in the workpiece shape and laying direction. This dynamic adjustment function ensures the uniformity and consistency of the heating effect, improving laying quality and efficiency. The yarn guiding mechanism is used to change the direction of the laid yarn during the laying process, achieving accurate control of the laying precision. This equipment features highly efficient automated laying, flexible adaptation to workpiece shape, precise control of the heating angle, and convenient laying direction switching, as well as unique features such as a reasonable gear transmission system, the fine-tuning function of the radial extension cylinder, the dynamic adjustment of the infrared heater, and a highly integrated automated control system. This invention has a total of eight laying heads, each laying one prepreg tape. Each tape is 25.4 mm wide, and the total laying width is 8 mm. 25.4mm. These technical advantages and unique features give this equipment significant advantages and broad application prospects in the field of automated laying. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a top view of the present invention;

[0031] Figure 3 This is a front view of the present invention;

[0032] Figure 4 This is a side view of the present invention;

[0033] Figure 5 This is a schematic diagram from the outer view of the second disc-shaped frame plate;

[0034] Figure 6 yes Figure 3 A magnified view of a section at point B in the middle;

[0035] Figure 7 yes Figure 2 A magnified view of a section at point C;

[0036] Figure 8 This is a structural diagram of the ejector pin stage drive assembly;

[0037] Figure 9 This is a structural diagram of the chuck drive assembly;

[0038] Figure 10 yes Figure 9 Internal structure diagram;

[0039] Figure 11 This is a structural diagram of the guide wire assembly (first-person view).

[0040] Figure 12 This is a structural diagram of the guide wire head assembly (second view).

[0041] Figure 13 yes Figure 11 A schematic diagram of the rear structure;

[0042] Figure 14 yes Figure 5 A magnified view of a section at point G in the middle;

[0043] Figure 15 yes Figure 4 A magnified view of a section at point H in the middle;

[0044] Figure 16 This is a schematic diagram of the structure of the inner surface of the second frame plate;

[0045] Figure 17 yes Figure 7 A magnified view of a section at point K;

[0046] Figure 18 yes Figure 2 Axonometric view of plane M along the central axis;

[0047] Figure 19 yes Figure 18 A magnified view of a section at point L;

[0048] Figure 20 This is a rear-view perspective of the present invention;

[0049] Figure 21 yes Figure 20 A magnified view of a portion of point N in the middle;

[0050] Figure 22 This is a schematic diagram of the installation structure of the second wheel frame and the first disc-shaped frame plate of the present invention;

[0051] Figure 23 This is a schematic diagram of the structure of the inner surface of the first frame plate of the present invention;

[0052] Figure 24 This is a schematic diagram of the internal structure of the first and second transmission rollers of the present invention;

[0053] Figure 25This is a partial structural diagram of the invention, which is installed on the first pulley base and the second pulley base.

[0054] Figure 26 yes Figure 25 Enlarged view of point P in the middle;

[0055] Figure 27 This is a schematic diagram of the overall structure when the upper beams of the first and second uprights are removed in this invention.

[0056] Figure 28 This is a schematic diagram of the connection structure at the infrared heating device in this invention.

[0057] In the figure, 1-guide wire head assembly; 2-guide wire head spin mechanism; 3-guide wire head radial telescopic mechanism; 4-layout component fixing mechanism; 5-layout equipment moving mechanism; 101-first frame plate; 102-second frame plate; 103-first radial telescopic cylinder connecting plate; 104-prepreg tape clamping cylinder; 105-clamping block; 106-first transfer roller; 107-second transfer roller; 108-first transfer shaft; 109-second transfer shaft; 110-first slide bar; 111-second slide bar; 112-slide bar mounting seat; 113-first transfer cylinder; 114-second transfer cylinder; 115-transfer cylinder connecting piece; 117-cutting tool; 118-breaking cylinder; 119-guide groove; 120-first disc motor; 121-Second disc motor; 122-Third disc motor; 123-Fourth disc motor; 124-Cylinder frame; 125-Infrared revolving pinion; 126-Pinion positioning shaft; 127-Infrared revolving large gear; 128-Large gear positioning shaft; 129-First rotation drive shaft; 130-Second rotation drive shaft; 131-Infrared base; 132-Infrared heater; 133-First rotation bevel gear; 134-Second rotation bevel gear; 135-Roller positioning shaft; 136-Silicone rubber outer ring roller; 137-Metal inner ring roller; 138-Second radial telescopic cylinder connecting plate; 201-Second wheel frame; 202-Second motor frame; 203-Second motor; 204-Second rotating shaft; 205-Rotating drive 206-First rotary drive pinion; 207-Second rotary drive pinion; 301-First disc-shaped frame plate; 302-Second disc-shaped frame plate; 303-First radial telescopic cylinder; 304-Second radial telescopic cylinder; 305-Third radial telescopic cylinder; 306-Fourth radial telescopic cylinder; 307-First two-stud vertical bearing seat; 308-Second two-stud vertical bearing seat; 309-First linear slide rail; 310-Second linear slide rail; 311-First linear slider; 312-Second linear slider; 313-Screw; 314-Screw nut; 315-Slider connecting plate; 316-Turntable; 317-Guide wire tube; 318-Tube connecting plate; 319-Third linear slide rail; 32 0-Fourth linear slide rail; 321-Third linear slider; 322-Fourth linear slider; 323-First damping motor; 324-Second damping motor; 325-First yarn roll; 326-Second yarn roll; 327-First roller frame; 328-Second roller frame; 329-Third roller frame; 330-Fourth roller frame; 331-Fifth roller frame; 332-Sixth roller frame; 333-First roller; 334-Second roller; 335-Third roller; 336-First motor frame; 337-First motor; 338-First rotating shaft; 339-Telescopic drive large gear; 340-First telescopic drive small gear; 341-First wheel frame; 342-Second telescopic drive small gear; 401-First ejector pin frame lifting motor;402-Second ejector pin holder lifting motor; 403-First lifting screw; 404-Second lifting screw; 405-Ejector pin holder; 406-First lifting guide rail; 407-Second lifting guide rail; 408-Third lifting guide rail; 409-Fourth lifting guide rail; 410-Ejector pin holder telescopic motor; 411-Telescopic screw; 412-First telescopic guide rail; 413-Second telescopic guide rail; 414-Third telescopic guide rail; 415-Ejector pin table; 416-The 417-Second telescopic slider; 418-Third telescopic slider; 419-Fourth telescopic slider; 420-Fifth telescopic slider; 421-Chuck frame; 422-Chuck motor; 423-Chuck large pulley; 424-Chuck small pulley; 425-First chuck drive shaft; 426-Second chuck drive shaft; 427-Chuck pulley belt; 428-Chuck; 501-First pulley base; 502-Second pulley base; 503-First... Upright frame; 504-Second upright frame; 505-First pulley drive motor; 506-Second pulley drive motor; 507-First pulley; 508-Second pulley; 509-Third pulley; 510-Fourth pulley; 511-First pulley shaft; 512-Second pulley shaft; 513-Third pulley shaft; 514-Fourth pulley shaft; 515-First belt; 516-Second belt; 517-First sliding bearing guide rail; 518-Second sliding bearing Guide rail; 519-Third sliding bearing guide rail; 520-Fourth sliding bearing guide rail; 521-First sliding slider; 522-Second sliding slider; 523-First lower support plate; 524-Second lower support plate; 525-First upper support plate; 526-Second upper support plate; 527-Fifth sliding bearing guide rail; 528-Sixth sliding bearing guide rail; 529-Seventh sliding bearing guide rail; 530-Eighth sliding bearing guide rail; 531-Toothed clamp. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0060] This invention provides an embodiment:

[0061] like Figures 1 to 28 As shown, a circumferentially distributed multi-narrow strip simultaneous laying equipment includes a guide head assembly 1, a guide head spin mechanism 2, a guide head radial telescopic mechanism 3, a laid component fixing mechanism 4, and a laying equipment moving mechanism 5.

[0062] The radial telescopic mechanism 3 for the guide wire head includes a first disc-shaped frame plate 301, a second disc-shaped frame plate 302, a screw 313, a lead screw nut 314, a slider connecting plate 315, a turntable 316, a guide wire tube 317, and a tube connecting plate 318. The first disc-shaped frame plate 301 and the second disc-shaped frame plate 302 are coaxially arranged. Multiple screws 313 are rotatably connected to the first disc-shaped frame plate 301 at intervals around it. The screws 313 are rotatably connected to the first and second studded vertical bearing seats 307 and 308 on the first disc-shaped frame plate 301. The synchronous rotation of all screws 313 is achieved through a first gear transmission mechanism. The lead screw nut 314 is threaded onto the screw 313. The turntable 316 is fixed to the lead screw nut 314 through the slider connecting plate 315. The end of the guide tube 317 is rotatably connected to the turntable 316. The radial position of the guide tube 317 is adjusted by the rotation of the screw 313. The tube connecting plate 318 is connected to the front of the guide tube 317 and is slidably connected to the guide head assembly 1. The guide head spin mechanism 2 is used to drive the guide tube 317 to achieve spin motion. The guide tube 317 and the guide head assembly 1 are one-to-one. The guide head assembly 1 includes an infrared heating device, a yarn guiding mechanism and a prepreg tape pressing mechanism. The prepreg tape pressing mechanism is used to clamp the prepreg tape coming out of the guide tube 317. The yarn guiding mechanism is used to guide the prepreg tape coming out of the prepreg tape pressing mechanism. The heating end of the infrared heating device is used to irradiate the joint between the laid prepreg tape and the laid part.

[0063] The placement component fixing mechanism 4 is used to clamp the placement component while driving it to rotate; the placement equipment moving mechanism 5 is used to drive the first disc-shaped frame plate 301 and the second disc-shaped frame plate 302 to slide along the axial direction of the placement component.

[0064] In this embodiment, the guide head assembly 1 further includes a first frame plate 101 and a second frame plate 102; the first frame plate 101 and the second frame plate 102 are arranged in parallel and are both slidably connected to the through pipe connecting plate 318; the prepreg tape pressing mechanism and the infrared heating device are both installed on the first frame plate 101 and the second frame plate 102; the yarn guiding mechanism is installed on the first frame plate 101; the prepreg tape pressing mechanism includes a prepreg tape pressing cylinder 104, a pressing block 105, a first transmission roller 106, a second transmission roller 107, a first transmission shaft 108, a second transmission shaft 109, and a sliding transmission... The components include: a prepreg tape clamping cylinder 104 fixed to the inner surface of the second frame plate 102, with a clamping block 105 fixed to the piston end; a first transfer roller 106 and a second transfer roller 107 rotatably connected between the first frame plate 101 and the second frame plate 102; and a space for clamping the prepreg tape formed between the first transfer roller 106 and the second transfer roller 107; a first transfer shaft 108 of the first transfer roller 106 driven by a first disc motor 120; and a second transfer shaft 109 of the second transfer roller 107 capable of moving closer to or further away from the first transfer roller 107 under the drive of the sliding transfer assembly. The prepreg tape moves in the direction of 6; after being guided, it wraps around the silicone rubber outer ring roller 136 installed in the middle of the bottom of the first frame plate 101 and the second frame plate 102; the sliding transmission assembly includes a first slide rod 110, a second slide rod 111, a slide rod mounting seat 112, a first transmission cylinder 113, a second transmission cylinder 114, and a transmission cylinder connector 115; the first slide rod 110 and the second slide rod 111 are respectively fixedly connected to the slide rod mounting seat 112 fixed on the first frame plate 101 and the second frame plate 102, and the two ends of the second transmission shaft 109 are respectively connected to the first slide rod 110 and the second slide rod. The second transmission shaft 109 is slidably connected to the first transmission cylinder 113 and the second transmission cylinder 114. The first transmission cylinder 113 and the second transmission cylinder 114 are respectively mounted on the first frame plate 101 and the second frame plate 102. The piston ends of the first transmission cylinder 113 and the second transmission cylinder 114 are connected and fixed to the second transmission shaft 109 through the transmission cylinder connector 115. The inner surface of the second frame plate 102 is also provided with a prepreg tape cutting mechanism, which includes a punching cylinder 118 and a cutter 117 connected to the piston end of the punching cylinder 118.

[0065] The yarn guiding mechanism includes a guide groove 119 and a second disc motor 121. The rotating rod of the guide groove 119 is rotatably connected to the inner surface of the first frame plate 101. The second disc motor 121, which is fixed on the first frame plate 101, is splinedly connected to the rotating rod of the guide groove 119.

[0066] The infrared heating device includes a third disc motor 122, a fourth disc motor 123, a cylinder frame 124, an infrared small rotating gear 125, a small gear positioning shaft 126, an infrared large rotating gear 127, a large gear positioning shaft 128, a first rotation drive shaft 129, a second rotation drive shaft 130, an infrared base 131, an infrared heater 132, a first rotation bevel gear 133, a second rotation bevel gear 134, a roller positioning shaft 135, a silicone rubber outer ring roller 136, and a metal inner ring roller 137; the third disc motor 122 is mounted on the second frame plate 102. The cylinder frame 124 on the outer surface is fixed. The first rotation drive shaft 129 is parallel to the second frame plate 102 and connected to the third disc motor 122 via a spline. The first rotation drive shaft 129 and the second rotation drive shaft 130 are connected via a universal coupling. The large gear positioning shaft 128 is connected to the second frame plate 102 via a rolling bearing. The infrared orbital large gear 127 is splined to the large gear positioning shaft 128. The infrared base 131 is fixed to the outer surface of the infrared orbital large gear 127. The second rotation drive shaft 130 can rotate within the through hole of the infrared base 131. The drive shaft 130 is connected to the first rotating bevel gear 133 via a spline. The diameter of the end of the second rotating drive shaft 130 near the first rotating bevel gear 133 is smaller than the diameter of the end away from the first rotating bevel gear 133. The infrared heater 132 is fixedly connected to the rotating shaft of the second rotating bevel gear 134. The rotating shaft of the second rotating bevel gear 134 is rotatably connected to the extension of the infrared base 131 via a bearing. The extension of the infrared base 131 is perpendicular to the body of the infrared base 131. The first rotating bevel gear 133 and the second rotating bevel gear 134 mesh and drive each other. The rotating bevel gear 133 and the second self-rotating bevel gear 134 form a bevel gear set. The pinion positioning shaft 126 is connected to the first frame plate 101 and the second frame plate 102 through rolling bearings. The infrared revolving pinion 125 is splined to the pinion positioning shaft 126. The fourth disc motor 123 is splined to the pinion positioning shaft 126. The silicone rubber outer ring roller 136 is splined to the metal inner ring roller 137. The metal inner ring roller 137 is connected to the roller positioning shaft 135 through rolling bearings. The roller positioning shaft 135 is fixedly connected between the first frame plate 101 and the second frame plate 102.

[0067] In this embodiment, the guide wire head spinning mechanism 2 includes a second wheel frame 201 and a second gear transmission mechanism. The second wheel frame 201 is fixed on the first disc-shaped frame plate 301 and coaxially arranged with the first disc-shaped frame plate 301. The second gear transmission mechanism installed on the second wheel frame 201 is used to drive the guide wire tube 317 to perform a spinning motion. The second gear transmission mechanism includes a second rotating shaft 204, a large rotating drive gear 205, a first rotating drive pinion 206, and a second rotating drive pinion 207. The first rotating drive pinion 206 and the large rotating drive gear... The cylindrical gear portion of 205 is externally meshed. The large rotary drive gear 205 is connected to the second wheel frame 201 through a slewing support. The second rotary drive pinion 207 is externally meshed with the end face gear portion of the large rotary drive gear 205. The second rotary drive pinion 207 is connected and fixed to the guide wire tube 317 through a spline. The first rotary drive pinion 206 is connected to the second rotary shaft 204 through a spline. The second rotary shaft 204 is driven by the second motor 203. The second motor 203 is mounted on the second disc-shaped frame plate 302 through the second motor frame 202.

[0068] In this embodiment, the radial telescopic mechanism 3 of the guide wire head further includes a first radial telescopic cylinder 303, a second radial telescopic cylinder 304, a third radial telescopic cylinder 305, a fourth radial telescopic cylinder 306, a first linear slide rail 309, a second linear slide rail 310, a first linear slider 311, a second linear slider 312, a third linear slide rail 319, a fourth linear slide rail 320, a third linear slider 321, a fourth linear slider 322, a first gear transmission mechanism, and a first wheel frame 341;

[0069] The first wheel frame 341 is fixed on the second disc-shaped frame plate 302 and coaxially arranged with the second disc-shaped frame plate 302. The first gear transmission mechanism includes a telescopic drive large gear 339, a first telescopic drive small gear 340, and a second telescopic drive small gear 342. The first telescopic drive small gear 340 is driven by a first motor 337 mounted on the second disc-shaped frame plate 302. The first telescopic drive small gear 340 meshes externally with the cylindrical gear portion of the telescopic drive large gear 339. The telescopic drive large gear 339 is connected to the first wheel frame 341 through a rotary support, and the end face gear portion of the telescopic drive large gear 339 meshes externally with the second telescopic drive small gear 342. The second telescopic drive small gear 342 is connected to the screw 313 through a spline. Multiple screws 313 are arranged circumferentially at intervals, and one end of each screw points to the center of a virtual circle, and the center of the virtual circle is on the central axis of the first disc-shaped frame plate 301.

[0070] The first radial telescopic cylinder 303 and the second radial telescopic cylinder 304 are fixed to the outer surface of the first disc-shaped frame plate 301 and their piston ends are connected to the slider connecting plate 315. The first linear slider 311 and the second linear slider 312 are both fixed to the lead screw nut 314. The first linear slider 311 and the second linear slider 312 are slidably connected to the first linear slide rail 309 and the second linear slide rail 310 on the first disc-shaped frame plate 301, respectively. The third linear slider 321 and the fourth linear slider 322 are slidably connected to the third linear slide rail at the lower end of the through pipe connecting plate 318, respectively. On 319 and the fourth linear slide rail 320, the first frame plate 101 and the second frame plate 102 are fixedly connected to the third linear slider 321 and the fourth linear slider 322, respectively. The first radial telescopic cylinder connecting plate 103 on the first frame plate 101 is connected to the piston end of the third radial telescopic cylinder 305. The second radial telescopic cylinder connecting plate 138 on the second frame plate 102 is connected to the piston end of the fourth radial telescopic cylinder 306. The third radial telescopic cylinder 305 and the fourth radial telescopic cylinder 306 are fixed on the vertical plate at the lower end of the through pipe connecting plate 318.

[0071] The yarn roll is rotatably connected to the outer surface of the second disc-shaped frame plate 302. The yarn roll is driven by a damping motor to output the prepreg tape. The first disc-shaped frame plate 301 and the second disc-shaped frame plate 302 are also provided with rollers for assisting in the transmission and guidance of the prepreg tape. The prepreg tape passes around the rollers, through the guide tube 317, and reaches the guide head assembly 1. Specifically, the guide head radial extension mechanism 3 also includes a first damping motor 323, a second damping motor 324, a first yarn roll 325, a second yarn roll 326, a first roller shaft frame 327, a second roller shaft frame 328, a third roller shaft frame 329, a fourth roller shaft frame 330, a fifth roller shaft frame 331, a sixth roller shaft frame 332, a first roller 333, a second roller 334, and a third roller 335; the first damping motor 323 and the second damping motor 324 are fixed to the second disc-shaped frame plate 302. The inner surface of 02 is connected to the first yarn roll 325 and the second yarn roll 326 respectively. The first roller frame 327, the second roller frame 328, the third roller frame 329, the fourth roller frame 330, the fifth roller frame 331, and the sixth roller frame 332 are respectively fixed on the first disc frame plate 301 and the second disc frame plate 302. The first roller 333, the second roller 334, and the third roller 335 are respectively mounted on the corresponding roller frame through rolling bearings to assist in the transmission and guidance of the prepreg belt.

[0072] In this embodiment, the laying component fixing mechanism 4 includes a chuck 428, a pin stage 415, a pin holder 405, a chuck drive assembly, and a pin stage drive assembly. The chuck drive assembly is used to drive the chuck 428 to rotate, and the chuck 428 engages with the first end of the laying component. The pin stage drive assembly is used to drive the pin holder 405 and the pin stage 415 to move so that the pins on the pin stage 415 are pressed against the second end of the laying component. Specifically, the chuck drive assembly of the placement component fixing mechanism 4 includes a chuck frame 421, a chuck motor 422, a large chuck pulley 423, a small chuck pulley 424, a first chuck drive shaft 425, a second chuck drive shaft 426, and a chuck belt 427. The chuck frame 421 is located on the outer side of the outer surface of the first disc-shaped frame plate 301. The small chuck pulley 424 is connected and fixed to the first chuck drive shaft 425 via a spline. The second chuck drive shaft 426 is connected to the chuck frame 421 via a bearing. The large chuck pulley 423 is connected and fixed to the second chuck drive shaft 426 via a spline. The chuck 428 is connected to the second chuck drive shaft 426. The first chuck drive shaft 425 is driven by the chuck motor 422 mounted on the chuck frame 421. The small chuck pulley 424 and the large chuck pulley 423 are driven by the chuck belt 427.

[0073] The ejector plate drive assembly includes a first ejector frame lifting motor 401, a second ejector frame lifting motor 402, a first lifting lead screw 403, a second lifting lead screw 404, a first lifting guide rail 406, a second lifting guide rail 407, a third lifting guide rail 408, a fourth lifting guide rail 409, an ejector frame telescopic motor 410, a telescopic lead screw 411, a first telescopic guide rail 412, a second telescopic guide rail 413, a third telescopic guide rail 414, a first telescopic slider 416, a second telescopic slider 417, a third telescopic slider 418, a fourth telescopic slider 419, and a fifth telescopic slider 420; the first ejector frame lifting... The lowering motor 401 and the second ejector pin frame lifting motor 402 are respectively connected and fixed to the first upright 503 and the second upright 504 of the frame structure of the laying equipment moving mechanism 5. The lower end of the first lifting screw 403 is connected and fixed to the first ejector pin frame lifting motor 401 through a coupling, and the upper end is connected to the first upright 503 through a rolling bearing. The lower end of the second lifting screw 404 is connected and fixed to the second ejector pin frame lifting motor 402 through a coupling, and the upper end is connected to the second upright 504 through a rolling bearing. The first lifting guide rail 406 and the second lifting guide rail 407 are connected and fixed to the first upright 503, and the third lifting guide rail... 408. The fourth lifting guide rail 409 is fixedly connected to the second upright 504; the four corners of the ejector pin frame 405 are slidably connected to the first lifting guide rail 406, the second lifting guide rail 407, the third lifting guide rail 408, and the fourth lifting guide rail 409 respectively, and the two ends of the ejector pin frame 405 are threadedly connected to the first lifting screw 403 and the second lifting screw 404 respectively; the ejector pin frame telescopic motor 410 is fixedly connected to the ejector pin frame 405, and the telescopic screw 411 is connected to the ejector pin frame telescopic motor 410 through a coupling; the first telescopic guide rail 412, the second telescopic guide rail 413, and the third telescopic guide rail 414 are all connected to the ejector pin. The frame 405 is connected and fixed. The first telescopic slider 416 is connected and fixed to the ejector plate 415. The first telescopic slider 416 is slidably connected to the second telescopic guide rail 413. At the same time, the first telescopic slider 416 is threadedly connected to the telescopic lead screw 411. The second telescopic slider 417 and the third telescopic slider 418 are slidably connected to the first telescopic guide rail 412. The fourth telescopic slider 419 and the fifth telescopic slider 420 are slidably connected to the third telescopic guide rail 414. The four ends of the ejector plate 415 are respectively connected and fixed to the second telescopic slider 417, the third telescopic slider 418, the fourth telescopic slider 419 and the fifth telescopic slider 420.

[0074] In this embodiment, the laying equipment moving mechanism 5 includes a frame structure, a laying equipment connecting structure, and a moving drive mechanism. The laying equipment connecting structure is slidably connected to the frame structure. The moving drive mechanism, located on the frame structure, drives the laying equipment connecting structure to slide along the axial direction of the chuck 428. The laying equipment connecting structure connects the first disc-shaped frame plate 301 and the second disc-shaped frame plate 302. Specifically, the frame structure of the laying equipment moving mechanism 5 includes a first pulley base 501, a second pulley base 502, a first upright 503, and a second upright 504. The laying equipment connecting structure includes a first lower support plate 523, a second lower support plate 524, a first upper support plate 525, a second upper support plate 526, a first sliding bearing guide rail 517, a second sliding bearing guide rail 518, a third sliding bearing guide rail 519, a fourth sliding bearing guide rail 520, a first sliding slider 521, and a second sliding slider 52. 2. Fifth sliding bearing guide rail 527, sixth sliding bearing guide rail 528, seventh sliding bearing guide rail 529 and eighth sliding bearing guide rail 530; the moving drive mechanism includes a first pulley drive motor 505, a second pulley drive motor 506, a first pulley 507, a second pulley 508, a third pulley 509, a fourth pulley 510, a first pulley shaft 511, a second pulley shaft 512, a third pulley shaft 513, a fourth pulley shaft 514, a first belt 515 and a second belt 516, and a toothed clamp 531;

[0075] The first pulley base 501 and the second pulley base 502 serve as the basic support for the entire mechanism. The first pulley shaft 511 and the second pulley shaft 512 are connected to the first pulley base 501 through sliding bearings. The third pulley shaft 513 and the fourth pulley shaft 514 are connected to the second pulley base 502 through sliding bearings. The first pulley shaft 511 is driven by the first pulley drive motor 505 mounted on the first pulley base 501. The third pulley shaft 513 is driven by the second pulley drive motor 506 mounted on the second pulley base 502. The first pulley 507, the second pulley 508, the third pulley 509, and the fourth pulley 510 are respectively connected to the corresponding pulley shafts through splines. The first pulley 507 and the second pulley 508 are driven by the first belt 515 through toothed meshing. The third pulley 509 and the fourth pulley 510 are driven by the second belt 516 through toothed meshing.

[0076] The first sliding bearing guide rail 517 and the second sliding bearing guide rail 518 are fixed on the first pulley base 501. The third sliding bearing guide rail 519 and the fourth sliding bearing guide rail 520 are fixed on the second pulley base 502. The first sliding slider 521 is slidably connected to the parallel first sliding bearing guide rail 517 and the second sliding bearing guide rail 518. The second sliding slider 522 is slidably connected to the parallel third sliding bearing guide rail 519 and the fourth sliding bearing guide rail 520. The first lower support plate 523 and the second lower support plate 524 are respectively fixedly connected to the lower part of the outer surface of the second disc frame plate 302 and the first disc frame plate 301. The lower ends of the first lower support plate 523 and the second lower support plate 524 are both fixedly connected to the first sliding slider 521 and the second sliding slider 522. The first sliding slider 521 and the second sliding slider 522 are respectively fixedly connected to the first belt 515 and the second belt 516.

[0077] The upper part of the first upright 503 is fixed with a fifth sliding bearing guide rail 527 and a sixth sliding bearing guide rail 528, and the first upper support plate 525 is slidably connected to the fifth sliding bearing guide rail 527 and the sixth sliding bearing guide rail 528; the upper part of the second upright 504 is fixed with a seventh sliding bearing guide rail 529 and an eighth sliding bearing guide rail 530, and the second upper support plate 526 is slidably connected to the seventh sliding bearing guide rail 529 and the eighth sliding bearing guide rail 530; a set of clamping surfaces of the first upper support plate 525 are respectively connected to the first disc-shaped frame plate 301 and the second disc-shaped frame plate 302, and a set of clamping surfaces of the second upper support plate 526 are respectively connected to the first disc-shaped frame plate 301 and the second disc-shaped frame plate 302.

[0078] The present invention also provides a method for simultaneously laying multiple narrow bands in a circumferential distribution, comprising the following steps:

[0079] S1: The ejector frame 405 is moved to the highest position that can be reached by the first ejector frame lifting motor 401 and the second ejector frame lifting motor 402.

[0080] S2: The first motor 337 drives the first telescopic drive pinion 340 to rotate forward. The first telescopic drive pinion 340 meshes with the telescopic drive large gear 339 for transmission. The end gear portion of the telescopic drive large gear 339 meshes with the second telescopic drive pinion 342 for transmission. The second telescopic drive pinion 342 drives the screw 313 to rotate, thereby causing the lead screw nut 314 to move away from the central axis of the first disc-shaped frame plate 301. The lead screw nut 314 drives the slider connecting plate 315 to move to the distance that the slider connecting plate 315 can reach. The slider connecting plate 315 drives the turntable 316 and the guide wire tube 317 to the position furthest from the central axis of the first disc-shaped frame plate 301 that the turntable 316 and the guide wire tube 317 can reach. The guide wire tube 317 then drives the guide wire head assembly 1 to the position furthest from the central axis of the first disc-shaped frame plate 301 that the guide wire head assembly 1 can reach. At the same time, the piston rods of the first radial telescopic cylinder 303 and the second radial telescopic cylinder 304 retract with the slider connecting plate 315.

[0081] S3: The second motor 203 drives the first rotary drive pinion 206 to rotate. The first rotary drive pinion 206 meshes with the rotary drive gear 205 for transmission. The end face gear part of the rotary drive gear 205 meshes with the second rotary drive pinion 207 for transmission. The second rotary drive pinion 207 drives the guide wire tube 317 to rotate, so that the guide wire head assembly 1 rotates to the initial position.

[0082] S4: The part to be laid is transported into the laying equipment. The chuck 428 fixes one end of the part to be laid. The first ejector pin frame lifting motor 401 and the second ejector pin frame lifting motor 402 move the ejector pin frame 405 to the preset position. At the same time, the ejector pin frame telescopic motor 410 inputs power to move the ejector pin table 415 to the preset position, so that the ejector pins fix the other end of the part to be laid, thereby making the part to be laid coaxial with the first disc-shaped frame plate 301 and the second disc-shaped frame plate 302.

[0083] S5: The first belt drive motor 505 drives the first belt 515 to rotate forward, and the second belt drive motor 506 drives the second belt 516 to rotate forward. The first belt 515 and the second belt 516 rotate forward synchronously, thereby causing the first sliding slider 521 and the second sliding slider 522 to move the first disc frame plate 301 and the second disc frame plate 302 to one end close to the chuck 428.

[0084] S6: The first motor 337 drives the first telescopic drive pinion 340 to reverse, and the first telescopic drive pinion 340 meshes with the telescopic drive large gear 339 for transmission. The end gear portion of the telescopic drive large gear 339 meshes with the second telescopic drive pinion 342 for transmission. The drive screw 313 rotates, causing the lead screw nut 314 to move towards the central axis of the first disc-shaped frame plate 301, which in turn drives the slider connecting plate 315 to move towards the central axis of the first disc-shaped frame plate 301. This, in turn, drives the wire guide tube 317 and the wire guide head assembly 1 to move towards the central axis of the first disc-shaped frame plate 301 until the silicone rubber outer ring roller 136 moves to a position tangent to the laid part. During this descent process, the first radial telescopic cylinder 303 and the second radial telescopic cylinder 304 provide power to finely adjust the descent distance and provide clamping force.

[0085] S7: The first yarn roll 325 is driven by the first damping motor 323. The prepreg tape passes around the first roller 333, the second roller 334, and the third roller 335, and passes through the guide tube 317 to reach the guide head assembly 1. The first transmission cylinder 113 and the second transmission cylinder 114 provide power to make the second transmission roller 107 move along the first slide bar 110 and the second slide bar 111, clamping the prepreg tape with the first transmission roller 106. The first disc motor 120 provides power to make the first transmission roller 106 rotate around the first transmission shaft 108, providing power for the prepreg tape to move downward. The guide groove 119, powered by the second disc motor 121, drives the prepreg tape to be guided, so that the prepreg tape wraps around the silicone rubber outer ring roller 136.

[0086] S8: The fourth disc motor 123 provides power to rotate the pinion positioning shaft 126, which in turn rotates the infrared orbital pinion 125. The infrared orbital pinion 125 meshes with the infrared orbital gear 127 and rotates, which in turn drives the infrared base 131 to rotate, rotating the infrared heater 132 to the corresponding position. The third disc motor 122 provides power to rotate the first self-rotating drive shaft 129. The first self-rotating drive shaft 129 drives the second self-rotating drive shaft 130 to rotate through a universal coupling. The second self-rotating drive shaft 130, through a bevel gear set, causes the heating end of the infrared heater 132 to irradiate the joint between the prepreg tape and the laid part.

[0087] S9: The chuck motor 422 provides power, which drives the first chuck drive shaft 425 to rotate through the coupling, thereby driving the small chuck pulley 424 to rotate. Through the belt drive, the large chuck pulley 423 rotates, thereby driving the second chuck drive shaft 426 to rotate, which in turn drives the chuck 428 to rotate the laid-out part.

[0088] S10: The first belt drive motor 505 drives the first belt 515 to reverse, and the second belt drive motor 506 drives the second belt 516 to reverse. The first belt 515 and the second belt 516 reverse synchronously, thereby causing the first sliding slider 521 and the second sliding slider 522 to move the first disc frame plate 301 and the second disc frame plate 302 toward the other end of the laid part. At the start of the laying process, the first motor 337 and the second motor 203 are controlled to control the radial extension mechanism 3 of the guide head and the spin mechanism 2 of the guide head, so that the guide head assembly 1 adjusts its position and deflection angle according to the change of the outer contour of the laid part, and always keeps the silicone rubber outer ring roller 136 in close contact with the laid part. At the same time, the third disc motor 122 and the fourth disc motor 123 operate so that the heating end of the infrared heater 132 always irradiates the joint between the laid prepreg tape and the laid part.

[0089] S11: When the laying is finished, the first pulley drive motor 505, the second pulley drive motor 506, and the chuck motor 422 stop operating; the prepreg tape pressing cylinder 104 pushes the pressing block 105 to press the prepreg tape, and the breaking cylinder 118 pushes the cutter 117 to cut the prepreg tape; the first motor 337 drives the guide head radial telescopic mechanism 3 to return the guide head assembly 1 to the position furthest from the central axis of the first disc frame plate 301 that the guide head assembly 1 can reach; the needle frame telescopic motor 410 inputs power to retract the pin table 415 and detach it from the laid part; the first pin frame lifting motor 401 and the second pin frame lifting motor 402 input power to move the pin frame 405 to the highest position, remove the laid part, and the forward laying is completed. Then the equipment automatically returns to the initial state according to the set trajectory.

[0090] In this embodiment, if the laying direction needs to be changed to the reverse during the laying process, the following steps are performed: all motors stop operating, the prepreg tape pressing cylinder 104 pushes the pressing block 105 to press the prepreg tape; the cutting cylinder 118 pushes the cutter 117 to cut the prepreg tape; the first motor 337 drives the guide head radial telescopic mechanism 3 to move the guide head assembly 1 a preset distance away from the central axis of the first disc-shaped frame plate 301; the operation of the fourth disc-shaped motor 123 causes the infrared heater 132 to rotate to the other end of the guide head assembly 1; the second disc-shaped motor 121 drives the guide groove 119 to rotate to the other side;

[0091] The first motor 337 drives the radial telescopic mechanism 3 of the guide head to move the guide head assembly 1 toward the central axis of the first disc-shaped frame plate 301 until the silicone rubber outer ring roller 136 is tangent to the part to be laid. The third disc-shaped motor 122 provides power to rotate the first self-rotating drive shaft 129. The first self-rotating drive shaft 129 drives the second self-rotating drive shaft 130 to rotate through a universal coupling. The second self-rotating drive shaft 130, through a bevel gear set, ensures that the heating end of the infrared heater 132 always irradiates the joint between the laid prepreg tape and the part to be laid. The prepreg tape pressing cylinder 104 and the breaking cylinder 118 are reset, and all motors resume operation. The subsequent laying process is the same as the forward laying process.

[0092] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A simultaneous circularly distributed multi-narrowband placement apparatus, comprising: It includes a guide wire head assembly (1), a guide wire head spin mechanism (2), a guide wire head radial telescopic mechanism (3), a laid-up component fixing mechanism (4), and a laying equipment moving mechanism (5). The radial telescopic mechanism (3) of the guide wire head includes a first disc-shaped frame plate (301), a second disc-shaped frame plate (302), a screw (313), a lead screw nut (314), a slider connecting plate (315), a turntable (316), a guide wire tube (317), and a tube connecting plate (318); the first disc-shaped frame plate (301) and the second disc-shaped frame plate (302) are coaxially arranged, and multiple screws (313) are circumferentially spaced and rotatably connected to the first disc-shaped frame plate (301). The synchronous rotation of all screws (313) is achieved through a first gear transmission mechanism; the screw (313) 13) A screw nut (314) is threaded on the top. The turntable (316) is fixedly connected to the screw nut (314) via a slider connecting plate (315). The end of the guide wire tube (317) is rotatably connected to the turntable (316). The radial position of the guide wire tube (317) is adjusted by rotating the screw (313). The tube connecting plate (318) is connected to the front of the guide wire tube (317). The tube connecting plate (318) is slidably connected to the guide wire head assembly (1). The guide wire head self-rotation mechanism (2) is used to drive the guide wire tube (317) to achieve self-rotation. The guide tube (317) corresponds one-to-one with the guide head assembly (1); the guide head assembly (1) includes an infrared heating device, a yarn guiding mechanism and a prepreg tape clamping mechanism. The prepreg tape clamping mechanism is used to clamp the prepreg tape coming out of the guide tube (317), the yarn guiding mechanism is used to guide the prepreg tape coming out of the prepreg tape clamping mechanism, and the heating end of the infrared heating device is used to irradiate the joint between the laid prepreg tape and the laid piece. The yarn guide assembly (1) also includes a first frame plate (101) and a second frame plate (102); the first frame plate (101) and the second frame plate (102) are arranged in parallel and are slidably connected to the tube connecting plate (318); the prepreg tape pressing mechanism and the infrared heating device are both installed on the first frame plate (101) and the second frame plate (102); and the yarn guiding mechanism is installed on the first frame plate (101). The prepreg tape pressing mechanism includes a prepreg tape pressing cylinder (104), a pressing block (105), a first transmission roller (106), a second transmission roller (107), a first transmission shaft (108), a second transmission shaft (109), and a sliding transmission assembly; the prepreg tape pressing cylinder (104) is fixed to the inner surface of the second frame plate (102), and the piston end is fixed with the pressing block (105); the first transmission roller (106) and the second transmission roller (107) are rotatably connected to the first frame plate (101) and the second frame plate (109). Between 102), and between the first transfer roller (106) and the second transfer roller (107), a space is formed for clamping the prepreg tape. The first transfer shaft (108) of the first transfer roller (106) is driven by a first disc motor (120), and the second transfer shaft (109) of the second transfer roller (107) can move in a direction close to or away from the first transfer roller (106) under the drive of the sliding transfer assembly. The prepreg tape is guided and then wound around the first frame plate (101) and the second frame plate (102). The bottom center features a silicone rubber outer ring roller (136); the sliding transmission assembly includes a first slide rod (110), a second slide rod (111), a slide rod mounting base (112), a first transmission cylinder (113), a second transmission cylinder (114), and a transmission cylinder connector (115); the first slide rod (110) and the second slide rod (111) are respectively fixedly connected to the slide rod mounting base (112) on the first frame plate (101) and the second frame plate (102), and the two ends of the second transmission shaft (109) are respectively connected to... The first slide rod (110) and the second slide rod (111) are slidably connected. The second transmission shaft (109) is driven by the first transmission cylinder (113) and the second transmission cylinder (114). The first transmission cylinder (113) and the second transmission cylinder (114) are respectively installed on the first frame plate (101) and the second frame plate (102). The piston ends of the first transmission cylinder (113) and the second transmission cylinder (114) are connected and fixed to the second transmission shaft (109) through the transmission cylinder connector (115). The inner surface of the second frame plate (102) is also provided with a prepreg tape cutting mechanism, which includes a punching cylinder (118) and a cutter (117) connected to the piston end of the punching cylinder (118). The laying component fixing mechanism (4) is used to clamp the laying component while driving the laying component to rotate. The laying equipment moving mechanism (5) is used to drive the first disc-shaped frame plate (301) and the second disc-shaped frame plate (302) to slide along the axial direction of the laid item.

2. A simultaneous circularly distributed multi-narrow strip placement apparatus according to claim 1, wherein: The yarn guiding mechanism includes a guide groove (119) and a second disc motor (121). The rotating rod of the guide groove (119) is rotatably connected to the inner surface of the first frame plate (101). The second disc motor (121) fixed on the first frame plate (101) is splinedly connected to the rotating rod of the guide groove (119). The infrared heating device includes a third disc motor (122), a fourth disc motor (123), a cylinder frame (124), an infrared orbital pinion (125), a pinion positioning shaft (126), an infrared orbital large gear (127), a large gear positioning shaft (128), a first rotation drive shaft (129), a second rotation drive shaft (130), an infrared base (131), an infrared heater (132), a first rotation bevel gear (133), a second rotation bevel gear (134), a roller positioning shaft (135), a silicone rubber outer ring roller (136), and a metal inner ring roller (137). The third disc motor (122) is fixed by a cylinder frame (124) on the outer surface of the second frame plate (102). The first rotation drive shaft (129) is parallel to the second frame plate (102) and connected to the third disc motor (122) by a spline. The first rotation drive shaft (129) and the second rotation drive shaft (130) are connected by a universal coupling. The large gear positioning shaft (128) is connected to the second frame plate (102) by a rolling bearing. The infrared orbital large gear (127) is splined to the large gear positioning shaft (128). The infrared base (131) is fixed to the infrared orbital large gear. The outer surface of gear (127) allows the second rotation drive shaft (130) to rotate within the through hole of the infrared base (131). The second rotation drive shaft (130) is connected to the first rotation bevel gear (133) via a spline. The infrared heater (132) is fixedly connected to the rotating shaft of the second rotation bevel gear (134). The rotating shaft of the second rotation bevel gear (134) is rotatably connected to the extension of the infrared base (131). The first rotation bevel gear (133) and the second rotation bevel gear (134) mesh and drive each other. The first rotation bevel gear (133) and the second rotation bevel gear (134) constitute a... The bevel gear set has a pinion positioning shaft (126) connected to the first frame plate (101) and the second frame plate (102) via rolling bearings. The infrared revolving pinion (125) is splined to the pinion positioning shaft (126). The fourth disc motor (123) is splined to the pinion positioning shaft (126). The silicone rubber outer ring roller (136) is splined to the metal inner ring roller (137). The metal inner ring roller (137) is connected to the roller positioning shaft (135) via rolling bearings. The roller positioning shaft (135) is fixedly connected between the first frame plate (101) and the second frame plate (102).

3. A simultaneous circularly distributed multi-narrow strip placement apparatus according to claim 2, wherein: The radial telescopic mechanism (3) of the guide wire head also includes a first radial telescopic cylinder (303), a second radial telescopic cylinder (304), a third radial telescopic cylinder (305), a fourth radial telescopic cylinder (306), a first linear slide rail (309), a second linear slide rail (310), a first linear slider (311), a second linear slider (312), a third linear slide rail (319), a fourth linear slide rail (320), a third linear slider (321), a fourth linear slider (322), a first gear transmission mechanism, and a first wheel frame (341). The first wheel frame (341) is fixed on the second disc-shaped frame plate (302) and coaxially arranged with the second disc-shaped frame plate (302). The first gear transmission mechanism includes a telescopic drive large gear (339), a first telescopic drive small gear (340), and a second telescopic drive small gear (342). The first telescopic drive small gear (340) is driven by a first motor (337) mounted on the second disc-shaped frame plate (302). The first telescopic drive small gear (340) and the telescopic drive large gear (339) are connected. The cylindrical gear part of the telescopic drive gear (339) is externally meshed, and the telescopic drive gear (339) is connected to the first wheel frame (341) through a slewing support. The end face gear part of the telescopic drive gear (339) is externally meshed with the second telescopic drive pinion (342). The second telescopic drive pinion (342) is connected to the screw (313) through a spline. The multiple screws (313) are arranged circumferentially and one end of each screw points to the center of a virtual circle. The center of the virtual circle is on the central axis of the first disc-shaped frame plate (301). The first radial telescopic cylinder (303) and the second radial telescopic cylinder (304) are fixed to the outer surface of the first disc-shaped frame plate (301) and their piston ends are connected to the slider connecting plate (315). The first linear slider (311) and the second linear slider (312) are both fixed on the lead screw nut (314). The first linear slider (311) and the second linear slider (312) are respectively slidably connected to the first linear slide rail (309) and the second linear slide rail (310) on the first disc-shaped frame plate (301). The third linear slider (321) and the fourth linear slider (322) are respectively slidably connected to the third linear slide rail at the lower end of the through pipe connecting plate (318). On (319) and the fourth linear slide rail (320), the first frame plate (101) and the second frame plate (102) are fixedly connected to the third linear slider (321) and the fourth linear slider (322) respectively. The first radial telescopic cylinder connecting plate (103) on the first frame plate (101) is connected to the piston end of the third radial telescopic cylinder (305). The second radial telescopic cylinder connecting plate (138) on the second frame plate (102) is connected to the piston end of the fourth radial telescopic cylinder (306). The third radial telescopic cylinder (305) and the fourth radial telescopic cylinder (306) are fixed on the vertical plate at the lower end of the through pipe connecting plate (318).

4. The equipment for simultaneous deployment of multiple narrow strips in a circumferential distribution according to claim 3, characterized in that: The yarn roll is rotatably connected to the outer surface of the second disc frame plate (302). The yarn roll is driven by a damping motor to realize the output of the prepreg tape. The first disc frame plate (301) and the second disc frame plate (302) are also provided with rollers for assisting the transmission and guidance of the prepreg tape. The prepreg tape passes around the rollers, passes through the guide tube (317) and reaches the guide head assembly (1).

5. The equipment for simultaneous deployment of multiple narrow strips in a circumferential distribution according to claim 4, characterized in that: The guide wire spin mechanism (2) includes a second wheel frame (201) and a second gear transmission mechanism. The second wheel frame (201) is fixed on the first disc-shaped frame plate (301) and coaxially arranged with the first disc-shaped frame plate (301). The second gear transmission mechanism installed on the second wheel frame (201) is used to drive the guide wire tube (317) to perform spin motion. The second gear transmission mechanism includes a second rotating shaft (204), a large rotating drive gear (205), a first rotating drive pinion (206), and a second rotating drive pinion (207). The first rotating drive pinion (206) is connected to the rotating shaft. The cylindrical gear portion of the drive gear (205) is externally meshed. The rotary drive gear (205) is connected to the second wheel frame (201) through a slewing support. The second rotary drive pinion (207) is externally meshed with the end face gear portion of the rotary drive gear (205). The second rotary drive pinion (207) is connected and fixed to the guide wire tube (317) through a spline. The first rotary drive pinion (206) is connected to the second rotary shaft (204) through a spline. The second rotary shaft (204) is driven by the second motor (203) mounted on the second disc-shaped frame plate (302).

6. The equipment for simultaneous deployment of multiple narrow strips in a circumferential distribution according to claim 5, characterized in that: The placement component fixing mechanism (4) includes a chuck (428), a pin table (415), a pin holder (405), a chuck drive assembly, and a pin table drive assembly. The chuck drive assembly is used to drive the chuck (428) to rotate, and the chuck (428) engages with the first end of the placement component. The pin table drive assembly is used to drive the pin holder (405) and the pin table (415) to move so that the pins on the pin table (415) are pressed against the second end of the placement component.

7. The equipment for simultaneous deployment of multiple narrow strips in a circumferential distribution according to claim 6, characterized in that: The laying equipment moving mechanism (5) includes a frame structure, a laying equipment connecting structure and a moving drive mechanism; the laying equipment connecting structure is slidably connected to the frame structure, and the moving drive mechanism set on the frame structure is used to drive the laying equipment connecting structure to slide along the axial direction of the chuck (428). The laying equipment connecting structure is used to connect the first disc-shaped frame plate (301) and the second disc-shaped frame plate (302).

8. A method for simultaneous laying of multiple narrow strips in a circumferential distribution, relying on the equipment for simultaneous laying of multiple narrow strips in a circumferential distribution as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1: Move the ejector pin holder (405) to the highest position it can reach; S2: The first motor (337) drives the first telescopic drive pinion (340) to rotate forward. The first telescopic drive pinion (340) meshes with the telescopic drive gear (339). The end gear portion of the telescopic drive gear (339) meshes with the second telescopic drive pinion (342). The second telescopic drive pinion (342) drives the screw (313) to rotate, thereby causing the lead screw nut (314) to move away from the central axis of the first disc-shaped frame plate (301). The lead screw nut (314) drives the slider connecting plate (315) to move to the distance that the slider connecting plate (315) can reach. The farthest position of the central axis of the first disc-shaped frame plate (301); the slider connecting plate (315) drives the turntable (316) and the wire guide tube (317) to move to the position farthest from the central axis of the first disc-shaped frame plate (301) that the turntable (316) and the wire guide tube (317) can reach, and the wire guide tube (317) in turn drives the wire guide head assembly (1) to move to the position farthest from the central axis of the first disc-shaped frame plate (301) that the wire guide head assembly (1) can reach, and at the same time, the piston rods of the first radial telescopic cylinder (303) and the second radial telescopic cylinder (304) retract with the slider connecting plate (315); S3: The second motor (203) drives the first rotary drive pinion (206) to rotate. The first rotary drive pinion (206) meshes with the rotary drive gear (205) for transmission. The end face gear part of the rotary drive gear (205) meshes with the second rotary drive pinion (207) for transmission. The second rotary drive pinion (207) drives the guide wire tube (317) to rotate, so that the guide wire head assembly (1) rotates to the initial position. S4: Transport the part to be laid into the laying equipment. The chuck (428) fixes one end of the part to be laid. Move the ejector pin frame (405) and ejector pin table (415) to the preset position so that the ejector pins fix the other end of the part to be laid, thereby making the part to be laid coaxial with the first disc frame plate (301) and the second disc frame plate (302). S5: The laying equipment moving mechanism (5) drives the first disc-shaped frame plate (301) and the second disc-shaped frame plate (302) to move to the end close to the chuck (428); S6: The first motor (337) drives the first telescopic drive pinion (340) to reverse, the first telescopic drive pinion (340) meshes with the telescopic drive gear (339) for transmission, the end face gear part of the telescopic drive gear (339) meshes with the second telescopic drive pinion (342) for transmission, the drive screw (313) rotates to make the lead screw nut (314) move towards the central axis of the first disc-shaped frame plate (301), and drive the slider connecting plate (315) to move towards the central axis of the first disc-shaped frame plate (301), and then drive the guide wire tube (317) and the guide wire head assembly (1) to move towards the central axis of the first disc-shaped frame plate (301) until the silicone rubber outer ring roller (136) moves to a position tangent to the laid part; S7: The prepreg tape passes around the roller, through the guide tube (317), and reaches the guide head assembly (1); the first transmission cylinder (113) and the second transmission cylinder (114) provide power to make the second transmission roller (107) move along the first slide bar (110) and the second slide bar (111) to clamp the prepreg tape with the first transmission roller (106); the first disc motor (120) provides power to make the first transmission roller (106) rotate around the first transmission shaft (108) to provide power for the prepreg tape to move downward; the guide groove (119) powered by the second disc motor (121) drives the prepreg tape to be guided so that the prepreg tape wraps around the silicone rubber outer ring roller (136). S8: The fourth disc motor (123) provides power to rotate the pinion positioning shaft (126), which in turn rotates the infrared orbital pinion (125). The infrared orbital pinion (125) meshes with the infrared orbital gear (127) and rotates, which in turn drives the infrared base (131) to rotate, rotating the infrared heater (132) to the corresponding position. The third disc motor (122) provides power to rotate the first self-rotation drive shaft (129). The first self-rotation drive shaft (129) drives the second self-rotation drive shaft (130) to rotate through a universal coupling. The second self-rotation drive shaft (130) uses a bevel gear set to ensure that the heating end of the infrared heater (132) always irradiates the joint between the laid prepreg tape and the laid part. S9: Drive the chuck (428) to rotate the laid-out component; S10: The moving drive mechanism drives the laying equipment connection structure to move to the other end of the laid part; at the start of laying, during the laying process, by controlling the first motor (337) and the second motor (203), the radial extension mechanism (3) of the guide head and the spin mechanism (2) of the guide head are controlled, so that the guide head assembly (1) adjusts its position and deflection angle according to the change of the outer contour of the laid part, and always keeps the silicone rubber outer ring roller (136) in close contact with the laid part; at the same time, the operation of the third disc motor (122) and the fourth disc motor (123) makes the heating end of the infrared heater (132) always irradiate the joint between the laid prepreg tape and the laid part; S11: When the laying is finished, the moving drive mechanism and chuck drive assembly stop operating; the prepreg tape pressing cylinder (104) pushes the pressing block (105) to press the prepreg tape, and the breaking cylinder (118) pushes the cutter (117) to cut the prepreg tape; the first motor (337) drives the guide head radial extension mechanism (3) to return the guide head assembly (1) to the position furthest from the center axis of the first disc frame plate (301) that the guide head assembly (1) can reach; the ejector pin table (415) is retracted and detached from the laid part; the ejector pin frame (405) is then moved to the highest position, the laid part is removed, the forward laying is completed, and then the equipment automatically returns to the initial state according to the set trajectory.

9. A method for simultaneously laying multiple narrow strips in a circumferential distribution according to claim 8, characterized in that: If the laying direction needs to be changed to the reverse during the laying process, the following steps are performed: all motors stop operating, the prepreg tape pressing cylinder (104) pushes the pressing block (105) to press the prepreg tape; the cutting cylinder (118) pushes the cutter (117) to cut the prepreg tape; the first motor (337) drives the guide head radial telescopic mechanism (3) to move the guide head assembly (1) a preset distance away from the central axis of the first disc frame plate (301); the operation of the fourth disc motor (123) causes the infrared heater (132) to rotate to the other end of the guide head assembly (1); the second disc motor (121) drives the guide groove (119) to rotate to the other side; The first motor (337) drives the radial telescopic mechanism (3) of the guide head to move the guide head assembly (1) toward the central axis of the first disc frame plate (301) until the silicone rubber outer ring roller (136) is tangent to the laid part; the third disc motor (122) provides power to rotate the first self-rotating drive shaft (129), which drives the second self-rotating drive shaft (130) to rotate through the universal coupling. The second self-rotating drive shaft (130) uses a bevel gear set to ensure that the heating end of the infrared heater (132) always irradiates the joint between the laid prepreg tape and the laid part; the prepreg tape pressing cylinder (104) and the breaking cylinder (118) are reset, and all motors resume operation; the subsequent laying process is the same as the forward laying process.

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