Composite material curved surface self-adaptive flexible paving device and method

Abstract

The invention relates to the technical field of material paving and pasting, in particular to a composite material curved surface self-adaption flexible paving and pasting device and method. The first moving structure is arranged on one side of the storage platform and comprises a first moving assembly; the adsorption structure is installed on the first moving assembly and comprises a second moving assembly and an adsorption assembly, the second moving assembly does reciprocating rectilinear motion in the vertical direction, and the adsorption assembly is used for adsorbing the fabric; the mold table is arranged opposite to the storage platform and used for placing a mold; the distance measuring structure is mounted on the adsorption structure and is used for measuring the distance from the mold to the adsorption structure; wherein the first moving assembly does reciprocating rectilinear motion between the storage platform and the mold table, and the adsorption assembly comprises a plurality of adsorption pieces independently doing reciprocating rectilinear motion in the vertical direction. By measuring the mold in real time and controlling the dynamic deformation of the adsorption part, the self-adaptive paving of the curved surface is realized, and the paving quality and the automation level are improved.

Description

Technical Field

[0001] This invention relates to the field of material laying technology, and in particular to an adaptive flexible laying device and method for composite material curved surfaces. Background Technology

[0002] Composite materials are typically made by combining reinforcing fibers with matrix resins. They have advantages such as high specific strength, high specific modulus, and strong designability, and are widely used in fields with extremely high requirements for performance and lightweighting, such as aerospace, wind turbine blades, and new energy vehicles. However, key structures such as aircraft wing skins, wind turbine blade shells, and automobile body panels often have complex spatial curved surface shapes. Precisely and tightly laying flat fiber fabrics onto the mold is the first key step in manufacturing high-performance composite material components.

[0003] In existing technologies, two mainstream methods are commonly used: manual application and automated pre-programmed application. However, in actual manufacturing, the mold itself may have processing errors, deformation after long-term use, or thermal expansion and contraction under different temperature environments. This can lead to microscopic or macroscopic deviations between the actual curved surface of the mold and the theoretical CAD model. Automated application equipment based on fixed models and pre-programmed paths cannot detect and compensate for these deviations. The application head still moves along the original trajectory, resulting in problems such as material suspension, uneven compaction, local wrinkles, or gaps during material application. These issues still require a lot of subsequent manual intervention and adjustments, failing to achieve fully automated, high-precision flexible bonding.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] In view of at least one of the above technical problems, the present invention provides a composite material curved surface adaptive flexible laying device and method, which adopts a flexible actuator integrating real-time ranging and multi-unit independent drive adjustment to realize real-time perception and adaptive bonding of the actual curved surface of the mold, thereby improving the accuracy and quality of curved surface composite material laying.

[0006] This invention provides a composite material curved surface adaptive flexible laying device, comprising: Storage platform for placing fabrics; A first movable structure is disposed on one side of the storage platform and includes a first movable component; An adsorption structure is mounted on the first moving component, including a second moving component and an adsorption component mounted on the second moving component. The second moving component performs reciprocating linear motion in the vertical direction, and the adsorption component is used to adsorb fabric. A mold table, positioned relative to the storage platform, is used to place molds; A ranging structure is installed on the adsorption structure to measure the distance from the mold to the adsorption structure; The first moving component reciprocates linearly between the storage platform and the mold table, and the adsorption component includes multiple adsorption elements that independently reciprocate linearly in the vertical direction.

[0007] Furthermore, the first moving structure includes two parallel slide rails arranged between the storage platform and the mold table, and the first moving component is slidably disposed on the slide rails.

[0008] Furthermore, the first moving component includes two bottom supports that are slidably disposed with the two slide rails respectively, two vertical supports that are fixedly connected to the two bottom supports respectively, and a top crossbeam that is fixedly connected to the two vertical supports.

[0009] Furthermore, a guide component is provided on the top crossbeam, and a sliding seat is slidably provided on the guide component. The sliding seat reciprocates linearly along the length direction of the top crossbeam, and the sliding seat is slidably connected to the second moving component.

[0010] Furthermore, the second moving component includes a moving rod slidably connected to the sliding seat, an adsorption frame fixedly connected to the moving rod, and a plurality of adsorption elements disposed on the adsorption frame.

[0011] Furthermore, the storage platform is equipped with a cutting structure for cutting the fabric.

[0012] Furthermore, an unwinding structure is provided on the side of the storage platform away from the mold table for unwinding the fabric and conveying the fabric to the cutting structure on the storage platform.

[0013] Furthermore, a set of omnidirectional wheels is provided at the bottom of the mold platform.

[0014] Furthermore, an autoclave structure is provided on the side of the mold platform away from the storage platform.

[0015] This invention also provides a method for adaptive flexible paving of composite material curved surfaces, comprising the following steps: Place the mold to be laid on the mold table, and place the fabric to be laid on the storage platform; The first moving component is controlled to move the adsorption structure to above the storage platform, and the second moving component moves the adsorption component downwards towards the storage platform; The adsorption component adsorbs the fabric and moves upward, causing the fabric to leave the storage platform and move towards the mold table with the first moving component; When the adsorption structure is located above the mold platform, the ranging structure detects the distance between each adsorption component in the adsorption assembly and the corresponding point on the mold surface to obtain a distance dataset. Based on the distance dataset, each adsorption element is independently controlled to perform a corresponding vertical displacement, pre-forming the fabric into a curved surface corresponding to the mold surface contour; The second moving component drives the pre-formed fabric downwards and lays it on the mold surface.

[0016] The technical solution of this invention can achieve the following technical effects: By integrating a ranging structure onto the adsorption assembly, the surface of the mold is measured in real time. Based on the acquired actual contour data, the displacement of multiple adsorption components is dynamically and independently controlled, so that the adsorption surface deforms in real time to match the current mold surface. This can automatically compensate for the manufacturing tolerance, thermal deformation, or assembly error of the mold, thereby improving the fabric laying accuracy, consistency, and final quality of the composite material.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0018] 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 only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the composite material curved surface adaptive flexible laying device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the first moving structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the first moving component in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first moving component and the adsorption structure in an embodiment of the present invention; Figure 5 This is a schematic diagram of the adsorption element and the ranging structure in an embodiment of the present invention; Figure 6 This is a schematic diagram of the storage platform and unwinding structure in an embodiment of the present invention; Figure 7This is a schematic diagram of the autoclave structure in an embodiment of the present invention; Figure 8 This is a flowchart illustrating the adaptive flexible paving method for composite material curved surfaces in an embodiment of the present invention.

[0020] Reference numerals: 1. Storage platform; 11. Cutting structure; 2. First moving structure; 21. First moving component; 211. Bottom support; 212. Vertical support; 213. Top beam; 2131. Guide component; 2132. Sliding seat; 22. Slide rail; 3. Adsorption structure; 31. Second moving component; 311. Moving rod; 312. Adsorption rack; 32. Adsorption component; 321. Adsorption element; 4. Mold table; 41. Caster wheel set; 5. Distance measuring structure; 6. Unwinding structure; 7. Autoclave structure. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] This invention provides a method such as Figures 1 to 7 The composite material curved surface adaptive flexible layup device shown includes: Storage platform 1 is used to place fabrics; The first moving structure 2 is disposed on one side of the storage platform 1 and includes a first moving component 21; The adsorption structure 3 is installed on the first moving component 21 and includes a second moving component 31 and an adsorption component 32 installed on the second moving component 31. The second moving component 31 performs reciprocating linear motion in the vertical direction, and the adsorption component 32 is used to adsorb fabric. Mold table 4 is set relative to storage platform 1 and is used to place molds; The ranging structure 5 is installed on the adsorption structure 3 to measure the distance from the mold to the adsorption structure 3; The first moving component 21 reciprocates linearly between the storage platform 1 and the mold table 4, and the adsorption component 32 includes multiple adsorption elements 321 that independently reciprocate linearly in the vertical direction.

[0024] The storage platform 1 is used to support and place the fabric pieces to be laid. It can be a flat, rigid table or a positioning clamp or vacuum suction hole can be set on the table to ensure that the fabric remains flat and fixed in position before being gripped. The mold table 4 is set at a position opposite to the storage platform 1 and is used to place and fix the mold with the target curved surface. The mold table 4 has sufficient structural rigidity and stability to withstand the forces during the laying process. The first moving structure 2 is set on one side of the storage platform 1 and includes a first moving component 21, which can make reciprocating linear motion between the storage platform 1 and the mold table 4. The first moving structure 2 constitutes the main moving mechanism of the device in the horizontal direction and is used to transfer the suction structure 3 between the material picking position and the laying position, that is, from above the storage platform 1 to above the mold. The first moving component 21 can be implemented as a linear motor module, a ball screw slide, a synchronous belt slide, or a combination thereof.

[0025] The adsorption structure 3 is fixedly mounted on the first moving component 21 and moves together with the first moving component 21. The adsorption structure 3 includes a second moving component 31 and an adsorption component 32. The second moving component 31 can perform reciprocating linear motion in the vertical direction and can be a cylinder, electric cylinder, or servo electric cylinder. The adsorption component 32 is fixedly mounted on the moving end of the second moving component 31 and is used to perform the gripping, holding, and releasing of the fabric. The adsorption component 32 includes multiple independently controlled adsorption elements 321. Each adsorption element 321 can independently perform reciprocating linear motion in the vertical direction. Each adsorption element 321 has a vacuum suction cup at its end to generate negative pressure to adsorb the fabric. This array of adsorption elements 321 can be independently controlled. The height of 1 allows the adsorption surface of the entire adsorption assembly 32 to dynamically deform from a plane into a spatial curved surface that matches the target curved surface. The ranging structure 5 is fixedly installed on the adsorption structure 3, preferably near the adsorption assembly 32, such as on the support of the adsorption assembly 32. The ranging structure 5 is used to measure the vertical distance between each adsorption element 321 or its end suction cup on the adsorption assembly 32 and the corresponding target point on the mold surface in real time when the adsorption structure 3 moves above the mold. The ranging structure 5 may include multiple high-precision non-contact ranging sensors, such as laser displacement sensors or laser ranging sensors. Each sensor corresponds to one or a group of adsorption elements 321 to achieve synchronous, multi-point distance data acquisition.

[0026] In some embodiments of the present invention, such as Figure 2As shown, the first moving structure 2 includes two parallel slide rails 22 arranged between the storage platform 1 and the mold table 4. The first moving component 21 cooperates with these two slide rails 22 through a slider or sliding sleeve installed at the bottom, so that it can make smooth and precise reciprocating linear motion along the length of the slide rails 22, forming the guide part of a basic gantry-type motion frame. The symmetrical support structure formed by the double slide rails 22 can effectively prevent the first moving component 21 from twisting, overturning or sagging during long stroke movement and when bearing load, ensuring that the adsorption structure 3 maintains the stability of its posture when moving and stationary, laying a solid mechanical foundation for subsequent high-precision distance measurement and laying actions, and supporting the weight of the adsorption structure 3 and the load fabric, and resisting the inertial force and vibration generated during the movement.

[0027] In some embodiments of the present invention, such as Figure 3 As shown, the first moving component 21 includes two bottom support members 211 that are slidably disposed with two slide rails 22 respectively, two vertical support members 212 that are fixedly connected to the two bottom support members 211 respectively, and a top crossbeam 213 that is fixedly connected to the two vertical support members 212. Each bottom support 211 is equipped with a slider or pulley, allowing the bottom support 211 to cooperate with the corresponding slide rail 22 and achieve independent sliding along the slide rail 22. The two vertical supports 212 are rigid columns set vertically or nearly vertically, and their lower ends are firmly fixed to the two bottom supports 211 by bolt connection, welding or integral casting. The top crossbeam 213 serves as the core component connecting the upper ends of the two vertical supports 212, connecting the structures on the left and right sides into a complete rigid gantry. It effectively transmits and distributes the forces and torques generated by the adsorption structure 3, fabric load and motion inertia to the two solid slide rails 22, ensuring effective force transmission and overall structural stability. It enhances the torsional and bending stiffness of the entire motion system during start-up, stop and load-bearing, and effectively suppresses vibration and deformation.

[0028] In some embodiments of the present invention, such as Figure 4 As shown, a guide component 2131 is provided on the top crossbeam 213, and a sliding seat 2132 is slidably provided on the guide component 2131. The sliding seat 2132 reciprocates linearly along the length direction of the top crossbeam 213, and the sliding seat 2132 is slidably connected to the second moving component 31.

[0029] The guide assembly 2131 can be a set of precision linear guide rails. The guide rails are firmly installed on the upper surface or side of the top beam 213. A sliding seat 2132 cooperates with the guide assembly 2131, so that it can be driven to perform high-precision reciprocating linear motion along the length of the top beam 213. The upper end of the second moving assembly 31 is slidably connected to the sliding seat 2132. The fixed part of the second moving assembly 31 can be connected to the sliding seat 2132 through another set of guide mechanisms or directly through a structure such as a retractable protective sleeve. This ensures that when the second moving assembly 31 moves laterally with the sliding seat 2132, its own vertical freedom of movement is not affected, and the overall connection rigidity is guaranteed. This allows the adsorption structure 3 to cope with molds that are wider or have complex laying paths without frequently adjusting the position of the mold or device, enhancing the flexibility of the laying path and expanding the working range of the laying device.

[0030] In some embodiments of the present invention, such as Figure 4 and Figure 5 As shown, the second moving component 31 includes a moving rod 311 slidably connected to the sliding seat 2132, an adsorption frame 312 fixedly connected to the moving rod 311, and a plurality of adsorption elements 321 disposed on the adsorption frame 312.

[0031] One or more rigid moving rods 311 have their upper ends slidably connected to the sliding seat 2132 via linear bearings, bushings, or a slider pair of slide rails 22. This ensures that the moving rod 311 remains stable under radial force while retaining only vertical motion freedom along the axis. The lifting and lowering of the moving rod 311 can be directly driven by a drive mechanism, such as the push rod of a servo electric cylinder, the nut seat of a ball screw, or the piston rod of a cylinder, which is fixedly connected to the upper end of the moving rod 311 and installed inside or above the sliding seat 2132. The lower end of the moving rod 311 is connected to the sliding seat 2132 via a flange, connecting plate, or direct welding. A rigid adsorption frame 312 is fixedly connected. The adsorption frame 312 can be a plate-shaped or frame-type structure, used to support and install multiple adsorption components 321. The adsorption frame 312 is specially designed in terms of size and rigidity to ensure minimal deformation when bearing the weight of all adsorption components 321, fabric and its own weight. Multiple adsorption components 321 are arranged uniformly or in a specific array with cylinders or fixed ends, and are directly installed on the lower surface or side of the adsorption frame 312 at preset mounting positions. The motion output end of each adsorption component 321 extends downward and is equipped with a vacuum suction cup at the end, realizing highly integrated and stable vertical drive.

[0032] In some embodiments of the present invention, such as Figure 6As shown, a cutting structure 11 is set on the storage platform 1, which is usually an independent multi-axis CNC motion system, such as a cutting head driven by a servo motor that can move precisely along the X and Y axes in the horizontal plane. The main body of the cutting head is fixed or suspended on the upper frame of the storage platform 1, and a cutter for cutting the fabric is installed at the end. For high-performance fabrics such as carbon fiber and glass fiber, the cutter is preferably an ultrasonic cutter. The rolled fabric raw material is flattened and transported to the table of the storage platform 1 through an auxiliary unwinding and feeding device, and is fixed by the positioning clamps or vacuum adsorption area on the table. The control system generates the corresponding cutting path according to the input component layup CAD data. Then, the cutting head moves above the fabric according to the path, the cutter falls and starts, and cuts the fabric into pieces of the required shape and size. After the cutting is completed, the cutting head is lifted and reset, waiting for the next instruction. At this time, there is a shaped piece of fabric to be gripped on the table of the storage platform 1.

[0033] In some embodiments of the present invention, such as Figure 6 As shown, an unwinding structure 6 is provided on the side of the storage platform 1 away from the mold table 4. This structure unwinds the fabric and transports it to the cutting structure 11 on the storage platform 1. The unwinding structure 6 includes a rotatable fabric roll for mounting large fabric rolls. The fabric roll is typically equipped with a brake or tension sensor to provide resistance during unwinding, preventing the fabric from loosening due to inertia. Between the fabric roll and the storage platform 1, a series of guide rollers and a tension control device are also provided. The guide rollers guide the fabric path and prevent friction between the fabric and the frame. The tension control device monitors and adjusts the fabric tension in real time to ensure that the fabric remains flat and under constant tension throughout the transport process from unwinding to the cutting platform, without slack or excessive tension. The fabric roll is first mounted on the fabric roll, and the guide rollers and tension control device pull it to a designated position on the storage platform 1, where it is fixed by clamps or vacuum suction on the platform. Subsequently, the cutting structure 11 can cut this section of fabric.

[0034] After a section of fabric is cut and used, the feeding mechanism will transport a new section of fabric to the cutting position according to the set length, waiting for the next cut. The whole process is coordinated and controlled by the central control system to achieve continuous or intermittent automatic feeding.

[0035] In some embodiments of the present invention, such as Figure 7 As shown, a set of casters 41 is installed at the bottom of the mold table 4.

[0036] The caster set 41 typically consists of multiple heavy-duty industrial casters, which are securely fixed to the bottom frame of the mold table 4 by mounting plates or bolts. Each caster has a 360-degree rotation function and integrates a reliable locking mechanism, thus achieving the effect of bearing the weight of the device while moving smoothly and effortlessly. When it is necessary to adjust the position of the device in the workshop, or change the relative layout of the storage platform 1 and the mold table 4 to adapt to different production tasks, the operator can release the locking state of the caster set 41, easily push or pull the mold table 4 to the target position, and then relock the casters to ensure the stability of the device in subsequent work processes, enhancing the flexibility and layout adaptability of the tiling device.

[0037] In some embodiments of the present invention, such as Figure 1 As shown, an autoclave structure 7 is installed on the side of the mold platform 4 away from the storage platform 1.

[0038] The autoclave structure 7 is a large, sealable pressure vessel. The vessel is typically placed horizontally or vertically and is equipped with a robust, openable and closable door. The autoclave is equipped with a heating system, a pressurization system achieved through compressed air or inert gas, and a circulating fan to ensure uniform temperature and pressure distribution within the vessel. The controller of the autoclave can communicate with the control system of the main laying device to coordinate process parameters and manage production cycle. In terms of specific layout, the mold platform 4 near the autoclave can be equipped with transfer mechanisms such as a translation track, conveyor belt, and AGV docking station. After the laying device completes the laying of several layers of fabric on the mold on the mold platform 4 to form a composite material preform, the transfer mechanism can be activated. The mold carrying the preform is smoothly moved from the laying position of the mold platform 4 and sent into the opened autoclave. The door is then closed, and the preform is cured with resin in the autoclave according to the preset composite material curing process curve, or resin is injected first and then cured, ultimately forming a molded composite material component. This achieves seamless connection and high automation of the core manufacturing process.

[0039] Based on the same inventive concept as the composite material curved surface adaptive flexible laying device in the foregoing embodiments, the present invention also provides a composite material curved surface adaptive flexible laying method, such as... Figure 8 As shown, it includes the following steps: Place the mold to be laid on the mold table 4, and place the fabric to be laid on the storage platform 1; The first moving component 21 is controlled to move the adsorption structure 3 to above the storage platform 1, and the second moving component 31 drives the adsorption component 32 to move downwards and closer to the storage platform 1. The adsorption component 32 adsorbs the fabric and moves upward, causing the fabric to leave the storage platform 1 and move towards the mold table 4 with the first moving component 21. When the adsorption structure 3 is located above the mold platform 4, the distance measuring structure 5 detects the distance between each adsorption component 321 in the adsorption assembly 32 and the corresponding point on the mold surface, and obtains the distance dataset. Based on the distance dataset, each adsorption element 321 is independently controlled to perform the corresponding vertical displacement, pre-forming the fabric into a curved surface corresponding to the mold surface contour; The second moving component 31 drives the pre-formed fabric downwards and lays it on the surface of the mold.

[0040] The specific working principle of this invention is as follows: The mold to be laid, which has the target three-dimensional curved surface, is placed and fixed firmly on the mold table 4. At the same time, a piece of pre-cut flat fabric with a predetermined shape and fiber orientation is placed flat on the storage platform 1. That is, the material unwound by the unwinding structure 6 and the fabric cut by the cutting structure 11 on the storage platform 1 are stored on the storage platform 1. The storage platform 1 can ensure that the fabric is fixed in position and free of initial wrinkles by vacuum adsorption or boundary clamps.

[0041] The control system issues a command to drive the first moving component 21, which is in the form of a gantry or a sliding table, to move the entire adsorption structure 3 horizontally to directly above the storage platform 1. Then, it controls the second moving component 31 to move the adsorption component 32 at the end downwards until the vacuum suction cup array at the bottom of the adsorption element 321 in the adsorption component 32 contacts the fabric surface on the platform. The pneumatic system is activated, and the vacuum suction cup generates negative pressure to adsorb the fabric evenly and without damage. After that, the second moving component 31 rises and smoothly lifts the adsorbed fabric away from the storage platform 1.

[0042] The first moving component 21 carries the adsorption structure 3 with the fabric adsorbed, and moves horizontally from above the storage platform 1 along a predetermined trajectory to above the mold table 4. It initially positions the adsorption component 32 directly above the target area for this paving. After the adsorption structure 3 is stably positioned directly above the target area, the ranging structure 5 integrated on the adsorption structure 3 starts working. The ranging structure 5 uses each independent adsorption element 321 on the adsorption component 32 as a reference point, emits a measuring beam vertically downward, and simultaneously scans and measures the spatial position of the corresponding point on the mold surface below it. It acquires a set of distance data reflecting the local curved surface contour in real time, forming a distance dataset.

[0043] The control system, formed by a PLC or industrial computer, receives and processes the distance dataset from the ranging structure 5 in real time. Based on these actual measurement data, the core algorithm calculates the independent and precise vertical displacement required for each adsorption component 321 in the array to ensure that the entire adsorption surface of the adsorption component 32 can completely conform to the curved surface of the mold below. This displacement includes the lifting direction and distance. Subsequently, the control system sends instructions to the independent drive unit of each adsorption component 321. Each adsorption component 321 moves synchronously or sequentially according to the instructions, performing independent lifting movements. This causes the vacuum suction cup array, which was originally on the same plane, to dynamically deform into a flexible negative mold curved surface that highly matches the curved surface of the mold below. At the same time, the flat fabric adsorbed by the vacuum is bent and deformed under the drive and constraint of the flexible negative mold, pre-forming into a curved shape consistent with the target area of ​​the mold.

[0044] While maintaining the pre-formed state, the control system controls the second moving component 31 to drive the entire deformed adsorption component 32 and the pre-formed fabric to make fine movements downward in the vertical direction. It can be combined with a high-precision encoder or an additional vision positioning system for closed-loop control to ensure that the fabric is gently and accurately placed on the target position on the mold surface. When the fabric is laid in place, the pneumatic system shuts off the vacuum, and all suction cups release the fabric at the same time, so that the fabric is completely adhered to the mold surface under its own weight and residual adsorption force. Finally, the second moving component 31 lifts the adsorption component 32, and the first moving structure 2 moves it back to the storage platform 1 to prepare for the next round of laying operation.

[0045] For composite material components that require multiple layers, the system repeats the above steps. Each layer can be independently and adaptively measured and shaped according to the same surface contour of the mold, ensuring that each layer can be tightly bonded. Through the system's precise positioning function, strict fiber direction alignment and contour accuracy between layers are guaranteed, ultimately constructing a high-quality multilayer composite preform. After the laying method is completed, the laid preform can be subjected to subsequent liquid molding and autoclave curing processes according to the process requirements of the composite material and the performance requirements of the component, so as to finally obtain a high-performance composite material molded component.

[0046] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A composite curved surface self-adapting flexible paving device, characterized in that, The utility model relates to a kind of cloth laying device, including: Storage platform (1) for placing fabric; First mobile structure (2) is arranged at one side of the storage platform (1), including first mobile assembly (21); Suction structure (3) is installed on the first mobile assembly (21), including second mobile assembly (31) and suction assembly (32) installed on the second mobile assembly (31), the second mobile assembly (31) does reciprocating linear motion in vertical direction, and the suction assembly (32) is used to adsorb fabric; Mold table (4) is arranged relative to the storage platform (1), for placing mold; Distance measuring structure (5) is installed on the suction structure (3), and the distance of mold to the suction structure (3) is measured; Wherein, the first mobile assembly (21) does reciprocating linear motion between the storage platform (1) and the mold table (4), and the suction assembly (32) includes a plurality of suction subassemblies (321) independently doing reciprocating linear motion in vertical direction.

2. The composite curved surface self-adapting flexible paving device according to claim 1, characterized in that, The first mobile structure (2) includes two parallel slide rails (22) arranged between the storage platform (1) and the mold table (4), and the first mobile assembly (21) is slidingly arranged on the slide rails (22).

3. The composite curved surface self-adapting flexible paving device according to claim 2, characterized in that, The first mobile assembly (21) includes two bottom supports (211) slidingly arranged with the two slide rails (22) respectively, two vertical supports (212) fixedly connected with the two bottom supports (211) respectively, and a top cross beam (213) fixedly connecting the two vertical supports (212).

4. The composite curved surface self-adapting flexible paving device according to claim 3, characterized in that, A guide assembly (2131) is arranged on the top cross beam (213), a sliding seat (2132) is slidingly arranged on the guide assembly (2131), the sliding seat (2132) does reciprocating linear motion along the length direction of the top cross beam (213), and the sliding seat (2132) is slidingly connected with the second mobile assembly (31).

5. The composite curved surface self-adapting flexible paving device according to claim 4, characterized in that, The second mobile assembly (31) includes a moving rod (311) slidingly connected with the sliding seat (2132), a suction frame (312) fixedly connected with the moving rod (311), and a plurality of suction subassemblies (321) arranged on the suction frame (312).

6. The composite curved surface self-adapting flexible troweling device according to claim 1, wherein, Cutting structure (11) is arranged on the storage platform (1) for cutting fabric.

7. The composite curved surface self-adapting flexible paving device according to claim 6, characterized in that, Unwinding structure (6) is arranged on the side of the storage platform (1) away from the mold table (4) for unwinding fabric and conveying fabric to the cutting structure (11) on the storage platform (1).

8. The composite curved surface self-adapting flexible paving device according to claim 1, characterized in that, Universal wheel set (41) is arranged at the bottom of the mold table (4).

9. The composite curved surface self-adapting flexible paving device according to claim 1, characterized in that, Hot pressing tank structure (7) is arranged on the side of the mold table (4) away from the storage platform (1).

10. A method of adaptive flexible laying of a composite curved surface using the adaptive flexible laying device for a composite curved surface according to any one of claims 1 to 9, characterized in that, Including the following steps: Place the mold to be laid on the mold table (4), and place the fabric for laying on the storage platform (1); Control the first mobile assembly (21) to move the suction structure (3) above the storage platform (1), and the second mobile assembly (31) drives the suction assembly (32) to move downward and close to the storage platform (1); The adsorption assembly (32) adsorbs the fabric and moves upward, drives the fabric to leave the storage platform (1), and moves toward the mold table (4) along with the first moving assembly (21); When the adsorption structure (3) is above the mold table (4), the distance measuring structure (5) detects the distance between each adsorption part (321) in the adsorption assembly (32) and the corresponding point on the mold surface, and obtains a distance data set; According to the distance data set, each adsorption part (321) is independently controlled to move in the corresponding vertical direction, and the fabric is pre-formed into a curved surface corresponding to the profile of the mold surface; The second moving assembly (31) drives the pre-formed fabric to move downward and lay on the mold surface.

Images