Flexible automatic laying equipment for fiber reinforced composite material

Abstract

The invention relates to the technical field of resin-based fiber reinforced composite material forming devices, in particular to flexible automatic laying equipment for a fiber reinforced composite material. Comprising a multi-axis movement mechanism, a laying positioner, a connecting mechanism and a multi-tow fiber automatic laying head. The connecting mechanism is arranged between the multi-shaft movement mechanism and the multi-tow fiber automatic laying head; the multi-tow fiber automatic laying head comprises a mounting base, a plurality of winding and unwinding mechanisms, a fiber control mechanism, a tow centralized guiding system, a two-stage tension closed-loop control mechanism and a two-stage pressure closed-loop control mechanism. According to the method, the control stability of multiple technological parameters such as tension, pressure and temperature can be improved for the fiber tows in the laying process, and the defects such as fiber micro-buckling, pores and layering caused by fluctuation of the technological parameters such as tension, pressure and temperature can be effectively reduced, so that the laying forming quality of the composite material is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of resin-based composite material layup and molding equipment, and more specifically to a flexible automatic layup equipment for fiber-reinforced composite materials. Background Technology

[0002] Fiber-reinforced composite materials are characterized by high strength, light weight, and corrosion resistance, and are widely used in energy storage, aerospace, automotive, and shipbuilding industries. In particular, the automated fiber bundle laying and molding process for fiber-reinforced composite materials has broad application prospects in important components and parts for both military and civilian applications, such as wings and fuselages of large passenger aircraft, spacecraft, launch vehicles, automotive body and chassis components, and hydrogen and natural gas storage containers.

[0003] On the one hand, the molding quality of fiber-reinforced composite components is closely related to process parameters such as pressure, tension, and temperature during the composite material layup process. However, during the composite material layup process, due to changes in the speed of the mechanism, fluctuations in fiber bundle viscosity, and changes in mold curvature, process parameters such as layup tension, layup pressure, and fiber bundle surface temperature can fluctuate significantly. These fluctuations in process parameters during the layup process can not only introduce significant residual stress into the composite material components but may also lead to delamination, wrinkles, bubbles, and porosity, severely reducing the quality stability and consistency of the composite product. However, existing automated composite material layup molding equipment struggles to achieve closed-loop control of process parameters such as layup tension, layup pressure, and layup temperature, resulting in low precision in process parameter control and difficulty in ensuring the molding quality of composite materials.

[0004] On the other hand, variable-angle / variable-stiffness fiber-reinforced composites offer superior mechanical properties and lighter weight compared to fixed-angle fiber-reinforced composite components. However, traditional fiber placement equipment faces limitations in both mechanical steering capability and process parameter control stability, making it difficult to manufacture fiber-reinforced composite components with a wide range of variable angles / stiffnesses. In particular, for complex curved surface composite components, excessive stiffness of the end rollers leads to deformation difficulties, and the instability of end process parameter control results in the curved surface not being properly pressed during placement, causing various quality defects such as gaps and overlaps in the fiber bundles. Summary of the Invention

[0005] To address the problems mentioned in the prior art, this invention proposes a flexible automatic fiber-reinforced composite material laying device to solve the problem that existing automatic fiber laying devices are unable to achieve closed-loop control of process parameters such as laying tension and laying pressure, resulting in low precision of process parameter control and difficulty in ensuring the molding quality of composite materials.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This invention proposes a flexible automatic fiber-reinforced composite material placement device, comprising a multi-axis motion mechanism, a placement positioner, a connecting mechanism, and a multi-filament fiber automatic placement head; The connecting mechanism is located between the multi-axis motion mechanism and the multi-filament fiber automatic placement head; The multi-filament fiber automatic placement head includes a mounting base, multiple winding and unwinding mechanisms, a fiber manipulation mechanism, a filament centralized guiding system, a two-stage tension closed-loop control mechanism, and a two-stage pressure closed-loop control mechanism. The multiple winding and unwinding mechanisms are arranged radially on the mounting base; The first-stage pressure closed-loop control mechanism of the two-stage pressure closed-loop control mechanism is located at the lower center of the mounting base, and the fiber manipulation mechanism is located below the first-stage pressure closed-loop control mechanism; the second-stage pressure closed-loop control mechanism of the two-stage pressure closed-loop control mechanism is located at the end of the fiber manipulation mechanism. The filament centralized guiding system is installed on the side of the primary pressure closed-loop control mechanism; The first-stage tension closed-loop control mechanism of the two-stage tension closed-loop control mechanism is rotatably arranged on the mounting base and is set one-to-one with multiple take-up and unwinding mechanisms. The second-stage tension closed-loop control mechanism of the two-stage tension closed-loop control mechanism is set on the fiber manipulation mechanism.

[0007] As a further improvement of the present invention, the primary tension closed-loop control mechanism is a spring-type tension closed-loop control mechanism; The spring-type tension closed-loop control mechanism includes a first end fixing block, a tension sliding mechanism, a first fiber bundle guide roller sliding mechanism, and a first-level tension controller. A first tension / compression sensor is provided between the first end fixing block and the tension sliding mechanism. The first fiber bundle guide roller sliding mechanism is connected to the tension sliding mechanism and drives the tension sliding mechanism to generate tension relative to the first tension / compression sensor. The first-level tension controller controls the braking torque or winding / unwinding speed of the winding mechanism based on the tension detected by the first tension / compression sensor.

[0008] As a further improvement of the present invention, the tension sliding mechanism includes a tension slider, a first tension sliding guide rail, a spring fixing block and an elastic component, wherein the spring fixing block is disposed above the tension slider and is connected to one end of the elastic component; The first fiber bundle guide roller sliding mechanism includes a first fiber bundle guide roller slider and a first fiber bundle guide roller disposed above it. The first fiber bundle guide roller slider is connected to one end of the tension slider away from the first end fixing block, and its upper end is connected to the other end of the elastic component. The first fiber bundle guide roller slider and the tension slider are slidably connected on the first tension sliding guide rail.

[0009] As a further improvement of the present invention, the first-stage tension closed-loop control mechanism is a linear tension closed-loop control mechanism; The linear tension closed-loop control mechanism includes a second end fixing block, a second tension sliding guide rail, a second fiber bundle guide roller sliding mechanism, and a second primary tension controller. A linear cylinder is provided between the second end fixing block and the second fiber bundle guide roller sliding mechanism. The linear cylinder is equipped with a pressure control system. The second fiber bundle guide roller sliding mechanism is equipped with a roller-type tension sensor, which is slidably connected on the second tension sliding rail and generates tension relative to the roller-type tension sensor. The second-level tension controller controls the braking torque or winding speed of the winding and unwinding mechanism according to the tension detected by the roller-type tension sensor. The pressure control system controls the output tension of the linear cylinder.

[0010] As a further improvement of the present invention, the second fiber bundle guide roller sliding mechanism includes a second fiber bundle guide roller slider and a second fiber bundle guide roller disposed above it; One end of the linear cylinder is connected to the second end fixing block, and the other end is connected to the second fiber bundle guide roller slider. The roller-type tension sensor is set between the second fiber bundle guide roller slider and the second fiber bundle guide roller. The linear cylinder drives the second fiber bundle guide roller slider to slide on the second tension sliding rail.

[0011] As a further improvement of the present invention, the secondary tension closed-loop control mechanism includes a drive mechanism, a power transmission mechanism, a friction transmission mechanism, and a control system. The power transmission mechanism is connected to the drive mechanism, the friction transmission mechanism is connected to the power transmission mechanism through friction, and multiple end wire bundles pass through the friction transmission mechanism and the power transmission mechanism. The driving mechanism drives the power transmission mechanism, enabling the friction transmission mechanism and the power transmission mechanism to independently transmit each filament in the multi-path end filament bundle and control the feeding speed of each filament bundle; the control system controls the speed difference between the feeding speed of each filament bundle in the multi-path end filament bundle and the laying speed of each filament bundle in the multi-path end filament bundle corresponding to the split floating pressure roller, thereby realizing independent control of the tension of the laying multi-path end filament bundle.

[0012] As a further improvement of the present invention, the drive mechanism includes a motor central shaft, multiple servo motors, multiple support rings, and multiple motor gear sets; Multiple support rings and motor gear sets are arranged along the length direction of the motor central shaft. The support rings are arranged around the outside of the motor central shaft, and the motor central shaft is fixedly connected to the support rings. The motor gear sets are arranged on the support rings and rotatably connected to the corresponding support rings. Multiple servo motors are arranged in a ring around one end of the motor central shaft, and the multiple servo motors are connected to the corresponding motor gear sets through multiple motor output shafts. The motor gear sets are connected to the power transmission mechanism. The number of servo motors, motor gear sets, support rings, and motor output shafts are all the same as the number of wire bundles, and they are set in a one-to-one correspondence.

[0013] As a further improvement of the present invention, the control system includes multiple speed sensors and speed measuring wheels. The speed measuring wheels are in contact with the secondary pressure closed-loop control mechanism. Magnetic elements are arranged on the surface of the speed measuring wheels, and the magnetic elements are arranged circumferentially around the outer surface of the speed measuring wheels. The multiple speed sensors, in conjunction with the magnetic elements, independently measure the surface speed of the secondary pressure closed-loop control mechanism, thereby obtaining the laying speed of each filament in the multi-path end filament bundle. Each filament in the multi-path end filament bundle is independently transmitted through a friction transmission mechanism and a power transmission mechanism, and the feeding speed of each filament bundle is controlled. By utilizing the speed difference between the feeding speed and the laying speed of each filament bundle in the multi-path end filament bundle, the tension closed-loop control of the multi-path end filament bundle is realized.

[0014] As a further improvement of the present invention, the power transmission mechanism includes an active power transmission mechanism and a driven power transmission mechanism that is connected to it in transmission. The driven power transmission mechanism includes at least one stage of driven power transmission structure. The active power transmission mechanism is connected to the drive mechanism in transmission, and the driven power transmission mechanism is connected to the friction transmission mechanism in friction transmission. The active power transmission mechanism includes an active transmission gear set, the driven power transmission mechanism includes a driven power transmission gear set, and the friction transmission mechanism includes a friction transmission gear set.

[0015] As a further improvement of the present invention, in the active transmission gear set, a sliding groove and a spherical ball are provided between adjacent active transmission gears. The sliding groove is located on the side of one of the adjacent active transmission gears, and the spherical ball is located on the side of the other of the adjacent active transmission gears, so as to realize the connection between the sliding groove and the spherical ball.

[0016] As a further improvement of the present invention, the driven power transmission mechanism includes a first-stage driven power transmission structure and a second-stage driven power transmission structure. The driven power transmission gear set includes a first-stage driven power transmission gear set and a second-stage driven power transmission gear set corresponding to the first-stage driven power transmission structure and the second-stage driven power transmission structure, respectively. The first-stage driven power transmission gear set and the second-stage driven power transmission gear set are connected in a transmission manner. The first-stage driven power transmission gear set closer to the driving transmission gear set is connected in a transmission manner to the driving transmission gear set, and the second-stage driven power transmission gear set farther away from the driving transmission gear set is connected in a friction transmission manner to the friction transmission gear set.

[0017] As a further improvement of the present invention, the active transmission gear set includes an active transmission internal gear set and an active transmission external gear set. The active transmission internal gear set is connected to the motor gear set, and the active transmission external gear set is connected to the driven power transmission gear set.

[0018] As a further improvement of the present invention, the first-stage pressure closed-loop control mechanism includes an installation structure, on the left and right sides of the installation structure are provided a lateral cylinder and a second tension / compression sensor, the second tension / compression sensor is provided at the lower end of the lateral cylinder, and the lateral cylinder is used to control the second tension / compression sensor to float up and down along the side of the installation structure.

[0019] As a further improvement of the present invention, the left and right sides of the mounting structure are also provided with lateral guide rails, lateral sliding plates and sensor connecting blocks; The sensor connecting block is disposed between the lateral sliding plate and the second tension / compression sensor, and the lateral guide rail is disposed on the left and right sides of the mounting structure. The lateral sliding plate and the sensor connecting block are slidably connected on the lateral guide rail. The filament centralized guiding system is located on the front and rear sides of the mounting structure. It includes multiple filament guide wheels connected in series and mounting brackets. The multiple filament guide wheels connected in series on the front and rear sides are staggered and consistent with the arrangement of the guide grooves in the fiber manipulation mechanism. The mounting brackets are located on both sides of the multiple filament guide wheels connected in series and are connected to the mounting structure.

[0020] As a further improvement of the present invention, the center line of each of the plurality of connected fiber bundle guide rollers is tangent to the outer circle of the corresponding first fiber bundle guide roller or second fiber bundle guide roller, and the number of the plurality of connected fiber bundle guide rollers is 1 / 2 of the total number of fiber bundles in the laying device.

[0021] As a further improvement of the present invention, the secondary pressure closed-loop control mechanism includes a central shaft, multiple split floating shafts, and a telescopic mechanism. The multiple split floating shafts are arranged axially along the central shaft, and the central shaft and the multiple split floating shafts are connected by the telescopic mechanism, so that the multiple split floating shafts float separately along the radial direction of the central shaft. Adjacent split floating shafts are axially connected by a first sliding mechanism, so that adjacent split floating shafts float relative to each other along the radial direction of the central shaft under the action of the first sliding mechanism. The split floating shafts are provided with grooves for accommodating the first sliding mechanism. Multiple split pressure rollers are provided on the outer circumference of the multiple split floating shafts.

[0022] As a further improvement of the present invention, the first sliding mechanism includes a first sliding guide rail and a first slider. On two adjacent split floating shafts in the axial direction of the central shaft, the first sliding guide rail is installed on one of the split floating shafts, and the first slider is installed on the other split floating shaft. On the multiple split floating shafts in the middle, the first sliding guide rail and the first slider are simultaneously provided. The two adjacent split floating shafts are axially connected by the first sliding guide rail and the first slider, and the first sliding guide rail and the first slider on the two adjacent split floating shafts are slidably connected along the radial direction of the central shaft.

[0023] As a further improvement of the present invention, it also includes a plurality of second sliding mechanisms, each of which includes a second sliding guide rail and a second slider. The second sliding guide rail is mounted on a central shaft, and the second slider is mounted on a split floating shaft. The second sliding guide rail and the second slider are slidably connected along the radial direction of the central shaft.

[0024] As a further improvement of the present invention, a pressure control device is also included. The pressure control device can be arranged in either a built-in detection arrangement or an external detection arrangement. In the built-in detection arrangement, the pressure control device includes a first pressure sensor mounted on the telescopic mechanism. The first pressure sensor is a thin-film pressure sensor. The pressure control device is used to acquire and control the thrust of the telescopic mechanism in real time. In the external detection arrangement, the pressure control device includes a second pressure sensor mounted on the outside of the split pressure roller. The second pressure sensor is an array thin-film pressure sensor or an array Bragg fiber grating string sensor. The pressure control device is used to acquire and control the pressure at the fiber bundle contact surface at the laying end of the split pressure roller in real time.

[0025] As a further improvement of the present invention, the pressure control device further includes a pressure control system and a pressure regulation system. The pressure control system is used to receive photoelectric signals detected by the first pressure sensor or the second pressure sensor and convert them into pressure signals. The pressure regulation system is used to adjust the thrust of the telescopic mechanism or the pressure of the fiber bundle contact surface at the laying end of the split pressure roller according to the pressure signal.

[0026] As a further improvement of the present invention, a closed-loop temperature control heating mechanism is also included. The closed-loop temperature control heating mechanism includes a temperature controller, a power regulator, a far-infrared heating lamp, and a non-contact infrared temperature sensor. The temperature controller and the power regulator are installed in the control cabinet of the automatic laying equipment. The far-infrared heating lamp and the non-contact infrared temperature sensor are installed on the fiber manipulation mechanism. The non-contact infrared temperature sensor is used to monitor the surface temperature of the composite material component in real time and transmit the temperature signal to the temperature controller. The temperature controller is connected to the power regulator to continuously adjust the power of the far-infrared heating lamp, thereby realizing real-time automatic control of the surface temperature of the composite material component.

[0027] As a further improvement of the present invention, the far-infrared heating lamp is hinged to the fiber manipulation mechanism, and its radiation direction is adjustable; the non-contact infrared temperature sensor is hinged to the fiber manipulation mechanism, and its testing angle and testing distance are adjustable.

[0028] As a further improvement of the present invention, the connecting mechanism includes a support connector, a free rotation mechanism, a fiber laying connector, and a rotation drive mechanism; The support connector is rotatably connected to the fiber laying connector via a free rotation mechanism, and the free rotation mechanism is signal-connected to the fiber laying connector; the rotation drive mechanism is drive-connected to the fiber laying connector. The free rotation mechanism includes a photoelectric integrated slip ring and a rotary connector. The photoelectric integrated slip ring is connected between the fiber laying connector and the support connector. The rotary connector is sleeved on the outside of the photoelectric integrated slip ring.

[0029] As a further improvement of the present invention, the supporting connector includes a movable connecting seat and a mounting plate. The movable connecting seat is detachably connected to the rotary connector through the mounting plate. The mounting plate is located between the movable connecting seat and the rotary connector. The rotary drive mechanism is connected to the mounting plate.

[0030] As a further improvement of the present invention, the rotary drive mechanism includes a rotary drive and a transmission mechanism, wherein the fixed end of the rotary drive is connected to the mounting plate, and the output end of the rotary drive is connected to the rotary connector through the transmission mechanism. The transmission mechanism includes a driving wheel and a driven wheel. The driving wheel is connected to the output end of the rotary drive, and the driven wheel is sleeved on the outside of the rotary connector. The driving wheel and the driven wheel mesh with each other.

[0031] Compared with the prior art, the present invention achieves the following technical effects: The present invention, through its two-stage pressure closed-loop control mechanism and two-stage tension closed-loop control mechanism, can effectively solve the problems of large fluctuations in laying process parameters and difficulty in adapting to complex curved surface forming in the prior art.

[0032] This invention, through a primary tension closed-loop control mechanism, can effectively avoid the problem of excessive instantaneous tension fluctuations caused by pre-impregnated fiber bundles adhering to the surface of the fiber bundle guide roller, thereby improving the stability of the unwinding tension of the fiber bundle during the laying process. It can also effectively compensate for the floating space of the secondary tension closed-loop control mechanism located at the end, increase the stability of end pressure control, further improve the pressure control accuracy, and enhance the compaction stability of the fiber bundle during the laying process.

[0033] The two-stage tension closed-loop control mechanism of this invention can achieve two-stage tension control by differentially controlling the end filament bundle and the re-feeding filament bundle during the layup process. It also has an independent filament bundle conveying speed control function, which can realize independent segmented closed-loop control of the primary tension (unwinding tension) and secondary tension (end process tension) of the filament bundle. By measuring and independently controlling the feeding speed of each filament bundle in real time, it can further compensate for tension control errors, ensure that the tension of multiple filament bundles is uniform and accurate during layup, and effectively reduce the generation of defects such as filament bundle micro-bending, porosity, and delamination caused by pressure fluctuations, thereby ensuring the quality of composite material layup and molding.

[0034] This invention employs a primary pressure closed-loop control mechanism and a secondary pressure closed-loop control mechanism. The primary pressure closed-loop control mechanism effectively compensates for the floating space of the secondary pressure closed-loop control mechanism, increasing the stability of the final pressure control. The cooperation between the primary and secondary pressure closed-loop control mechanisms effectively improves pressure control accuracy and enhances the compaction stability of the fiber bundles during layup. This ensures stable fiber bundle posture during guidance and transport, effectively reducing the generation of defects such as micro-bending, porosity, and delamination caused by pressure fluctuations, thereby guaranteeing the quality of composite material layup.

[0035] The two-stage pressure closed-loop control mechanism of this invention adopts a split floating pressure roller. Compared with conventional rigid pressure rollers, the axial direction can be independently segmented and floated. On the one hand, it can make the surface of the pressure roller adapt to the curvature change of the mold surface, which can effectively solve the problem that the traditional rigid pressure roller cannot effectively fit the mold surface due to the large curvature change of the mold surface. On the other hand, through the differential speed movement of the inner and outer pressure rollers, it overcomes the problem that the speed of the inner and outer pressure rollers of the traditional one-piece rigid pressure roller is difficult to coordinate during the fiber bundle turning process, which causes slippage and fiber wrinkles or micro-bending. This improves the compaction stability of the fiber bundle during the laying process and ensures the quality of composite material laying and molding.

[0036] The connecting mechanism of the present invention can realize the automated connection between the multi-axis motion mechanism and the multi-filament fiber automatic placement head, which facilitates the maintenance and installation of the multi-filament fiber automatic placement head and improves work efficiency. On the other hand, it can realize the infinite rotation of the multi-filament fiber automatic placement head, which can improve the molding efficiency of the equipment for fiber-reinforced composite material components with variable angle and variable stiffness.

[0037] The flexible automatic fiber-reinforced composite material laying equipment of the present invention can realize multi-filament bundle laying. For complex curved surface molds, the pressure rollers can be segmented and floated in stages to ensure uniform and sufficient roller pressure. It can perform winding and unwinding, two-stage laying tension control and two-stage laying pressure control, thereby realizing closed-loop control of tension and pressure during the laying of continuous fiber-reinforced composite materials, ensuring the stability and accuracy of the main process parameters. Attached Figure Description

[0038] Figure 1 This is an isometric view of the overall device in this embodiment; Figure 2 This embodiment uses an automated multi-filament fiber placement head. Figure 3 This is a schematic diagram of the connection mechanism in this embodiment; Figure 4 This is a top view of the overall device in this embodiment; Figure 5 This is a schematic diagram of the first-stage tension closed-loop control mechanism in this embodiment; Figure 6 This is a schematic diagram of another scheme for the first-stage tension closed-loop control mechanism in this embodiment; Figure 7 This is a schematic diagram of the two-stage tension closed-loop control mechanism in this embodiment; Figure 8 This is a schematic diagram of the two-stage tension closed-loop control mechanism in this embodiment; Figure 9 This is a schematic diagram of the gear set of the two-stage tension closed-loop control mechanism in this embodiment; Figure 10 This is a schematic diagram of the drive structure of the two-stage tension closed-loop control mechanism in this embodiment; Figure 11 This is a schematic diagram of the first-stage pressure closed-loop control mechanism in this embodiment; Figure 12 This embodiment uses an automated multi-filament fiber placement head. Figure 13 This is a schematic diagram of the two-stage pressure closed-loop control mechanism in this embodiment; Figure 14 This is an axial view sectional view of the two-stage pressure closed-loop control mechanism in this embodiment; Figure 15 This is a diagram showing the floating arrangement of adjacent split floating shafts in the two-stage pressure closed-loop control mechanism of this embodiment.

[0039] Reference numerals: 1. Multi-axis motion mechanism; 2. Laying positioner; 3. Connecting mechanism; 31. Movable connecting seat; 32. Multifunctional integrated slip ring (photoelectric, pneumatic, and electromechanical); 33. Rotary connector; 34. Mounting plate; 35. Rotary drive; 36. Driving wheel; 37. Driven wheel; 38. Connecting flange; 39. Connecting male disc; 40. Connecting female disc; 4. Multi-tow fiber automatic laying head; 4-6-2. Tow clamping mechanism; 4-6-3. Tow refeeding mechanism; 4-6-4. Tow cutting mechanism; 5. Mounting base; 6. Unwinding mechanism; 7. Rewinding mechanism; 8. First-stage tension closed-loop control mechanism; 81. First end fixing block; 82. First tension / compression sensor; 83. Tension slider; 84. First tension sliding guide rail; 85. Spring fixing block; 86. First fiber bundle guide roller slider; 87. First fiber bundle guide roller; 88. Spring; 89. First tension base; 810. First tension stop block; 811. Second end fixing block; 812. Second tension sliding guide rail; 813. Linear cylinder; 814. Roller-type tension sensor; 815. Second fiber bundle guide roller slider; 816. Second fiber bundle guide roller; 817. Second tension base; 818. Second tension stop block; 51. Friction transmission mechanism; 52. Active power transmission mechanism; 53. First-stage driven power transmission gear set; 54. Second-stage driven power transmission gear set; 541. Transmission gear; 55. Rolling bearing; 56. Central bearing; 57. Servo motor; 58. Motor output shaft; 59. Motor central shaft; 510. Support ring; 511. Motor gear set; 512. Mounting side plate; 513. Wire bundle guide plate; 515. Support driven gear; 516. Support driven shaft; 517. Support rolling bearing; 518. Spherical ball; 519. Slide groove; 520. Tightening ball; 521. Active transmission internal gear set; 522. Active transmission external gear set; 523. Speed ​​sensor; 524. Speed ​​measuring wheel; 525. Magnetic element; 60. Split-type floating pressure roller; 61. Central shaft; 62. Telescopic mechanism; 63. First slider; 64. First sliding guide rail; 65. Second slider; 66. Second sliding guide rail; 67. Split-type floating shaft; 68. Split-type pressure roller; 69. Inner rubber layer; 610. Second pressure sensor; 611. Heat insulation layer; 612. Outer rubber layer; 613. First pressure sensor; 9. Primary pressure closed-loop control mechanism; 91. Secondary tension / compression sensor; 92. Lateral cylinder; 93. Lateral guide rail; 94. Lateral sliding plate; 95. Sensor connecting block; 96. Mechanism bracket; 97. Mechanism reinforcement; 98. Lateral stop block; 99. Lateral slider; 10. Fiber manipulation mechanism; 11. Tow bundle centralized guiding system; 110. Tow bundle guide wheel; 111. Mounting bracket. Detailed Implementation

[0040] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0041] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0043] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0046] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0047] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0048] The accompanying drawings illustrate various structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0049] Example 1 See Figure 1 This embodiment provides a flexible automatic fiber-reinforced composite material laying device, including a multi-axis motion mechanism 1, a laying positioner 2, a connecting mechanism 3, and a multi-filament fiber automatic laying head 4; the connecting mechanism 3 is located between the multi-axis motion mechanism 1 and the multi-filament fiber automatic laying head 4.

[0050] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0051] In this embodiment, the multi-axis motion mechanism 1 is preferably a six-axis industrial robot, the end of which is connected to the multi-filament fiber automatic placement head 4; the placement positioner 2 is set within the working range of the multi-axis motion mechanism 1, which provides support for the entire placement operation and adjusts the posture of the placement mold, thereby expanding the effective working space of the multi-axis motion mechanism 1. In this embodiment, the placement positioner 2 is preferably a horizontal positioner or a vertical positioner, and has at least one rotational degree of freedom.

[0052] See Figure 3The connection structure in this embodiment includes a support connector, a free rotation mechanism, a fiber placement connector, and a rotation drive mechanism. The fiber placement connector connects to the multi-filament fiber automatic placement head 4. The support connector is rotatably connected to the fiber placement connector via the free rotation mechanism, allowing the fiber placement connector to rotate continuously relative to the support connector without limitation on the rotation angle. The free rotation mechanism is signal-connected to the fiber placement connector for transmitting electrical signals. The rotation drive mechanism is drive-connected to the fiber placement connector, enabling rotation to a set number of turns and a set angle, while also controlling rotation parameters such as rotation direction and speed. This adapts to the molding of continuous fiber variable-angle fiber-reinforced composite material components, improves molding quality, and meets actual production needs.

[0053] The free rotation mechanism in this embodiment includes a phos-gas-electric multifunctional integrated slip ring 32 and a rotary connector 33, wherein the rotary connector 33 is sleeved on the outside of the phos-gas-electric multifunctional integrated slip ring 32, and the rotary connector 33 is preferably a crossed roller bearing or a rotary support.

[0054] In this embodiment, the rotary connector 33 is detachably connected to the fiber laying connector via the connecting flange 38. The connecting flange 38 is sleeved on the outside of the photoelectric multifunctional integrated slip ring 32, and the connecting flange 38 is located between the rotary connector 33 and the fiber laying connector.

[0055] In this embodiment, the supporting connector includes a movable connecting seat 31 and a mounting plate 34. The movable connecting seat 31 is detachably connected to the rotary connector 33 via the mounting plate 34. The mounting plate 34 is located between the movable connecting seat 31 and the rotary connector 33. The rotary drive mechanism is connected to the mounting plate 34. Specifically, the rotary drive mechanism includes a rotary drive 35 and a transmission mechanism. The fixed end of the rotary drive 35 is connected to the mounting plate 34, and the output end of the rotary drive 35 extends through the mounting plate 34 to the underside of the mounting plate 34. The output end of the rotary drive 35 is connected to the rotary connector 33 via the transmission mechanism.

[0056] In this embodiment, the transmission mechanism includes a driving wheel 36 and a driven wheel 37. The driving wheel 36 is connected to the output end of the rotary drive 35, and the driven wheel 37 is sleeved on the outside of the rotary connector 33. The driving wheel 36 and the driven wheel 37 mesh with each other.

[0057] In this embodiment, the fiber laying connector includes a male connector 39 and a female connector 40. The top of the male connector 39 is connected to the bottom of the connecting flange 38. The male connector 39 is connected to the photoelectric multi-functional integrated slip ring 32 via signal connection. The female connector 40 is inserted into the male connector 39 via signal connection.

[0058] See Figure 2In this embodiment, the multi-filament fiber automatic placement head 4 includes a mounting base 5, a winding and unwinding mechanism, a fiber manipulation mechanism 10, a filament centralized guiding system 11, a two-stage tension closed-loop control mechanism, and a two-stage pressure closed-loop control mechanism. The filament centralized guiding system 11 is located below the mounting base 5, the fiber manipulation mechanism 10 is located below the filament centralized guiding system 11, and the winding and unwinding mechanism is rotatably arranged around the filament centralized guiding system 11 and is mounted on the mounting base 5.

[0059] The first-stage tension closed-loop control mechanism 8 of the two-stage tension closed-loop control mechanism is rotatably arranged outside the take-up and unwinding mechanism and is set one-to-one with the take-up and unwinding mechanism. The second-stage tension closed-loop control mechanism of the two-stage tension closed-loop control mechanism is set on the fiber manipulation mechanism 10. The first-stage pressure closed-loop control mechanism 9 of the two-stage pressure closed-loop control mechanism is set in the middle of multiple take-up and unwinding mechanisms. A base mounting bracket is set at the center of the lower part of the mounting base 5 for mounting the first-stage pressure closed-loop control mechanism 9 to ensure that the overall force is a straight line. The second-stage pressure closed-loop control mechanism of the two-stage pressure closed-loop control mechanism is set at the end of the fiber manipulation mechanism 10.

[0060] See Figure 4 The mounting base 5 is generally disc-shaped, with flange mounting holes and mounting grooves on its top for mounting the connecting mechanism 3. At the same time, it ensures that after the first-level pressure closed-loop control mechanism 9 below is installed, the overall force is linear, increasing the uniformity of the force on the mounting base 5.

[0061] In the embodiments, see Figure 2 and Figure 4 The unwinding and winding mechanism includes an unwinding mechanism 6 and a winding mechanism 7.

[0062] The filament clamping mechanism 4-6-2, the filament refeeding mechanism 4-6-3, and the filament cutting mechanism 4-6-4 in this embodiment are all existing technical structures, so they will not be described in detail here.

[0063] See Figure 5 In this embodiment, the first-level tension closed-loop control mechanism 8 is a spring-type tension closed-loop control mechanism, consisting of a first end fixing block 81, a tension sliding mechanism, a first fiber bundle guide roller sliding mechanism, and a first-level tension controller. A first tension / compression sensor 82 is provided between the first end fixing block 81 and the tension sliding mechanism. The first fiber bundle guide roller sliding mechanism is connected to the tension sliding mechanism and drives the tension sliding mechanism to generate tension relative to the first tension / compression sensor 82. The first-level tension controller controls the braking torque or winding / unwinding speed of the winding and unwinding mechanism 6 based on the tension detected by the first tension / compression sensor 82.

[0064] The tension sliding mechanism includes a tension slider 83, a first tension sliding guide rail 84, a spring fixing block 85, and an elastic component. The spring fixing block 85 is disposed above the tension slider 83 and connected to one end of the elastic component. The first fiber bundle guide roller sliding mechanism includes a first fiber bundle guide roller slider 86 and a first fiber bundle guide roller 87 disposed above it. The first fiber bundle guide roller slider 86 is connected to one end of the tension slider 83 away from the first end fixing block 81, and its upper end is connected to the other end of the elastic component. The first fiber bundle guide roller slider 86 and the tension slider 83 are slidably connected on the first tension sliding guide rail 84.

[0065] In this embodiment, the elastic component is a spring 88. It also includes a first tension base 89, a first end fixing block 81, a tension sliding mechanism, and a first fiber bundle guiding sliding mechanism, all of which are mounted on the first tension base 89. A first tension stop block 810 is installed on the end of the first tension base 89 away from the first end fixing block to prevent the tension slider 83 from sliding out of the boundary of the first tension sliding guide rail 84. The first end fixing block 81 is fixed to the first tension base 89 by bolts. In this embodiment, the first tension / compression sensor 82 inputs a measurement signal to the first-level tension controller. The first-level tension controller controls its output current or voltage signal according to the measurement signal, thereby controlling the braking torque or unwinding speed of the unwinding mechanism 6 to achieve precise control of the first-level tension. The tension measured by the first tension / compression sensor 82 is twice the actual tension of the fiber bundle. To ensure the tension control effect of the first-level tension closed-loop control mechanism 8, the stiffness and elastic restoring force of the spring 88 must be consistent with the tension measurement range, and the effective elongation length of the spring 88 within the controlled tension range should be between 2cm and 15cm to ensure the stability of the tension control.

[0066] The specific working principle is as follows: (See [link]) Figure 4 The continuous fiber bundle starts from the unwinding mechanism 6 and enters the winding mechanism 7 via direction A as shown in the figure for film winding. Then, it enters the spring-type tension closed-loop control mechanism via direction B as shown in the figure. The tension is measured by the first tension sensor 82 and transmitted to the first-stage tension controller. The first-stage tension controller controls the unwinding mechanism 6 to perform first-stage tension control. The fiber bundle then enters the fiber bundle centralized guide system 11 via direction C as shown in the figure.

[0067] Example 2 This embodiment is basically the same as Embodiment 1, except that, as Figure 6As shown, the primary tension closed-loop control mechanism 8 in this embodiment is a linear tension closed-loop control mechanism. The linear tension closed-loop control mechanism includes a second end fixing block 811, a second tension sliding guide rail 812, a second fiber bundle guide roller sliding mechanism, and a second primary tension controller. A linear cylinder 813 is provided between the second end fixing block 811 and the second fiber bundle guide roller sliding mechanism. A roller-type tension sensor 814 is provided on the second fiber bundle guide roller sliding mechanism, and it is slidably connected on the second tension sliding guide rail 812 and generates tension relative to the roller-type tension sensor 814. The second primary tension controller controls the braking torque or winding speed of the winding and unwinding mechanism according to the tension detected by the roller-type tension sensor 814.

[0068] The second fiber bundle guide roller sliding mechanism includes a second fiber bundle guide roller slider 815 and a second fiber bundle guide roller 816 disposed above it. One end of a linear cylinder 813 is connected to a second end fixing block 811, and the other end is connected to the second fiber bundle guide roller slider 815. A roller-type tension sensor 814 is disposed between the second fiber bundle guide roller slider 815 and the second fiber bundle guide roller 816. The linear cylinder 813 drives the second fiber bundle guide roller slider 815 to slide on the second tension sliding guide rail 812. The linear tension closed-loop control mechanism also includes a second tension base 817. The second end fixing block 811, the second tension sliding guide rail 812, and the second fiber bundle guide roller sliding mechanism are all mounted on the second tension base 817. A second tension stop block 818 is installed on the second tension base 817 at the end away from the second end fixing block 811 to prevent the second fiber bundle guide roller slider 815 from sliding out of the boundary of the second tension sliding guide rail 812.

[0069] The tension measured by the roller-type tension sensor 814 is twice the actual tension of the fiber bundle. The tension measured by the roller-type tension sensor 814 is input to the pressure control system of the linear cylinder 813. By controlling the proportional valve in the pressure control system, the pressure of the linear cylinder 813 is stabilized, thereby coordinating with the unwinding mechanism 6 to stabilize the unwinding tension. To ensure the tension control effect of the primary tension closed-loop control mechanism 8, the effective stroke of the linear cylinder 813 should be maintained between 2cm and 15cm to ensure the stability of tension control.

[0070] The specific working principle is as follows: (See [link]) Figure 4The continuous fiber bundle starts from the unwinding mechanism 6 and enters the winding mechanism 7 via direction A for film winding. It then enters the linear tension closed-loop control mechanism via direction B. Impact is absorbed by the physical displacement of the linear cylinder 813. The tension is measured by the roller-type tension sensor 814 and transmitted to the second-stage tension controller. The second-stage tension controller controls the braking torque of the unwinding mechanism 6 to control the unwinding speed. The pressure control system of the linear cylinder 813 controls the output tension of the linear cylinder 813. The coordinated action of the linear cylinder 813 and the unwinding mechanism 6 achieves stable unwinding tension. The fiber bundle then enters the fiber bundle centralized guide system 11 via direction C as shown in the figure.

[0071] Example 3 This embodiment is basically the same as Embodiments 1 and 2, except that, see [link / reference needed] Figures 7-10 The secondary tension closed-loop control mechanism of this embodiment includes a drive mechanism, a power transmission mechanism, and a friction transmission mechanism 51. The power transmission mechanism is connected to the drive mechanism, and the friction transmission mechanism 51 is connected to the power transmission mechanism via friction transmission. Multiple end bundles pass between the friction transmission mechanism 51 and the power transmission mechanism. The drive mechanism drives the power transmission mechanism, so that the friction transmission mechanism 51 and the power transmission mechanism independently transmit each of the multiple end bundles and control the feeding speed of each bundle. At the same time, the control system controls the speed difference between the feeding speed of each bundle in the multiple end bundles and the laying speed of each bundle in the multiple end bundles corresponding to the split floating pressure roller 60 in the automatic fiber laying equipment, thereby realizing independent control of the tension of the laid multiple end bundles.

[0072] In this embodiment, the drive mechanism includes a motor central shaft 59, multiple servo motors 57, multiple support rings 510, and multiple motor gear sets 511. The multiple support rings 510 and motor gear sets 511 are all arranged along the length of the motor central shaft 59. The support rings 510 are arranged around the outside of the motor central shaft 59, and the motor central shaft 59 is fixedly connected to the support rings 510. The motor gear sets 511 are arranged on the support rings 510 and rotatably connected to the corresponding support rings 510. The multiple servo motors 57 are arranged in a ring around one end of the motor central shaft 59, and the multiple servo motors 57 are connected to the corresponding motor gear sets 511 through multiple motor output shafts 58. At this time, the motor gear sets 511 and the servo motors 57 are arranged facing each other. Each support ring 510 is provided with one motor gear set 511 for connection to the motor output shaft 58. The motor gear sets 511 are connected to the power transmission mechanism, enabling the servo motors 57 to drive the power transmission mechanism through the corresponding motor gear sets 511. Specifically, the friction transmission mechanism 51 is connected to the fiber guide plate 513 in the automatic fiber laying equipment to realize the transmission of multiple end fiber bundles; and the two ends of the fiber guide plate 513 are connected to the split floating pressure roller 60 in the automatic fiber laying equipment.

[0073] See Figure 8 In this embodiment, the control system includes multiple speed sensors 523 and speed measuring wheels 524. The speed measuring wheels 524 are in frictional contact with the outer rubber layer 612 of the split pressure roller 68. Magnetic elements 525 are provided on the surface of the speed measuring wheels 524. The magnetic elements 525 are arranged circumferentially around the outer surface of the speed measuring wheels 524. The multiple speed sensors 523, in conjunction with the magnetic elements 525, independently measure the surface speed of the split floating pressure roller 60 to obtain the laying speed of each filament in the multiple end filament bundles. Each filament in the multiple end filament bundles is independently transmitted through the friction transmission mechanism 51 and the power transmission mechanism, and the feeding speed of each filament bundle is controlled. By utilizing the speed difference between the feeding speed and the laying speed of each filament bundle in the multiple end filament bundles, the tension closed-loop control of the multiple end filament bundles is realized.

[0074] The speed sensor 523 can be a Hall effect speed sensor 523, and the magnetic element 525 can be a thin film magnetic material, evenly spaced on the outer surface of the speed measuring wheel 524, or arranged on one side thereon, so as to cooperate with the Hall effect speed sensor 523 to measure the surface speed of the end segmented floating pressure roller 60.

[0075] In this embodiment, the power transmission mechanism includes an active power transmission mechanism 52 and a driven power transmission mechanism connected thereto. The driven power transmission mechanism includes at least one stage of driven power transmission structure. The active power transmission mechanism 52 is connected to the drive mechanism, and the driven power transmission mechanism is connected to the friction transmission mechanism 51 through friction transmission.

[0076] The active power transmission mechanism 52 includes an active transmission gear set, the driven power transmission mechanism includes a driven power transmission gear set, and the friction transmission mechanism 51 includes a friction transmission gear set. The gears in the motor gear set 511, the active transmission gear set, the driven power transmission gear set, and the friction transmission gear set are connected one-to-one and are consistent with the number of end wire bundles, that is, the corresponding wire bundles of the corresponding gears in the motor gear set 511, the active transmission gear set, the driven power transmission gear set, and the friction transmission gear set.

[0077] The active transmission gear set includes an active transmission internal gear set 521 and an active transmission external gear set 522. The active transmission internal gear set 521 is connected to the motor gear set 511, and the active transmission external gear set 522 is connected to the driven power transmission gear set.

[0078] At this time, the support ring 510 is provided with multiple through holes, the number of which is at least one more than the number of motor output shafts 58, and a support rolling bearing 517 is installed in two through holes on each support ring 510. Two of the multiple motor output shafts 58 pass through the through holes on the support ring 510 and their ends are connected to the support rolling bearings 517 on the corresponding support ring 510.

[0079] Each support ring 510 is also provided with a set of support driven gears 515. The support driven gears 515 are mounted on the support ring 510 through a support driven shaft 516 and a support rolling bearing 517. The support driven gears 515 are fixedly connected to the support driven shaft 516, and the support driven shaft 516 is fixedly connected to the support rolling bearing 517. The support driven gears 515 mesh with the drive transmission internal gear set 521.

[0080] The specific working principle is as follows: the servo motor 57 drives the motor output shaft 58 to rotate, and the motor gear set 511 meshes with the active transmission internal gear set 521 to drive the active power transmission mechanism 52 to rotate; during the rotation of the active power transmission mechanism 52, it drives the support driven gear 515 to rotate around the support driven shaft 516. The support driven gear 515 and the motor gear set 511 jointly support the active power transmission mechanism 52 to ensure its smooth rotation.

[0081] See Figure 7 and Figure 9The driven power transmission mechanism includes a first-stage driven power transmission structure and a second-stage driven power transmission structure. The driven power transmission gear set includes a first-stage driven power transmission gear set 53 and a second-stage driven power transmission gear set 54, corresponding to the first-stage and second-stage driven power transmission structures, respectively. The first-stage driven power transmission gear set 53 and the second-stage driven power transmission gear set 54 are connected for transmission. Specifically, the first-stage driven power transmission gear set 53, which is closer to the driving transmission gear set, is connected to the driving transmission gear set, i.e., it meshes with the driving transmission gear set. The second-stage driven power transmission gear set 54, which is farther from the driving transmission gear set, is connected to the friction transmission gear set for friction transmission. At this point, the gears in the driving transmission gear set, the first-stage driven power transmission gear set 53, the second-stage driven power transmission gear set 54, and the friction transmission gear set are connected in a one-to-one correspondence, and the number of gears corresponds to the number of the end wire bundles.

[0082] Specifically, each gear in the second-stage driven power transmission gear set 54 has transmission teeth 541 at both ends. The gears in the first-stage driven power transmission gear set 53 are connected to the transmission teeth 541 on the gears in the second-stage driven power transmission gear set 54. The central part of each gear in the second-stage driven power transmission gear set 54 is connected to the friction transmission gear set via friction transmission. The driven power transmission mechanism also includes a central bearing 56 and rolling bearings 55 disposed outside the central bearing 56. The driven power transmission gear sets are disposed on the rolling bearings 55 and distributed along the length direction of the central bearing 56.

[0083] In this embodiment, as Figures 7-10 As shown, in this embodiment, in the active transmission gear set, a sliding groove 519 and a spherical ball 518 are provided between adjacent active transmission gears. The sliding groove 519 is located on the side of one of the adjacent active transmission gears, and the spherical ball 518 is located on the side of the other of the adjacent active transmission gears, so as to realize the connection between the annular sliding groove 519 and the spherical ball 518. It also includes a mounting side plate 512, which is provided on both sides of the power transmission mechanism and the friction transmission mechanism 51, for mounting the drive mechanism, the power transmission mechanism, and the friction transmission mechanism 51.

[0084] In the active drive gear set, the two outermost active drive wheels have grooves 519 on opposite sides, and mounting side plates 512 on both sides are provided with clamping balls 520, which are clamped to the grooves 519. The active drive gear set has a hollow annular structure. To improve the contact rigidity between adjacent active drive gears, there are generally multiple spherical balls 518 to fill the grooves 519 and ensure good rolling.

[0085] The mounting side plate 512 is located on both sides of the drive mechanism, power transmission mechanism and friction transmission mechanism 51.

[0086] Example 4 This embodiment is basically the same as Embodiments 1, 2, and 3, except that, see [link / reference] Figure 11 and Figure 12 In this embodiment, the primary pressure closed-loop control mechanism 9 includes an installation structure. Lateral cylinders 92 and second tension / compression sensors 91 are arranged on the left and right sides of the installation structure. The second tension / compression sensor 91 is located at the lower end of the lateral cylinder 92, which controls the second tension / compression sensor 91 to float up and down along the side of the installation structure. Lateral guide rails 93, lateral sliding plates 94, and sensor connecting blocks 95 are also provided on the left and right sides of the installation structure. The sensor connecting blocks 95 are located between the lateral sliding plates 94 and the second tension / compression sensor 91. The lateral guide rails 93 are located on the left and right sides of the installation structure, and the lateral sliding plates 94 and the sensor connecting blocks 95 are slidably connected to the lateral guide rails 93.

[0087] The installation structure includes a support bracket 96 and a reinforcing member 97. The lateral cylinder 92, the second tension / compression sensor 91, the lateral guide rail 93, the lateral sliding plate 94, and the sensor connecting block 95 are all mounted on the support bracket 96, serving as a central connection and fixation element. The reinforcing member 97 connects the two sides of the support bracket 3, providing support and protection, and increasing the rigidity and stability of the first-stage pressure closed-loop control mechanism 9. The lateral slider 99 and the lateral guide rail 93 are mounted on the side of the support bracket 96. During the up-and-down movement of the lateral cylinder 92, they connect the sensor connecting block 95, ensuring the rigidity and straightness of the sliding end of the lateral cylinder 92, preventing bending or torsion during installation that could lead to measurement errors or damage to the second tension / compression sensor 91. A lateral stop block 98 is installed below the lateral guide rail 93 to restrict the linear movement of the lateral slider 99, preventing it from sliding off the lateral guide rail 93, thereby achieving first-stage pressure regulation.

[0088] See Figure 12 The fiber bundle centralized guiding system 11 is located on the front and rear sides of the mounting structure. It includes multiple series-connected fiber bundle guide wheels 110 and mounting brackets 111. The multiple series-connected fiber bundle guide wheels 110 on the front and rear sides are staggered and consistent with the arrangement of the guide grooves in the fiber manipulation mechanism 10. The mounting brackets 111 are located on both sides of the multiple series-connected fiber bundle guide wheels 110 and connected to the mounting structure. The center line of each of the multiple series-connected fiber bundle guide wheels 110 is tangent to the outer circle of the corresponding first fiber bundle guide roller 87 or second fiber bundle guide roller 816, and the number of multiple series-connected fiber bundle guide wheels 110 is 1 / 2 of the total number of fiber bundles in the laying equipment.

[0089] Example 5 This embodiment is basically the same as Embodiments 1, 2, 3 and 4. The difference is that, based on the adjustment of the first-level pressure, since its pressure control range is large, there is a certain error between the pressure measured by the sensor and the pressure of the controlled object. Therefore, a second-level closed-loop pressure control mechanism is needed to perform second-level pressure control on the laying roll.

[0090] See Figure 13 , Figure 14 and Figure 15 In this embodiment, the secondary closed-loop pressure control mechanism is a split floating pressure roller 60. The split floating pressure roller 60 includes a central shaft 61, multiple split floating shafts 67, and a telescopic mechanism 62. The multiple split floating shafts 67 are arranged axially along the central shaft 61. The central shaft 61 and the multiple split floating shafts 67 are connected by the telescopic mechanism 62, so that the multiple split floating shafts 67 float separately along the radial direction of the central shaft 61. Adjacent split floating shafts 67 are axially connected by a first sliding mechanism, so that adjacent split floating shafts 67 float relative to each other along the radial direction of the central shaft 61 under the action of the first sliding mechanism. The split floating shafts 67 are provided with grooves for accommodating the first sliding mechanism. Multiple split pressure rollers 68 are arranged on the outer circumference of the multiple split floating shafts 67.

[0091] In this embodiment, the first sliding mechanism includes a first sliding guide rail 64 and a first slider 63. On two adjacent split floating shafts 67 in the axial direction of the central shaft 61, the first sliding guide rail 64 is installed on one of the split floating shafts 67, and the first slider 63 is installed on the other split floating shaft 67. On the multiple split floating shafts 67 in the middle, the first sliding guide rail 64 and the first slider 63 are axially connected to each other through the first sliding guide rail 64 and the first slider 63. The first sliding guide rail 64 and the first slider 63 on the adjacent split floating shafts 67 are slidably connected along the radial direction of the central shaft 61, so that the split floating shafts 67 float relatively along the radial direction of the central shaft 61 under the action of the first sliding mechanism and achieve a tight axial connection, ensuring reliable connection of each split floating shaft 67 and smoothness and straightness of relative movement.

[0092] Here, the first sliding guide rail 64 is a first linear guide roller, and the first slider 63 is a first ball bearing slider. Specifically, the two sides of the split floating shaft 67 are respectively provided with grooves for connecting the first sliding guide rail 64 and the first slider 63. The outermost split floating shaft 67 only needs to have a groove on one side. The split floating shafts 67 are connected to each other in the axial direction through the first sliding guide rail 64 and the first slider 63. When each split floating shaft 67 floats separately, the corresponding first slider 63 slides in the first sliding guide rail 64. At this time, under the action of the first sliding guide rail 64 and the first slider 63, the entire split floating shaft 67 remains as one unit in the axial direction. Through this design, the split floating shafts 67 are restricted to each other by the first sliding guide rail 64 and the first slider 63, so that they can only slide in the floating direction. See Figure 14 It also includes multiple second sliding mechanisms, each corresponding to one of the multiple split floating shafts 67. Each second sliding mechanism includes a second sliding guide rail 66 and a second slider 65. The second sliding guide rail 66 is mounted on the central shaft 61, and the second slider 65 is mounted on the split floating shaft 67. The second sliding guide rail 66 and the second slider 65 are slidably connected along the radial direction of the central shaft 61. Specifically, the central shaft 61 has multiple mounting holes for the second sliding guide rails 66, and the second sliding guide rails 66 are bolted into these mounting holes.

[0093] Multiple separate floating shafts 67 are each equipped with a telescopic mechanism 62. Each telescopic mechanism 62 is a cylinder with a mounting groove on a central shaft 61. One end of the cylinder is installed in the mounting groove, and the other end is installed on the separate floating shaft 67, thereby causing the separate floating shaft 67 to float radially upwards along the central shaft 61. Specifically, the cylinder is a miniature cylinder with a threaded end; the central shaft 61 has a mounting groove with an internal thread machined in the corresponding hole. The threaded end of the cylinder is threaded into the mounting groove, and a nut is used to lock it at the outer end of the threaded end, thus fixing the telescopic mechanism 62 to the central shaft 61.

[0094] It also includes a pressure control device, which can be arranged in either a built-in detection arrangement or an external detection arrangement. In the built-in detection arrangement, the pressure control device includes a first pressure sensor 613 installed on the telescopic mechanism 62. The first pressure sensor 613 is a thin-film pressure sensor. The pressure control device is used to acquire and control the thrust of the telescopic mechanism 62 in real time. Here, the split pressure roller 68 is preferably a bearing.

[0095] In the external detection arrangement, the pressure control device includes a second pressure sensor 610 installed on the outside of the split pressure roller 68. The second pressure sensor 610 is an array thin-film pressure sensor or an array-type Bragg fiber grating string sensor. The pressure control device is used to acquire and control the pressure at the fiber bundle contact surface at the laying end of the split pressure roller 68 in real time. Here, the split pressure roller 68 is an integral structure of conductive slip ring or fiber optic slip ring and bearing. Conductive slip rings or fiber optic slip rings are provided at both ends of the split floating pressure roller 60 for pressure sensor and air path outlet, realizing photoelectric signal transmission.

[0096] See Figure 14 and Figure 15 In the external detection arrangement, an inner adhesive layer 69 is arranged inside the array thin-film pressure sensor or array-type Bragg fiber grating string sensor, and a heat insulation layer 611 is arranged outside the heat insulation layer 611. An outer adhesive layer 612 is arranged outside the heat insulation layer 611. The outer adhesive layer 612 can be arranged as an integral adhesive layer or a separate adhesive layer. The continuity of the outer adhesive layer 612 ensures the continuity of the end of the separate pressure roller 68 in contact with the curved surface. For continuous fiber variable angle / variable stiffness composite material components, the outer adhesive layer 612 can be arranged as a separate adhesive layer to ensure the continuous fiber orientation capability.

[0097] The inner coating layer 69 refers to the coating of polyurethane or other flexible materials, used for arranging the array thin-film pressure sensor or array-type Bragg fiber grating string sensor, as well as the thermal insulation material. The thermal insulation layer 611 can use various thermal insulation materials, such as asbestos or aerogel, to insulate against internal and external temperatures. Its function is to isolate the heat source and eliminate the influence of the fiber bundle heating temperature during the laying process on the measurement results of the array thin-film pressure sensor or array-type Bragg fiber grating string sensor. The outer coating layer 612 uses a material with high elastic deformation. Its function is to ensure a tight fit between the split pressure roller 68 and the mold surface, improving the control over the pressure at the fiber bundle contact surface at the laying end of the split pressure roller 68.

[0098] The pressure control device also includes a pressure control system and a pressure regulation system. The pressure control system receives photoelectric signals detected by the first pressure sensor 613 or the second pressure sensor 610 and converts them into pressure signals. The pressure regulation system adjusts the thrust of the telescopic mechanism 62 or the pressure of the fiber bundle contact surface at the laying end of the split pressure roller 68 according to the pressure signals. The pressure control system is a pressure controller, which can be an independent closed-loop pressure control instrument based on proportional-integral-derivative adjustment or a control instrument based on a host computer.

[0099] Specifically, in the external detection setup, the process of real-time detection and control of the pressure of the fiber bundle contact surface at the laying end of the split pressure roller 68 is as follows: the second pressure sensor 610 detects and obtains a photoelectric signal, which is transmitted to the pressure control system through the stationary end of a conductive slip ring or an optical fiber slip ring; the pressure control system receives the photoelectric signal and converts it into a pressure signal, that is, obtains the pressure of the fiber bundle contact surface at the laying end of the split pressure roller 68, and transmits it to the pressure regulating system; the pressure regulating system adjusts the pressure of the fiber bundle contact surface at the laying end of the split pressure roller 68 according to the pressure signal, thereby achieving precise control of the laying pressure of the fiber bundle at the end of the split pressure roller 68.

[0100] During the composite material laying and rolling process of the curved surface, the telescopic mechanism 62 controls multiple split floating shafts 67 so that the split floating shafts 67 float separately along the radial direction of the central axis 61 to complete the overall curved surface rolling; at the same time, the first sliding mechanism axially restricts the adjacent split floating shafts 67 so that the split floating shafts 67 float relatively along the radial direction of the central axis 61 while ensuring a tight axial connection.

[0101] Before rolling the composite material layup on the curved surface, a preset pressure is set; during the rolling process of laying up the composite material on the curved surface, the pressure of the fiber bundle contact surface at the layup end of the split pressure roller 68 or the thrust of the telescopic mechanism 62 is acquired in real time, and the acquired pressure of the fiber bundle contact surface at the layup end of the split pressure roller 68 or the thrust of the telescopic mechanism 62 is compared with the preset pressure: When the pressure at the fiber bundle contact surface at the laying end of the split pressure roller 68 or the thrust of the telescopic mechanism 62 is consistent with the preset pressure, the secondary closed-loop pressure control mechanism will work normally. When the pressure of the fiber bundle contact surface at the laying end of the split pressure roller 68 or the thrust of the telescopic mechanism 62 is inconsistent with the preset pressure, the pressure of the fiber bundle contact surface at the laying end of the split pressure roller 68 or the thrust of the telescopic mechanism 62 is adjusted to make the pressure of the fiber bundle contact surface at the laying end of the split pressure roller 68 or the thrust of the telescopic mechanism 62 consistent with the preset pressure.

[0102] Example 6 This embodiment is basically the same as Embodiments 1, 2, 3, 4, and 5, except that it also includes a closed-loop temperature control heating mechanism. The closed-loop temperature control heating mechanism includes a temperature controller, a power regulator, a far-infrared heating lamp, and a non-contact infrared temperature sensor. The temperature controller and the power regulator are installed in the control cabinet of the automatic laying equipment. The far-infrared heating lamp and the non-contact infrared temperature sensor are installed on the fiber manipulation mechanism 10. The non-contact infrared temperature sensor is used to monitor the surface temperature of the composite material component in real time and transmit the temperature signal to the temperature controller. The temperature controller is connected to the power regulator to continuously adjust the power of the far-infrared heating lamp, realizing real-time automatic control of the surface temperature of the composite material component. It can directly and accurately control the molding temperature of the fiber bundle surface, effectively overcoming the problems of the traditional open-loop temperature control method in the molding process being unable to directly control the surface temperature of the composite material component and the unstable temperature control.

[0103] The fiber manipulation mechanism 10 is equipped with a heating lamp bracket, on which a far-infrared heating lamp is mounted. The far-infrared heating lamp heats the laid fiber bundle. The far-infrared heating lamp is hinged to the fiber manipulation mechanism 10, and its radiation direction is adjustable. A non-contact infrared temperature sensor is hinged to the fiber manipulation mechanism 10, and its testing angle and testing distance are adjustable.

[0104] The method of using this invention is as follows: Preparation: First, set parameters such as feed speed, unwinding tension (first-level tension), process tension (second-level tension), first-level pressure, second-level pressure (end pressure), and heating control temperature; install the carbon fiber roll with fiber bundles in place, and pass multiple sets of fiber bundles through the two-level tension closed-loop control mechanism, the fiber bundle centralized guide system 11, and the fiber manipulation mechanism 10 in sequence until they reach the pressure roller outlet. Start the equipment, initialize the multi-axis motion mechanism 1 and the laying positioner 2, turn on the closed-loop temperature control heating mechanism to preheat the fibers in the laying area, and dynamically adjust the heating power by monitoring the surface temperature of the composite material component in real time to stabilize the temperature at the set value.

[0105] The entire tension control process is carried out synchronously. The first-level tension closed-loop control mechanism 8 detects the tension of the fiber bundle and controls the braking torque or unwinding speed of the unwinding mechanism 6 to maintain the stability of the unwinding tension. The fiber bundle then enters the fiber manipulation mechanism 10, and the second-level tension closed-loop control mechanism starts to work: the servo motor 57 drives the friction transmission mechanism 51 to independently control the feeding speed of each fiber bundle; at the same time, the speed measuring wheel 524 and the speed measuring sensor 523 installed on the split floating pressure roller 60 detect the actual laying speed of each fiber bundle. The control system calculates the difference between the feeding speed and the laying speed to realize independent closed-loop adjustment of the tension of each fiber bundle.

[0106] Pressure control is implemented in two stages. The first-stage pressure closed-loop control mechanism 9 pushes the second tension and pressure sensor 91 up and down through the lateral cylinder 92 to apply stable lateral pressure to the fiber bundle before it enters the fiber manipulation mechanism 10. When the fiber bundle reaches the laying end, it is laid by multiple split pressure rollers 68 in the second-stage pressure closed-loop control mechanism. During the laying process, the split pressure rollers 68 adaptively float up and down according to the shape of the mold surface. The second pressure sensor 610 detects the end pressure in real time and feeds it back to the pressure controller. The pressure controller adjusts the thrust of the telescopic mechanism 62 in the adjustment system, thereby realizing closed-loop control of the fiber bundle laying pressure for each section.

[0107] During the laying process, the multi-axis motion mechanism 1 drives the multi-filament fiber automatic laying head 4 to move along a preset trajectory. The laying positioner 2 coordinates to adjust the mold's posture to expand the processing range. The operator needs to monitor the tension, pressure, and temperature data fed back by all sensors in real time on the control interface to ensure that each process parameter remains stable within the set range. The entire laying process is completed through closed-loop control and coordination of multiple systems until the laying program ends.

[0108] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0109] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A flexible automatic layup device for fiber-reinforced composite materials, characterized in that, It includes a multi-axis motion mechanism (1), a placement positioner, a connecting mechanism (3), and a multi-filament fiber automatic placement head (4); The connecting mechanism (3) is located between the multi-axis motion mechanism (1) and the multi-filament fiber automatic placement head (4); The multi-filament fiber automatic placement head (4) includes a mounting base (5), multiple winding and unwinding mechanisms, a fiber manipulation mechanism (10), a filament centralized guiding system (11), a two-stage tension closed-loop control mechanism, and a two-stage pressure closed-loop control mechanism. The multiple winding and unwinding mechanisms are arranged radially on the mounting base (5); The first-stage pressure closed-loop control mechanism (9) of the two-stage pressure closed-loop control mechanism is located at the center below the mounting base (5), and the fiber manipulation mechanism (10) is located below the first-stage pressure closed-loop control mechanism (9); the second-stage pressure closed-loop control mechanism of the two-stage pressure closed-loop control mechanism is located at the end of the fiber manipulation mechanism (10). The filament centralized guiding system (11) is installed on the side of the primary pressure closed-loop control mechanism (9); The first-level tension closed-loop control mechanism (8) of the two-level tension closed-loop control mechanism is rotatably arranged on the mounting base (5) and is set in correspondence with multiple winding and unwinding mechanisms. The second-level tension closed-loop control mechanism of the two-level tension closed-loop control mechanism is set on the fiber manipulation mechanism (10).

2. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 1, characterized in that, The primary tension closed-loop control mechanism is a spring-type tension closed-loop control mechanism. The spring-type tension closed-loop control mechanism includes a first end fixing block (81), a tension sliding mechanism, a first fiber bundle guide roller sliding mechanism, and a first-level tension controller. A first tension / compression sensor (82) is provided between the first end fixing block (81) and the tension sliding mechanism. The first fiber bundle guide roller sliding mechanism is connected to the tension sliding mechanism and drives the tension sliding mechanism to generate tension relative to the first tension / compression sensor (82). The first-level tension controller controls the braking torque or winding / unwinding speed of the winding mechanism based on the tension detected by the first tension / compression sensor (82).

3. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 2, characterized in that, The tension sliding mechanism includes a tension slider (83), a first tension sliding guide rail (84), a spring fixing block (85), and an elastic component. The spring fixing block (85) is disposed above the tension slider (83) and connected to one end of the elastic component. The first fiber bundle guide roller sliding mechanism includes a first fiber bundle guide roller slider (86) and a first fiber bundle guide roller (87) disposed above it. The first fiber bundle guide roller slider (86) is connected to one end of the tension slider (83) away from the first end fixing block (81), and its upper end is connected to the other end of the elastic component. The first fiber bundle guide roller slider (86) and the tension slider (83) are slidably connected on the first tension sliding guide rail (84).

4. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 1, characterized in that, The primary tension closed-loop control mechanism is a linear tension closed-loop control mechanism. The linear tension closed-loop control mechanism includes a second end fixing block (811), a second tension sliding guide rail (812), a second fiber bundle guide roller sliding mechanism, and a second-level tension controller. A linear cylinder (813) is provided between the second end fixing block (811) and the second fiber bundle guide roller sliding mechanism. A pressure control system is provided in the linear cylinder (813). A roller-type tension sensor (814) is provided on the second fiber bundle guide roller sliding mechanism and is slidably connected on the second tension sliding guide rail (812) and generates tension relative to the roller-type tension sensor (814). The second-level tension controller controls the braking torque or winding speed of the winding mechanism according to the tension detected by the roller-type tension sensor (814). The pressure control system controls the output tension of the linear cylinder (813).

5. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 4, characterized in that, The second fiber bundle guide roller sliding mechanism includes a second fiber bundle guide roller slider (815) and a second fiber bundle guide roller (816) disposed above it. One end of the linear cylinder (813) is connected to the second end fixing block (811), and the other end is connected to the second fiber bundle guide roller slider (815). The roller-type tension sensor (814) is disposed between the second fiber bundle guide roller slider (815) and the second fiber bundle guide roller (816). The linear cylinder (813) drives the second fiber bundle guide roller slider (815) to slide on the second tension sliding guide rail (812).

6. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 1, characterized in that, The secondary tension closed-loop control mechanism includes a drive mechanism, a power transmission mechanism, a friction transmission mechanism (51), and a control system; The power transmission mechanism is connected to the drive mechanism, the friction transmission mechanism (51) is connected to the power transmission mechanism by friction, and multiple end wire bundles pass through the friction transmission mechanism (51) and the power transmission mechanism. The driving mechanism drives the power transmission mechanism, so that the friction transmission mechanism (51) and the power transmission mechanism independently transmit each of the multiple end filament bundles and control the feeding speed of each filament bundle; the control system controls the speed difference between the feeding speed of each filament bundle in the multiple end filament bundles and the laying speed of the corresponding multiple end filament bundles, thereby realizing independent control of the tension of the laying multiple end filament bundles.

7. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 6, characterized in that, The drive mechanism includes a motor central shaft (59), multiple servo motors (57), multiple support rings (510), and multiple motor gear sets (511). Multiple support rings (510) and motor gear sets (511) are arranged along the length direction of the motor central shaft (59). The support rings (510) are arranged around the outside of the motor central shaft (59), and the motor central shaft (59) is fixedly connected to the support rings (510). The motor gear sets (511) are arranged on the support rings (510) and rotatably connected to the corresponding support rings (510). Multiple servo motors (57) are arranged in a ring around one end of the motor central shaft (59), and the multiple servo motors (57) are connected to the corresponding motor gear sets (511) through multiple motor output shafts (58). The motor gear sets (511) are connected to the power transmission mechanism. The number of the servo motor (57), motor gear set (511), support ring (510) and motor output shaft (58) are the same as the number of filament bundles, and are set in a one-to-one correspondence.

8. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 6, characterized in that, The control system includes multiple speed sensors (523) and a speed measuring wheel (524). The speed measuring wheel (524) is in contact with a secondary pressure closed-loop control mechanism. Magnetic elements (525) are disposed on the surface of the speed measuring wheel (524), and the magnetic elements (525) are arranged circumferentially around the outer surface of the speed measuring wheel (524). Multiple speed sensors (523) work in conjunction with magnetic elements (525) to independently measure the surface speed of the secondary pressure closed-loop control mechanism, thereby obtaining the laying speed of each filament in the multi-path end filament bundle. Each filament in the multi-path end filament bundle is independently transmitted through the friction transmission mechanism (51) and the power transmission mechanism, and the feeding speed of each filament bundle is controlled. The tension closed-loop control of the multi-path end filament bundle is realized by utilizing the speed difference between the feeding speed of each filament bundle and the laying speed of each filament bundle.

9. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 6, characterized in that, The power transmission mechanism includes an active power transmission mechanism (52) and a driven power transmission mechanism connected thereto. The driven power transmission mechanism includes at least one stage of driven power transmission structure. The active power transmission mechanism (52) is connected to the drive mechanism, and the driven power transmission mechanism is connected to the friction transmission mechanism (51) through friction transmission. The active power transmission mechanism (52) includes an active transmission gear set, the driven power transmission mechanism includes a driven power transmission gear set, and the friction transmission mechanism (51) includes a friction transmission gear set.

10. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 9, characterized in that, In the active transmission gear set, a sliding groove (519) and a spherical ball (518) are provided between adjacent active transmission gears. The sliding groove (519) is located on the side of one of the adjacent active transmission gears, and the spherical ball (518) is located on the side of the other of the adjacent active transmission gears, so as to realize the connection between the sliding groove (519) and the spherical ball (518).

11. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 9, characterized in that, The driven power transmission mechanism includes a first-stage driven power transmission structure and a second-stage driven power transmission structure. The driven power transmission gear set includes a first-stage driven power transmission gear set (53) and a second-stage driven power transmission gear set (54) corresponding to the first-stage driven power transmission structure and the second-stage driven power transmission structure, respectively. The first-stage driven power transmission gear set (53) and the second-stage driven power transmission gear set (54) are connected by transmission. The first-stage driven power transmission gear set (53) which is closer to the active transmission gear set is connected by transmission with the active transmission gear set, and the second-stage driven power transmission gear set (54) which is farther away from the active transmission gear set is connected by friction transmission with the friction transmission gear set.

12. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 9, characterized in that, The active transmission gear set includes an active transmission internal gear set (521) and an active transmission external gear set (522). The active transmission internal gear set (521) is connected to the motor gear set (511), and the active transmission external gear set (522) is connected to the driven power transmission gear set.

13. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 1, characterized in that, The first-level pressure closed-loop control mechanism includes an installation structure. A lateral cylinder (92) and a second tension / compression sensor (91) are provided on the left and right sides of the installation structure. The second tension / compression sensor (91) is located at the lower end of the lateral cylinder (92). The lateral cylinder (92) is used to control the second tension / compression sensor (91) to float up and down along the side of the installation structure.

14. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 13, characterized in that, The mounting structure is also provided with lateral guide rails (93), lateral sliding plates (94) and sensor connecting blocks (95) on the left and right sides. The sensor connecting block (95) is disposed between the lateral sliding plate (94) and the second tension and compression sensor (91), and the lateral guide rail (93) is disposed on the left and right sides of the mounting structure. The lateral sliding plate (94) and the sensor connecting block (95) are slidably connected on the lateral guide rail (93). The filament centralized guiding system (11) is set on the front and rear sides of the mounting structure. It includes multiple filament guide wheels (110) connected in series and mounting brackets (111). The multiple filament guide wheels (110) connected in series on the front and rear sides are staggered and consistent with the arrangement of the guide grooves in the fiber manipulation mechanism (10). The mounting brackets (111) are set on both sides of the multiple filament guide wheels (110) connected in series and are connected to the mounting structure.

15. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 14, characterized in that, The center line of each of the plurality of connected fiber bundle guide rollers (110) is tangent to the outer circle of the corresponding first fiber bundle guide roller (87) or second fiber bundle guide roller (816), and the number of the plurality of connected fiber bundle guide rollers (110) is 1 / 2 of the total number of fiber bundles in the laying device.

16. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 1, characterized in that, The secondary pressure closed-loop control mechanism is a split floating pressure roller (60). The split floating pressure roller (60) includes a central shaft (61), multiple split floating shafts (67), and a telescopic mechanism (62). The multiple split floating shafts (67) are arranged along the axial direction of the central shaft (61). The central shaft (61) and the multiple split floating shafts (67) are connected by the telescopic mechanism (62), so that the multiple split floating shafts (67) float separately along the radial direction of the central shaft (61). Adjacent split floating shafts (67) are axially connected by a first sliding mechanism, so that adjacent split floating shafts (67) float relative to each other along the radial direction of the central shaft (61) under the action of the first sliding mechanism. The split floating shafts (67) are provided with grooves for accommodating the first sliding mechanism. Multiple split pressure rollers (68) are arranged on the outer circumference of the multiple split floating shafts (67).

17. A flexible automatic layup device for fiber-reinforced composite materials according to claim 16, characterized in that, The first sliding mechanism includes a first sliding guide rail (64) and a first slider (63). On two adjacent split floating shafts (67) in the axial direction of the central shaft (61), the first sliding guide rail (64) is installed on one of the split floating shafts (67), and the first slider (63) is installed on the other split floating shaft (67). On the multiple split floating shafts (67) in the middle, the first sliding guide rail (64) and the first slider (63) are provided simultaneously. The two adjacent split floating shafts (67) are axially connected by the first sliding guide rail (64) and the first slider (63). The first sliding guide rail (64) and the first slider (63) on the two adjacent split floating shafts (67) are slidably connected along the radial direction of the central shaft (61).

18. A flexible automatic layup device for fiber-reinforced composite materials according to claim 17, characterized in that, It also includes multiple second sliding mechanisms, each of which includes a second sliding guide rail (66) and a second slider (65). The second sliding guide rail (66) is mounted on the central shaft (61), and the second slider (65) is mounted on the split floating shaft (67). The second sliding guide rail (66) and the second slider (65) are slidably connected along the radial direction of the central shaft (61).

19. A flexible automatic layup device for fiber-reinforced composite materials according to claim 16, characterized in that, It also includes a pressure control device, which can be arranged in either a built-in detection arrangement or an external detection arrangement. In the built-in detection arrangement, the pressure control device includes a first pressure sensor (613) installed on the telescopic mechanism (62). The first pressure sensor (613) is a thin-film pressure sensor. The pressure control device is used to acquire and control the thrust of the telescopic mechanism (62) in real time. In the external detection arrangement, the pressure control device includes a second pressure sensor (610) installed on the outside of the split pressure roller (68). The second pressure sensor (610) is an array thin-film pressure sensor or an array Bragg fiber grating string sensor. The pressure control device is used to acquire and control the pressure of the fiber bundle contact surface at the laying end of the split pressure roller (68) in real time.

20. A flexible automatic layup device for fiber-reinforced composite materials according to claim 19, characterized in that, The pressure control device further includes a pressure control system and a pressure regulation system. The pressure control system is used to receive photoelectric signals detected by the first pressure sensor (613) or the second pressure sensor (610) and convert them into pressure signals. The pressure regulation system is used to adjust the thrust of the telescopic mechanism (62) or the pressure of the fiber bundle contact surface at the laying end of the split pressure roller (68) according to the pressure signal.

21. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 1, characterized in that, It also includes a closed-loop temperature control heating mechanism, which includes a temperature controller, a power regulator, a far-infrared heating lamp, and a non-contact infrared temperature sensor. The temperature controller and the power regulator are installed in the control cabinet of the automatic laying equipment. The far-infrared heating lamp and the non-contact infrared temperature sensor are installed on the fiber manipulation mechanism. The non-contact infrared temperature sensor is used to monitor the surface temperature of the composite material component in real time and transmit the temperature signal to the temperature controller. The temperature controller is connected to the power regulator to continuously adjust the power of the far-infrared heating lamp, so as to realize the real-time automatic control of the surface temperature of the composite material component.

22. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 21, characterized in that, The far-infrared heating lamp is hinged to the fiber manipulation mechanism, and its radiation direction is adjustable; the non-contact infrared temperature sensor is hinged to the fiber manipulation mechanism, and its testing angle and testing distance are adjustable.

23. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 1, characterized in that, The connecting mechanism (3) includes a support connector, a free rotation mechanism, a fiber laying connector, and a rotation drive mechanism; The support connector is rotatably connected to the fiber laying connector via a free rotation mechanism, and the free rotation mechanism is signal-connected to the fiber laying connector; the rotation drive mechanism is drive-connected to the fiber laying connector. The free rotation mechanism includes a phos-gas-electric multifunctional integrated slip ring (32) and a rotary connector (33). The phos-gas-electric multifunctional integrated slip ring (32) is connected between the fiber laying connector and the support connector. The rotary connector (33) is sleeved on the outside of the phos-gas-electric multifunctional integrated slip ring (32).

24. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 23, characterized in that, The supporting connector includes a movable connecting seat (31) and a mounting plate (34). The movable connecting seat (31) is detachably connected to the rotary connecting member (33) through the mounting plate (34). The mounting plate (34) is located between the movable connecting seat (31) and the rotary connecting member (33). The rotary drive mechanism is connected to the mounting plate (34).

25. The flexible automatic layup equipment for fiber-reinforced composite materials according to claim 23, characterized in that, The rotary drive mechanism includes a rotary drive (35) and a transmission mechanism. The fixed end of the rotary drive (35) is connected to the mounting plate (34), and the output end of the rotary drive (35) is connected to the rotary connector (33) through the transmission mechanism. The transmission mechanism includes a driving wheel (36) and a driven wheel (37). The driving wheel (36) is connected to the output end of the rotary drive (35), and the driven wheel (37) is sleeved on the outside of the rotary connector (33). The driving wheel (36) and the driven wheel (37) mesh with each other.

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