Prepreg method and device capable of automatically adjusting compensation parallelism, computer device and storage medium

Abstract

The invention provides a prepreg method and equipment for automatically adjusting compensation parallelism, computer equipment and a storage medium. The method comprises the steps that an upper roller and a lower roller abut against each other in parallel to obtain a current end pressure standard value; setting an end pressure deviation threshold value; respectively obtaining a first end pressure value and a second end pressure value when the two ends of the upper roller and the lower roller jointly extrude the carbon fibers during preimpregnation; carrying out difference processing on the first end pressure value and the second end pressure value to obtain an end pressure deviation value; judging whether the absolute value of the end pressure deviation value is greater than an end pressure deviation threshold value; if yes, the gaps between the two ends of the upper roller and the gaps between the lower roller are automatically adjusted so as to compensate the parallelism between the upper roller and the lower roller. Through comparison and judgment of the end pressure deviation threshold value and the absolute value of the end pressure deviation value, the gap does not need to be adjusted according to the pressure detection value, mechanical vibration and pressure detection noise are prevented from causing excessive adjustment of preimpregnation equipment, interference items of mechanical vibration and pressure detection noise are eliminated, and the prepreg operation is more stable.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of carbon fiber composite material preparation, in particular to a pre-impregnated material method, device, computer device and storage medium for automatically adjusting and compensating parallelism. BACKGROUND

[0002] The pre-impregnated material process is to coat the matrix on the surface of the carbon fiber, and after the pre-impregnated material device is impregnated and pressed, the base material of the carbon fiber material is formed. The reaction force generated by the double-roller extrusion of the carbon fiber will cause the gap between the double rollers to change, resulting in a change in the parallelism between the double rollers. Due to the non-parallelism between the double rollers, the carbon fiber impregnation is uneven. In Chinese patent CN118144148A, by comparing and calculating the change amount of the gap or the line pressure, the gap and the line pressure are mutually corrected and adjusted by the adjusting unit, which can make the double rollers generate uniform line pressure on the pre-impregnated material to eliminate the uneven impregnation of the matrix on the surface of the carbon fiber.

[0003] However, during the pre-impregnation process, mechanical vibration generated during the operation of the pre-impregnation device will cause the pressure detection element to be disturbed by noise. At this time, if the pre-impregnation device adjusts the gap according to the detected pressure value, an error will occur in the gap. Moreover, the pre-impregnation device will over-adjust in the case where the current parallelism has no effect on the impregnation of the carbon fiber, resulting in oscillation of the system and instability of the pre-impregnation device during pre-impregnated material operation. SUMMARY

[0004] The purpose of the present disclosure is to overcome the deficiencies in the prior art, provide a pre-impregnated material method, device, computer device and storage medium capable of reducing pressure noise interference, maintaining stable operation of the pre-impregnation device, and automatically adjusting the gap between the upper roller and the lower roller according to the detected pressure between the upper roller and the lower roller to compensate for the parallelism between the upper roller and the lower roller, so that the carbon fiber can be uniformly impregnated.

[0005] The purpose of the present disclosure is achieved by the following technical solutions: A pre-impregnated material method for automatically adjusting and compensating parallelism, comprising: parallelly abutting the upper roller and the lower roller to obtain a current end pressure standard value; setting an end pressure deviation threshold value; respectively obtaining a first end pressure value and a second end pressure value of the upper roller at both ends respectively pressing the carbon fiber together with the lower roller during pre-impregnation; differencing the first end pressure value and the second end pressure value to obtain an end pressure deviation value; judging whether the absolute value of the end pressure deviation value is greater than the end pressure deviation threshold value; If yes, the gap between the two ends of the upper roller and the lower roller is automatically adjusted to compensate for the parallelism between the upper roller and the lower roller.

[0006] In one embodiment, the end pressure deviation threshold value is set according to the end pressure value, specifically comprising: Obtain the minimum value of the pressure sensor noise band; Obtain the maximum value of the current carbon fiber pressure that can be borne; Establish an end pressure deviation tolerance band interval, wherein the minimum value of the pressure sensor noise band is the lower limit value of the tolerance band interval, and the maximum value of the current carbon fiber pressure that can be borne is the upper limit value of the tolerance band interval; Establish an end pressure deviation tolerance band according to the lower limit value and the upper limit value of the tolerance band interval; Obtain the end pressure deviation threshold value according to the end pressure deviation tolerance band.

[0007] In one embodiment, after the step of judging whether the end pressure deviation value is greater than the end pressure deviation threshold value, the prepreg method further comprises: Obtain the end torque standard value after the upper roller and the lower roller are in parallel abutment; Set a first running time period, and obtain the torque standard deviation of the idle running in the first running time period; Establish a torque tolerance band according to the end torque standard value and the torque standard deviation.

[0008] In one embodiment, the torque tolerance band is established according to the end torque standard value and the torque standard deviation, specifically comprising: According to the sum of the end torque standard value and the torque standard deviation, the upper limit value of the first torque tolerance band is established; According to the difference between the end torque standard value and the torque standard deviation, the lower limit value of the first torque tolerance band is established; According to the first torque tolerance band upper limit value and the first torque tolerance band lower limit value, a first torque tolerance band interval is established; Obtain the first end torque output when the upper roller and the lower roller are pre-impregnated with carbon fiber; Judge whether the first end torque is within the torque tolerance band interval; If not, adjust the gap between the first end of the upper roller and the lower roller to compensate for the parallelism between the upper roller and the lower roller.

[0009] In one embodiment, the first end gap between the upper roller and the lower roller is adjusted to compensate for the parallelism between the upper roller and the lower roller, specifically comprising: Set the first end gap compensation as the output variable; Establish a first control function with the first end pressure value as the error signal and the first end gap compensation as the output variable; According to the first end gap compensation amount, the gap between the upper roller and the lower roller at the first end is automatically adjusted to compensate for the parallelism between the upper roller and the lower roller at the first end.

[0010] In one embodiment, the torque tolerance band is established according to the end torque standard value and the torque standard fluctuation range, and specifically further comprises: The upper limit value of the second torque tolerance band is established according to the sum of the end torque standard value and the torque standard deviation; The lower limit value of the second torque tolerance band is established according to the difference between the end torque standard value and the torque standard deviation; The second torque tolerance band interval is established according to the upper limit value of the second torque tolerance band and the lower limit value of the second torque tolerance band; The second end torque output by the upper roller and the lower roller during the pre-impregnation of the carbon fiber is obtained; It is judged whether the second end torque is within the second torque tolerance band interval; If not, the gap between the second end of the upper roller and the lower roller is adjusted to compensate for the parallelism between the upper roller and the lower roller.

[0011] In one embodiment, the second end gap between the upper roller and the lower roller is adjusted to compensate for the parallelism between the upper roller and the lower roller, and specifically comprises: The second end gap compensation amount is set as an output variable; The second control function is established with the second end pressure value as the error signal and the second end gap compensation amount as the output variable; According to the second end gap compensation amount, the gap between the upper roller and the lower roller at the second end is automatically adjusted to compensate for the parallelism between the upper roller and the lower roller at the second end.

[0012] A pre-impregnated material equipment for automatically adjusting and compensating the parallelism of a pre-impregnated material method, which is used for pre-impregnating carbon fiber by using the automatic adjusting and compensating parallelism pre-impregnated material method in any of the above embodiments, and comprises: A pressure acquisition module is configured to obtain the current end pressure value when the upper roller and the lower roller are in parallel abutment, and the first end pressure value and the second end pressure value when the upper roller and the lower roller pre-impregnate the carbon fiber; A servo sensing module is configured to obtain the current end torque standard value when the upper roller and the lower roller are in parallel abutment, and the torque value during the first time period of idling operation; A calculation module is configured to process the difference between the first end pressure value and the second end pressure value, calculate the sum of the end torque standard value and the torque standard deviation fluctuation value, and calculate the difference between the end torque standard value and the torque standard deviation fluctuation value; An information processing module is configured to set an end pressure deviation threshold, judge whether the end pressure deviation value is greater than the end pressure deviation threshold, and establish a torque tolerance band according to the end torque standard value and the torque standard fluctuation range. The parallelism compensation module is automatically adjusted according to the gap between the upper roller and the lower roller, and can compensate the parallelism between the upper roller and the lower roller.

[0013] A computer device comprises a memory and a processor, and the memory stores a computer program, wherein the processor implements the steps of the method in any of the above embodiments when executing the computer program.

[0014] A storage medium stores a computer program, and the computer program implements the steps of the method in any of the above embodiments when executed by a processor.

[0015] Compared with the prior art, the present disclosure has at least the following advantages: 1) The pre-preg method for automatically adjusting and compensating the line pressure and the gap, first, the two rollers are in parallel abutment, and the gap is zeroed, so that the initial value of the gap of the double rollers is zero, to obtain the standard value of the end pressure, thereby reducing the subsequent measurement error, and obtaining the first end pressure value and the second end pressure value when the upper roller and the lower roller pre-impregnate the carbon fiber, and the first end pressure value is subtracted from the second end pressure value, and whether the absolute value of the end pressure deviation value is greater than the end pressure deviation threshold value, so as to automatically adjust the gap between the upper roller and the lower roller, to compensate the parallelism between the upper roller and the lower roller.

[0016] 2) By comparing the end pressure deviation threshold value with the absolute value of the end pressure deviation value, the pre-impregnation equipment can not need to adjust the gap according to the pressure detection value, thereby preventing excessive adjustment of the pre-impregnation equipment caused by mechanical vibration and noise of the pressure detection equipment. At the same time, the gap between the double rollers can be accurately adjusted to avoid excessive adjustment of the pre-impregnation equipment leading to system oscillation, thereby ensuring the stability of the pre-impregnation equipment, so that the pre-impregnation equipment does not need to be affected by noise, and the precision and sensitivity of pressure detection are enhanced, the complexity of the control system in the pre-impregnation equipment is reduced, the interference term caused by mechanical vibration and sensor detection noise is eliminated, and the pre-impregnation equipment can be more stable during pre-preg operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 It is an embodiment of the pre-preg method for automatically adjusting and compensating the end pressure and the gap parallelism. Figure 2 Structure diagram of pre-preg equipment with end pressure and gap automatic adjustment compensation parallelism for an embodiment of the present application; Reference numerals: upper roller 1; lower roller 2; servo motor 3; Transmission gear module 4; first transmission gear 41; second transmission gear 42; power transmission wheel 43; Pre-preg machine 5; mounting bracket 51; gap adjustment assembly 52; first gap adjustment member 521; second gap adjustment member 522; Transmission chain 6. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present disclosure are shown in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thorough and comprehensive.

[0020] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terminology used in the description of the present disclosure herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0022] In order to better understand the technical solutions and beneficial effects of the present disclosure, the present disclosure will be further described in detail below in combination with specific embodiments: Please refer to Figure 1 The present application provides a pre-preg method for automatically adjusting and compensating parallelism of end pressure and gap, including part or all of the following steps: S100, the upper roller and the lower roller are in parallel abutment to obtain the current end pressure standard value; In the embodiment, the upper roller and the lower roller are in parallel abutment to obtain the current end pressure value, i.e. the gap between the upper roller and the lower roller is zeroed to obtain the current end pressure value, i.e. the end pressure value between the upper roller and the lower roller when the upper roller and the lower roller are empty. At this time, the upper roller and the lower roller are in parallel abutment, and the end pressure value between the upper roller and the lower roller when the upper roller and the lower roller are empty is the end pressure standard value.

[0023] Thus, the end pressure value when the upper roller and the lower roller are in parallel abutment and empty is taken as the reference end pressure standard value, and at this time the gap distance between the two rollers is determined as the initial state. The end pressure standard value is the pressure value when the upper roller and the lower roller are in parallel and empty, which is used to eliminate the reference drift error and can be used as a standard comparison value, so that the end pressure standard value and the end pressure value during pre-preg are compared in value after the upper roller and the lower roller are pre-preg, so as to determine whether the parallelism between the upper roller and the lower roller affects the impregnation of the carbon fiber.

[0024] It should be noted that when the upper roller and the lower roller are pre-preg, if the parallelism changes, the gap between the upper roller and the lower roller can be accurately adjusted according to the end pressure value in the parallel state, to prevent the parallelism between the upper roller and the lower roller from affecting the impregnation of the carbon fiber, thereby reducing the yield of the pre-preg process.

[0025] S200, set an end pressure deviation threshold value; In the embodiment, the pressure deviation threshold value is set to compare the end pressure value of the upper roller and the lower roller during pre-preg, so that the parallelism between the upper roller and the lower roller does not affect the impregnation of the carbon fiber, prevents noise caused by pressure detection noise or mechanical vibration, avoids excessive adjustment of the gap between the upper roller and the lower roller, thereby reducing the over-adjustment of the pre-preg equipment, avoiding excessive oscillation of the system, and enabling the pre-preg equipment to impregnate the carbon fiber with the best pressure according to the pressure deviation threshold value, so that the carbon fiber is uniformly impregnated, and the product is prevented from being scrapped.

[0026] S300, respectively obtaining a first end pressure value and a second end pressure value of the upper roller respectively pressing the carbon fiber together with the lower roller during pre-preg; In the embodiment, when the upper roller and the lower roller are pre-preg, the carbon fiber between the upper roller and the lower roller is extruded, at this time, the first end pressure value of the upper roller and the lower roller to the carbon fiber and the second end pressure value of the upper roller and the lower roller to the carbon fiber are obtained. It should be noted that in the embodiment, when the upper roller and the lower roller extrude the carbon fiber together, the pressure value of the first end of the upper roller to the lower roller is the first end pressure value, and the pressure value of the second end of the upper roller to the lower roller is the second end pressure value.

[0027] S400, difference processing is performed on the first end pressure value and the second end pressure value to obtain an end pressure deviation value. In the embodiment, the first end pressure value and the second end pressure value are subtracted to obtain an end pressure deviation value; if the end pressure deviation value is zero, the first end pressure value and the second end pressure value are equal, that is, there is no difference between the first end pressure value and the second end pressure value, which can be understood as that the upper roller and the lower roller are parallel.

[0028] However, in practice, due to mechanical assembly errors of the prepreg device, there is a difference between the first end pressure value and the second end pressure value, which leads to the need to analyze the fluctuation range of the first end pressure value and the fluctuation range of the second end pressure value in practice, so that the first end pressure value and the second end pressure value need to be adjusted separately to make the gap between the upper roller axis and the lower roller axis parallel. At the same time, when the first end pressure value and the second end pressure value are not equal, the pressure values of the two ends need to be adjusted separately to make the gap between the upper roller axis and the lower roller axis parallel, which increases the adjustment difficulty and cannot set a unified deviation adjustment threshold, further leading to an increase in the system redundancy when adjusting the pressure of the two ends. Therefore, the first end pressure value and the second end pressure value are subtracted to obtain an end pressure deviation value, so as to set a deviation adjustment threshold that can make a unified reference judgment of the pressure of the two ends.

[0029] In the embodiment, the first end pressure value is P1 and the second end pressure value is P2, and the end pressure deviation value is obtained by subtracting P1 from P2. The positive and negative signs of can indicate whether the first end pressure value is too large or the second end pressure value is too large; when , it can be approximately confirmed that the first end pressure value and the second end pressure value are the same, which can make the gap between the upper roller axis and the lower roller axis parallel to make the carbon fiber uniformly infiltrate. The calculation formula of the end pressure deviation value is as follows: .

[0030] S500, judge whether the absolute value of the end pressure deviation value is greater than the end pressure deviation threshold value; In the embodiment, when the end pressure deviation value is greater than the end pressure deviation threshold value, that is, the end pressure deviation value obtained by subtracting the pressure value of the first end of the upper roller on the lower roller from the pressure value of the second end of the upper roller on the lower roller when the upper roller and the lower roller are used for prepreg, it is also to judge whether the difference between the first end pressure value and the second end pressure value is greater than the end pressure deviation threshold value. By comparing the size between the end pressure deviation value and the end pressure deviation threshold value, whether the parallelism between the upper roller and the lower roller is large can be judged, and the reliability of the infiltration of the carbon fiber can be confirmed.

[0031] S600, if yes, the gap between the two ends of the upper roller and the lower roller is automatically adjusted to compensate for the parallelism between the upper roller and the lower roller.

[0032] In the present embodiment, when the end pressure deviation value is greater than the end pressure deviation threshold value, that is, after the pressure value of the first end of the upper roller against the lower roller is subtracted from the pressure value of the second end of the upper roller against the lower roller, the obtained end pressure deviation value is greater than the pressure deviation threshold value, that is, the difference between the first end pressure value and the second end pressure value has already exceeded the end pressure deviation threshold value. If the absolute value of the end pressure deviation value is greater than the end pressure deviation threshold value, it can be determined that the parallelism between the upper roller and the lower roller has already had a greater impact on the uniform infiltration of the carbon fiber. At this time, the pre-impregnation process of the carbon fiber between the upper roller and the lower roller cannot achieve good uniform infiltration of the carbon fiber. Therefore, the pre-impregnation device adjusts the gap between the upper roller and the lower roller to compensate for the parallelism between the upper roller and the lower roller, so that the upper roller and the lower roller can uniformly infiltrate the carbon fiber between the two rollers to improve the yield of the carbon fiber prepreg.

[0033] It should be noted that when the end pressure deviation value is less than or equal to the end pressure deviation threshold value, the parallelism between the upper roller and the lower roller will not affect the uniform infiltration of the carbon fiber, that is, the pressure value between the upper roller and the lower roller will not affect the infiltration of the carbon fiber. Therefore, there is no need to adjust the gap between the upper roller and the lower roller, thereby avoiding excessive adjustment of the pre-impregnation device, thereby increasing the stability of the system and preventing oscillation.

[0034] The above-mentioned line pressure and gap automatic adjustment compensation prepreg method first performs parallel abutment between the two rollers to perform gap zero processing, so that the initial value of the gap state of the two rollers is zero, thereby obtaining the end pressure standard value to reduce the subsequent measurement error, and obtaining the first end pressure value and the second end pressure value when the upper roller and the lower roller pre-impregnate the carbon fiber. The first end pressure value is subtracted from the second end pressure value to determine whether the end pressure deviation value is greater than the end pressure deviation threshold value, thereby automatically adjusting the gap between the upper roller and the lower roller to compensate for the parallelism between the upper roller and the lower roller.

[0035] By comparing the end pressure deviation threshold value with the end pressure deviation value, the pre-impregnation device can adjust the gap between the upper roller and the lower roller without the need for pressure detection value, thereby preventing excessive adjustment of the pre-impregnation device due to mechanical vibration and noise of the pressure detection device. At the same time, the pre-impregnation device can also accurately adjust the gap between the upper roller and the lower roller, thereby avoiding system oscillation caused by excessive adjustment of the pre-impregnation device. Thus, the stability of the pre-impregnation device is ensured, and the pre-impregnation device does not need to be affected by noise, thereby enhancing the precision and sensitivity of pressure detection, reducing the complexity of the control system of the pre-impregnation device, eliminating the interference term caused by mechanical vibration and sensor detection noise, and making the pre-impregnation device more stable during prepreg operation.

[0036] In one embodiment, the end pressure deviation threshold value is set according to the end pressure value, specifically comprising: obtaining a minimum value of a pressure sensor noise band; obtaining a maximum value of a current carbon fiber that can withstand pressure; establishing an end pressure deviation tolerance band interval, wherein the minimum value of the pressure sensor noise band is a lower limit value of the tolerance band interval, and the maximum value of the current carbon fiber that can withstand pressure is an upper limit value of the tolerance band interval; establishing an end pressure deviation tolerance band according to the lower limit value and the upper limit value of the tolerance band interval; obtaining an end pressure deviation threshold value according to the end pressure deviation threshold tolerance band.

[0037] In this embodiment, the minimum value of the pressure sensor noise band is obtained. In order to avoid noise interference of pressure detection caused by mechanical vibration and small pressure changes during detection, the minimum value of the pressure sensor noise band is used to avoid excessive adjustment of the gap between the upper roller and the lower roller due to small pressure fluctuations, thereby preventing system oscillation. According to the maximum pressure value that the carbon fiber can withstand, the upper limit value of the end pressure deviation threshold value is set, i.e. the maximum pressure value that the current carbon fiber material can withstand is set as the upper limit value of the end pressure deviation tolerance band. Thus, the end pressure deviation tolerance band is established, and the optimal end pressure threshold value is selected in the tolerance band to make the pressure generated by the prepreg equipment on the carbon fiber uniform, thereby preventing the detected end pressure value from being greater than the maximum end pressure value, i.e. exceeding the maximum pressure value that the current carbon fiber material can withstand, and causing excessive lag in adjusting the gap, which causes the prepreg to be scrapped.

[0038] Further, 20% of the maximum pressure value that the prepreg carbon fiber can withstand is selected as the starting value for determining the end pressure deviation threshold value, and 10% of the maximum pressure value that the prepreg carbon fiber can withstand is selected as the increment step to increase the end pressure value of the double rollers for preimpregnating the carbon fiber between the double rollers.

[0039] It should be noted that in specific implementation, the pressure value of the upper roller on the first end of the lower roller can be gradually increased, or the pressure value of the upper roller on the second end of the lower roller can be gradually increased, so that the difference between the first end pressure value and the second end pressure value gradually increases, and the part of the carbon fiber that has been pressed by the current prepreg equipment is detected. If the current end pressure deviation value causes the carbon fiber to be unable to achieve uniform impregnation, i.e. the difference between the current first end pressure value and the second end pressure value causes the carbon fiber to be unable to achieve uniform impregnation, then the absolute value of the end pressure deviation value at this time is set as the end pressure threshold value. Thus, when the current end pressure threshold value is exceeded, it will cause the carbon fiber to be unable to achieve uniform impregnation.

[0040] ​In one embodiment, the thickness of the current carbon fiber is detected by using a micrometer or a laser thickness gauge, so as to determine whether the current carbon fiber is uniformly infiltrated. When the difference between the first end pressure value and the second end pressure value gradually increases, the carbon fiber is detected, and when the uniform infiltration cannot be achieved, the difference between the current first end pressure value and the second end pressure value is the end pressure deviation threshold value.

[0041] In one embodiment, after the step of determining whether the end pressure deviation value is greater than the end pressure deviation threshold value, the prepreg method further comprises: obtaining an end torque standard value after the upper roller and the lower roller abut in parallel; setting a first running time period, and obtaining a torque standard deviation of the idle running in the first running time period; establishing a torque tolerance band according to the end torque standard value and the torque standard deviation.

[0042] It should be noted that the end torque standard value after the upper roller and the lower roller abut in parallel is set as the standard value of the end torque. Meanwhile, the first running period is set when the prepreg device is idle, and the end torque value in the first running period is detected. Therefore, the fluctuation range of the set torque is avoided to be disturbed by the noise generated by the machine itself during the running of the prepreg device.

[0043] In the embodiment, the torque tolerance band is established according to the end torque standard value and the torque standard deviation. When the double rollers are rolling the carbon fiber, it is detected that the current end torque value of the double rollers is in the torque tolerance band. Therefore, the pressure generated by the double rollers on the carbon fiber can make the carbon fiber achieve uniform infiltration, so as to ensure that the prepreg device can adjust the torque between the upper roller and the lower roller to resist the interference of the elastic force of the carbon fiber when performing the prepreg process, so as to make the pressure between the double rollers on the carbon fiber constant, and avoid the inconsistent infiltration of the carbon fiber. Meanwhile, in order to avoid the matrix of the carbon fiber being too thick, the torque between the upper roller and the lower roller can be adjusted to increase the pressure to make the carbon fiber infiltrate more fully.

[0044] In one embodiment, the torque tolerance band is established according to the end torque standard value and the torque standard fluctuation range, specifically comprising: establishing an upper limit value of the first torque tolerance band according to the sum of the end torque standard value and the torque standard deviation; establishing a lower limit value of the first torque tolerance band according to the difference between the end torque standard value and the torque standard deviation; establishing a first torque tolerance band interval according to the upper limit value of the first torque tolerance band and the lower limit value of the first torque tolerance band; obtaining a first end torque output by the upper roller and the lower roller when the carbon fiber is pre-infiltrated; determining whether the first end torque is in the torque tolerance band interval; If not, the gap between the first end of the upper roller and the lower roller is adjusted to compensate for the parallelism between the upper roller and the lower roller.

[0045] It should be noted that in the present embodiment, the first running time period is set to be 30 minutes, the first end torque is set to be T(1), and the detection step is set to be 10% of the first running time period. During the first running time period, the first end torque T(1) between the upper roller and the lower roller is collected every 10% of the first running time period, and is set to be T(1)1, T(1)2, T(1)3,..., T(1)n. Specifically, T(1)1, T(1)2, T(1)3,..., T(1)n are collected, and the first torque standard deviation is calculated. The formula of the first torque standard deviation is as follows:

[0046] ; wherein, S1 is the first torque standard deviation, n is the number of the collected first end torque values, T(1)i is the i-th collected first end torque value, T(1) is the arithmetic mean of T(1)1, T(1)2, T(1)3,..., T(1)n, and S2 is the deviation square.

[0047] Further, the upper limit value of the first end torque tolerance band is established based on the sum of the end torque standard value and the torque standard deviation, wherein the value of the first end torque tolerance band upper limit value T(1) is as follows: ; The lower limit value of the first end torque tolerance band is established based on the difference between the end torque standard value and the torque standard deviation, wherein the value of the first end torque tolerance band lower limit value T(1) is as follows: ; ; Meanwhile, the first end torque T(1) output by the current upper roller and lower roller when pre-impregnating the carbon fiber is detected and acquired, so as to determine whether T(1) is within the torque tolerance band.

[0048] ​​​​​​​​​​​If T(1) is outside the torque tolerance band, specifically, when T(1) is less than the lower limit of the torque tolerance band, the pressure of the prepreg device on the carbon fiber is low, and the carbon fiber cannot be fully infiltrated; when T(1) is greater than the upper limit of the torque tolerance band, the pressure of the prepreg device on the carbon fiber is high, and the carbon fiber is over-infiltrated, i.e., the prepreg device is overloaded. Therefore, the first end gap between the upper roller and the lower roller needs to be adjusted to compensate for the parallelism of the first end between the upper roller and the lower roller, so as to ensure that the carbon fiber is fully infiltrated.

[0049] In one embodiment, the first end gap between the upper roller and the lower roller is adjusted to compensate for the parallelism of the first end between the upper roller and the lower roller, specifically including: The first end gap compensation amount is set as an output variable; A first control function is established with the first end pressure value as an error signal and the first end gap compensation amount as an output variable; According to the first end gap compensation amount, the gap of the first end between the upper roller and the lower roller is automatically adjusted to compensate for the parallelism of the first end between the upper roller and the lower roller.

[0050] It should be noted that in this embodiment, the first end gap between the upper roller and the lower roller is automatically adjusted by the PID control unit to compensate for the parallelism of the first end between the upper roller and the lower roller. The first end pressure value is an error signal , wherein the control target of the error signal is .

[0051] Specifically, the first control function is established; wherein the first control function is: ; In the formula, the first end gap compensation amount is an output variable , is the gain of the proportional term , the proportional term corrects the current first end pressure value in real time; is the gain of the integral term , and the integral term eliminates the change in the first end pressure value from time 0 to time t; is the gain of the differential term , and the differential term applies damping to the first control function to suppress overshoot and oscillation of the prepreg device.

[0052] In this way, the first control function The output value of the second end torque sensor is used to automatically adjust the gap between the second end of the upper roller and the lower roller to compensate for the parallelism between the upper roller and the lower roller, so that the second end of the upper roller and the lower roller can enable the carbon fibers to be uniformly infiltrated.

[0053] In one embodiment, the torque tolerance band is established according to the end torque standard value and the torque standard fluctuation range, and specifically further comprising: The upper limit value of the second torque tolerance band is established according to the sum of the end torque standard value and the torque standard deviation; The lower limit value of the second torque tolerance band is established according to the difference between the end torque standard value and the torque standard deviation; The second torque tolerance band interval is established according to the upper limit value of the second torque tolerance band and the lower limit value of the second torque tolerance band; The second end torque output by the upper roller and the lower roller when pre-infiltrating the carbon fibers is obtained; It is judged whether the second end torque is within the second torque tolerance band interval; If not, the gap between the second end of the upper roller and the lower roller is adjusted to compensate for the parallelism between the upper roller and the lower roller.

[0054] It should be noted that in the present embodiment, the first running time period is set to , and the second end torque T(2) is set to be detected every 10% of the first running time period T(1) as a detection step. The first end torque T(2) between the upper roller and the lower roller is collected every 10%

[0055] Specifically, T(2)1, T(2)2, T(2)3,..., T(2)n are collected, and the second torque standard deviation is calculated. The formula of the second torque standard deviation is as follows: Wherein, is the second torque standard deviation, is the standard deviation degree of freedom, is the specific second end torque value of the i-th, and in this example, i is n, is the arithmetic mean of T(2)1, T(2)2, T(2)3,..., T(2)n, that is, , is the deviation square.

[0056] Further, the upper limit value of the second torque tolerance band is established according to the sum of the end torque standard value and the torque standard deviation, and the value of the upper limit value of the second torque tolerance band is: ​; with the end torque standard value and the torque standard deviation difference to establish a second torque tolerance band lower limit value, wherein the second torque tolerance band lower limit value has a value of: ; Meanwhile, for the current upper roller and lower roller, the second end torque T(1) output during the pre-impregnation of the carbon fiber is detected and obtained, so as to determine whether T(1) is within the torque tolerance band interval.

[0057] If T(2) is outside the torque tolerance band interval, specifically, when T(2) is less than the torque tolerance band lower limit value, the pressure of the pre-impregnation device on the carbon fiber is too low to form impregnation of the carbon fiber; when T(2) is greater than the torque tolerance band upper limit value, the pressure of the pre-impregnation device on the carbon fiber is too high, resulting in excessive impregnation of the carbon fiber, that is, the pre-impregnation device is overloaded. Therefore, the first end gap between the upper roller and the lower roller needs to be adjusted to compensate for the parallelism of the second end between the upper roller and the lower roller, so as to ensure that the carbon fiber is fully impregnated.

[0058] In one embodiment, the second end gap between the upper roller and the lower roller is adjusted to compensate for the parallelism of the second end between the upper roller and the lower roller, specifically including: setting the second end gap compensation amount as an output variable; establishing a second control function with the second end pressure value as an error signal and the second end gap compensation amount as an output variable; According to the second end gap compensation amount, the gap of the second end between the upper roller and the lower roller is automatically adjusted to compensate for the parallelism of the second end between the upper roller and the lower roller.

[0059] It should be noted that in this embodiment, the PID controller is used to automatically adjust the gap of the second end between the upper roller and the lower roller to compensate for the parallelism of the second end between the upper roller and the lower roller. The second end pressure value is the error signal , , and the control target of the error signal is .

[0060] Specifically, the second control function is established as: ; In the formula, the second end gap compensation amount is the output variable , is the gain of the proportional term , and the proportional term corrects the current second end pressure value in real time; is the gain of the integral term , and eliminates the second end pressure value the change amount of the first end pressure value; the gain of the differential term the gain of the differential term the second control function applies damping to the second control function

[0061] Thus, the output value of the second control function is automatically adjusted to compensate for the parallelism of the second end between the upper roller and the lower roller, so that the second end between the upper roller and the lower roller can uniformly infiltrate the carbon fiber.

[0062] The present disclosure also provides a pre-preg device for automatically adjusting and compensating the parallelism of the end pressure and the gap, which pre-pregs the carbon fiber by using the pre-preg method for automatically adjusting and compensating the parallelism of any of the above embodiments. Further, the pre-preg device comprises: a pressure acquisition module, configured to acquire the current end pressure value when the upper roller and the lower roller are in parallel abutment, and the first end pressure value and the second end pressure value when the upper roller and the lower roller pre-preg the carbon fiber; a servo module, configured to acquire the current end torque standard value when the upper roller and the lower roller are in parallel abutment, and the torque value of the first time period of idling operation; a transmission module, configured to transmit the power of the servo module to the upper roller and the lower roller a calculation module, configured to process the difference between the first end pressure value and the second end pressure value, calculate the sum of the end torque standard value and the torque standard deviation, and calculate the difference between the end torque standard value and the torque standard deviation; an information processing module, configured to set an end pressure deviation threshold, judge whether the end pressure deviation value is greater than the end pressure deviation threshold, and establish a torque tolerance band according to the end torque standard value and the torque standard fluctuation range; a parallelism compensation module, which automatically adjusts the gap between the upper roller and the lower roller, and can compensate for the parallelism between the upper roller and the lower roller.

[0063] Further, the pressure acquisition module comprises a first pressure sensor (not shown in the figure) and a second pressure sensor (not shown in the figure), the detection end of the first pressure sensor is abutted to the first end of the upper roller 1, the detection end of the second pressure sensor is abutted to the second end of the upper roller 1, and the end pressure value when the upper roller 1 and the lower roller 2 are in parallel abutment can be detected, and the first end pressure value and the second end pressure value when the upper roller 1 and the lower roller 2 pre-preg the carbon fiber.

[0064] As Figure 2As shown, further, the servo module comprises a servo motor 3, a driving end of the servo motor 3 is used to provide power for the upper roller 1 and the lower roller 2, and the servo motor 3 can adjust the torque of the upper roller 1 and the lower roller 2, so that the upper roller 1 and the lower roller 2 can uniformly infiltrate the carbon fiber.

[0065] Further, the transmission module comprises a transmission gear module 4, the transmission gear module 4 is in transmission connection with the upper roller 1 and the lower roller 2, and the transmission gear module is in driving connection with the power output shaft of the servo motor 3, so that the driving force of the servo motor is transmitted to the upper roller and the lower roller through the transmission gear module, and the torque of the upper roller and the lower roller can be accurately controlled, so that the upper roller and the lower roller can uniformly infiltrate the carbon fiber.

[0066] Further, the calculation module comprises a PLC controller (not shown in the figure), wherein the PLC calculation module can perform difference processing on the first end pressure value and the second end pressure value, calculate the sum of the end torque standard value and the torque standard deviation, calculate the difference between the end torque standard value and the torque standard deviation, calculate the first gap compensation amount output by the first control function, and calculate the second gap compensation amount. By the sum of the end torque standard value and the torque standard deviation and the difference between the end torque standard value and the torque standard deviation, the first control function can accurately output, and the second control function can accurately output the second gap compensation amount, so as to accurately adjust the first end gap and the second end gap. In this embodiment, the PLC controller is integrated with a PID control unit, the PID control unit is used to calculate the first control function and the second control function, and the PID control unit can output the first gap compensation value according to the first control function and output the second gap compensation value according to the second control function.

[0067] Preferably, the gap adjustment is performed when the parallelism between the upper roller and the lower roller of the prepreg device can achieve uniform infiltration of the carbon fiber and does not affect the infiltration quality of the carbon fiber, so as to avoid excessive adjustment of the prepreg device and prevent interference caused by pressure changes due to mechanical vibration and pressure sensor noise. Thus, the anti-interference ability of the prepreg device is improved, system oscillation and system overshoot caused by excessive adjustment of the prepreg device are reduced, and the working stability of the prepreg device is enhanced.

[0068] Further, the information processing module comprises a central processing unit (not shown in the figure), specifically, the central processing unit can set an end pressure deviation threshold value after the upper roller and the lower roller abut in parallel, and compare the end pressure deviation value with the end pressure deviation threshold value, and adjust the first end gap and the second end gap between the upper roller 1 and the lower roller 2 according to the first gap compensation amount and the second gap compensation amount, so as to maintain the parallelism between the upper roller 1 and the lower roller 2, and control the torque of the servo module to regulate the upper roller 1 and the lower roller 2, so that the carbon fiber can be uniformly infiltrated.

[0069] As shown in the figure, the upper roller 1 and the lower roller 2 are in parallel abutment, and the first end gap and the second end gap are adjusted according to the first gap compensation amount and the second gap compensation amount, so that the upper roller 1 and the lower roller 2 can uniformly infiltrate the carbon fiber. Figure 2As shown, further, the parallelism compensation module comprises a pre-impregnator 5. Specifically, the pre-impregnator 5 comprises: a mounting frame 51; a lower roller 2 rotationally connected to the mounting frame; an upper roller 1 arranged above the lower roller and slidingly connected to the mounting frame 51; a gap adjustment assembly 52 comprising a first gap adjustment member 521 and a second gap adjustment member 522, the first gap adjustment member 521 being arranged on one end of the mounting frame 51, the driving end of the first gap adjustment member 521 being drivingly connected to the first end of the upper roller 1, and the second gap adjustment member 522 being arranged on the other end of the mounting frame 51, the driving end of the second gap adjustment member 522 being drivingly connected to the second end of the upper roller 1.

[0070] Specifically, the first gap adjustment member 521 and the second gap adjustment member 522 are servo electric cylinders, and the first gap adjustment member 521 receives a first-end gap compensation amount, adjusts the first end of the upper roller 1, and thus adjusts the gap at the first end between the upper roller 1 and the lower roller 2; and the second gap adjustment member 522 receives a second-end gap compensation amount, adjusts the second end of the upper roller 1, and thus adjusts the gap at the second end between the upper roller 1 and the lower roller 2. In this way, the first-end gap and the second-end gap of the upper roller 1 and the lower roller 2 reach the same parallelism, and the parallelism between the upper roller 1 and the lower roller 2 can make the carbon fiber uniformly impregnated.

[0071] In the present embodiment, the transmission gear module 4 is a set, and specifically, the transmission gear module 4 comprises a first transmission gear 41, a second transmission gear 42, and a power transmission wheel 43, all arranged on one side of the mounting frame 51, the first transmission gear 41 being rotationally connected to the first end of the lower roller, the second transmission gear 42 being drivingly connected to the first end of the upper roller 1, and the power transmission wheel 43 being drivingly connected between the first transmission gear 41 and the second transmission gear 42, wherein the first transmission gear 41 is drivingly connected to the driving end of the servo motor through the transmission chain 6. The power is transmitted from the transmission chain 6 to the first transmission gear 41 through the driving end of the servo motor 3, drives the lower roller 2, and then transmitted to the second transmission gear 42 through the power transmission wheel 43, thereby driving the upper roller 1. In the present embodiment, the transmission gear module 4 is a set and arranged on one side of the mounting frame 51, so as to reduce the use area of the mounting frame 51, and a single servo motor 3 can conveniently adjust the torque, avoiding the use of multiple servo motors 3 to increase the complexity of the structure of the pre-impregnator 5, and facilitating the processing of the torque signal by the central processing unit.

[0072] The present disclosure also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the prepreg method for automatically adjusting and compensating the line pressure and the gap according to the above-mentioned embodiments when executing the computer program.

[0073] The present disclosure also provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the prepreg method for automatically adjusting and compensating the line pressure and the gap according to the above-mentioned embodiments.

[0074] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the computer program can be stored in a readable storage medium of a non-volatile memory. When the program is executed, it can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0075] Compared with the prior art, the present disclosure has at least the following advantages: 1. The prepreg method for automatically adjusting and compensating the line pressure and the gap according to the above-mentioned embodiments first makes the two rollers parallel to each other and abut against each other, performs gap zero processing, makes the initial value of the gap between the two rollers zero, obtains the end pressure standard value, thereby reducing the subsequent measurement error, and obtains the first end pressure value and the second end pressure value when the upper roller and the lower roller pre-impregnate the carbon fiber. The first end pressure value and the second end pressure value are subtracted to obtain the absolute value of the end pressure deviation value, and whether the absolute value is greater than the end pressure deviation threshold value, thereby automatically adjusting the gap between the upper roller and the lower roller to compensate for the parallelism between the upper roller and the lower roller.

[0076] 2. By comparing the end pressure deviation threshold value with the absolute value of the end pressure deviation value, the pre-impregnation device can not need to adjust the gap according to the pressure detection value, thereby preventing excessive adjustment of the pre-impregnation device caused by mechanical vibration and noise of the pressure detection device. At the same time, the gap between the two rollers can be accurately adjusted to avoid excessive adjustment of the pre-impregnation device leading to system oscillation, thereby ensuring the stability of the pre-impregnation device, making the pre-impregnation device not need to be affected by noise, enhancing the precision and sensitivity of pressure detection, reducing the complexity of the control system in the pre-impregnation device, eliminating the interference term caused by mechanical vibration and sensor detection noise, and making the pre-impregnation device more stable during pre-impregnated material operation.

[0077] The above-described embodiments only express several embodiments of the present disclosure, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the disclosed patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present disclosure, several modifications and improvements can be made, which are within the scope of the present disclosure. Therefore, the protection scope of the present disclosure patent should be subject to the appended claims.

Claims

1. A method for automatically adjusting and compensating for parallelism in prepreg, characterized in that, include: The upper and lower rollers are brought into parallel contact to obtain the current end pressure standard value; Set the end pressure deviation threshold; The pressure values ​​at the first and second ends of the upper roller, which together with the lower roller, compress the carbon fiber during preimpregnation are obtained respectively. The difference between the first end pressure value and the second end pressure value is used to obtain the end pressure deviation value. Determine whether the absolute value of the end pressure deviation is greater than the end pressure deviation threshold. If so, the gaps between the two ends of the upper roller and between the lower roller are automatically adjusted to compensate for the parallelism between the upper and lower rollers.

2. The method for automatically adjusting and compensating for parallelism of prepreg according to claim 1, characterized in that, The step of setting the end pressure deviation threshold based on the end pressure value specifically includes: Obtain the minimum value of the noise band of the pressure sensor; Obtain the maximum pressure that the carbon fiber can currently withstand; Establish the end pressure deviation tolerance band range, where the minimum value of the pressure sensor noise band is the lower limit of the tolerance band range, and the maximum pressure that the carbon fiber can withstand is the upper limit of the tolerance band range. Establish the end pressure deviation tolerance zone based on the lower limit and upper limit of the tolerance zone; The end pressure deviation threshold is obtained based on the end pressure deviation tolerance band.

3. The method for automatically adjusting and compensating for parallelism of prepreg according to claim 1, characterized in that, After the step of determining whether the end pressure deviation value is greater than the end pressure deviation threshold, the prepreg method further includes: Obtain the standard value of the torque at the rear end of the parallel contact between the upper and lower rollers; Set the first operating time period and obtain the standard deviation of the torque during no-load operation within the first operating time period; A torque tolerance band is established based on the standard value of the end torque and the standard deviation of the torque.

4. The method for automatically adjusting and compensating for parallelism of prepreg according to claim 3, characterized in that, The establishment of the torque tolerance band based on the standard value of the end torque and the standard deviation of the torque specifically includes: The upper limit of the first torque tolerance band is established based on the sum of the standard value of the end torque and the standard deviation of the torque. The lower limit of the first torque tolerance band is established based on the difference between the standard value of the end torque and the standard deviation of the torque. The first torque tolerance band range is established based on the upper limit and lower limit of the first torque tolerance band. The first end torque output by the upper and lower rollers during the preimpregnation of carbon fiber is obtained; Determine whether the torque at the first end is within the torque tolerance band. If not, adjust the gap between the first end of the upper roller and the lower roller to compensate for the parallelism between the upper and lower rollers.

5. The method for automatically adjusting and compensating for parallelism of prepreg according to claim 4, characterized in that, The adjustment of the first end gap between the upper and lower rollers to compensate for the parallelism between the upper and lower rollers specifically includes: Set the first end gap compensation amount as an output variable; Establish a first control function with the first end pressure value as the error signal and the first end clearance compensation amount as the output variable; Based on the first end gap compensation amount, the gap between the first end of the upper and lower rollers is automatically adjusted to compensate for the parallelism of the first end between the upper and lower rollers.

6. The method for automatically adjusting and compensating for parallelism of prepreg according to claim 3, characterized in that, The establishment of a torque tolerance band based on the standard end torque value and the standard torque fluctuation range specifically includes: The upper limit of the second torque tolerance band is established based on the sum of the standard value of the end torque and the standard deviation of the torque. The lower limit of the second torque tolerance band is established based on the difference between the standard value of the end torque and the standard deviation of the torque. The second torque tolerance band range is established based on the upper limit and lower limit of the second torque tolerance band. The second end torque output by the upper and lower rollers during the preimpregnation of carbon fiber is obtained; Determine whether the torque at the second end is within the second torque tolerance zone; If not, adjust the gap between the second end of the upper roller and the lower roller to compensate for the parallelism between the upper and lower rollers.

7. The method for automatically adjusting and compensating for parallelism of prepreg according to claim 6, characterized in that, The adjustment of the second end gap between the upper and lower rollers to compensate for the parallelism between the upper and lower rollers specifically includes: Set the second end gap compensation amount as an output variable; Establish a second control function with the second end pressure value as the error signal and the second end clearance compensation amount as the output variable; The gap between the upper and lower rollers at the second end is automatically adjusted based on the second end gap compensation amount to compensate for the parallelism of the second end between the upper and lower rollers.

8. A prepreg apparatus for an automatic adjustment and compensation method for prepreg parallelism, characterized in that, Prepreg carbon fibers using the prepreg method with automatic adjustment and compensation for parallelism as described in claims 1 to 7, comprising: The pressure acquisition module is used to acquire the current end pressure value when the upper roller and the lower roller make parallel contact, and the first end pressure value and the second end pressure value when the upper roller and the lower roller pre-impregnate the carbon fiber. The servo sensing module is used to acquire the current torque standard value when the upper and lower rollers make parallel contact, as well as the torque value during the first time period of no-load operation. The calculation module is used to process the difference between the first end pressure value and the second end pressure value, calculate the sum of the standard value of the torque and the standard deviation fluctuation value of the torque, and calculate the difference between the standard value of the torque and the standard deviation fluctuation value of the torque. The information processing module is used to set the end pressure deviation threshold, determine whether the end pressure deviation value is greater than the end pressure deviation threshold, and establish a torque tolerance band based on the end torque standard value and the torque standard fluctuation range. The parallelism compensation module automatically adjusts the distance between the upper and lower rollers based on the gap between them, thereby compensating for the parallelism between the upper and lower rollers.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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