Multi-angle swing type adaptive integrated fiber placement head

Abstract

The present application belongs to the field of filament laying head, and provides a multi-angle swing type self-adaptive integrated filament laying head, which comprises an A-axis motor and a yarn box body, the yarn box body is fixedly installed on the output shaft of the A-axis motor, four circumferential sides of the yarn box body are provided with a plurality of prepreg rolls, prepreg guide rollers and backing paper collecting rollers, a B-axis swing mechanism is installed in the yarn box body, and a C-axis swing mechanism is installed at the output end of the yarn box body which extends out of the yarn box body. The present application integrates the ABC swing head on the filament laying head, so that the structure of the ABC swing head is more compact, the volume and weight of the ABC swing head are reduced, the specification and size of the gantry can be effectively reduced, the gantry is avoided from bearing large torque and bending moment, the problem of easy deformation of the gantry is solved, and when laying the filament, the direction and angle of the filament laying head can be adjusted only by adjusting the A-axis motor, the B-axis swing mechanism and the C-axis swing mechanism, so that the load of the swing head motor is reduced.

Description

Technical Field

[0001] This invention belongs to the field of filament placement heads, and particularly relates to a multi-angle oscillating adaptive integrated filament placement head. Background Technology

[0002] Automated fiber placement technology has been widely applied and developed over the past three decades, becoming a typical representative of automated composite material molding technology. Compared to automated tape placement technology, automated fiber placement is more adaptable and can be used to manufacture composite material parts with complex curved surfaces.

[0003] Currently, gantry-type fiber placement equipment generally includes a gantry frame, ABC swivel heads (or CBC swivel heads), fiber placement heads, a control system, and a monitoring system. Typically, the gantry frame and ABC swivel heads drive the fiber placement head through multi-axis linkage to achieve composite material layup. The ABC swivel heads used in multi-bundle fiber placement are relatively large, requiring the gantry frame to withstand significant torque, impact, and stress. Therefore, the gantry machine tool requires high strength, rigidity, and stability. However, with increasingly faster layup speeds, to meet the load-bearing capacity requirements of the gantry frame and swivel heads, the gantry frame will need to be designed to be very large and heavy, inevitably increasing energy consumption. This contradicts the national requirements for high-end and green development in manufacturing.

[0004] Therefore, in order to solve this problem, it is urgent to design a new type of integrated filament placement head. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-angle swing adaptive integrated filament placement head, which aims to solve the technical problems of large load-bearing capacity of gantry frames, large volume of ABC swing heads, and limited operating speed in the prior art.

[0006] The present invention is implemented as follows: a multi-angle swing adaptive integrated yarn laying head includes an A-axis motor, the output shaft of which is fixedly mounted with a yarn box body, and the four peripheral sides of the yarn box body are provided with multiple prepreg rolls, prepreg guide rollers and backing paper collection rollers.

[0007] The yarn box body is equipped with a B-axis swing mechanism inside. The output end of the B-axis swing mechanism extending out of the yarn box body is equipped with a C-axis swing mechanism. The output end of the C-axis swing mechanism is equipped with a yarn laying head. The B-axis swing mechanism is used to drive the C-axis swing mechanism to swing, and the C-axis swing mechanism is used to drive the yarn laying head to swing. The swing directions of the C-axis swing mechanism and the yarn laying head are perpendicular to each other. The A-axis motor is used to drive the yarn box body and the yarn laying head to rotate, so that the workpiece to be processed can be laid in three directions.

[0008] The yarn box body is equipped with a guiding mechanism and an adaptive mechanism. The yarn bundle on the prepreg roll passes around the guiding mechanism and then sequentially through the adaptive mechanism, the B-axis swing mechanism, and the C-axis swing mechanism before winding onto the yarn laying head. The yarn laying head is used to lay the yarn bundle on the workpiece to be processed. The guiding mechanism is used to guide the yarn bundle. When the B-axis swing mechanism and the C-axis swing mechanism adjust the yarn laying head, the adaptive mechanism is used to adapt and compensate for the tension of the yarn bundle.

[0009] Further technical solution: The guiding mechanism includes a first reversing roller group, a lower steering roller, an upper steering roller, and a reversing mechanism. There are four of each of the first reversing roller group, the lower steering roller, and the upper steering roller. The four first reversing roller groups are respectively installed on the four outer peripheral sides of the yarn box body. The four lower steering rollers and the four upper steering rollers are respectively installed on the four inner sides of the yarn box body. The sides of the yarn box body are provided with through holes for the yarn bundles to pass through. The reversing mechanism is installed on the inner top wall of the yarn box body. The adaptive mechanism is located between the reversing mechanism and the B-axis swing mechanism. The yarn bundles from the prepreg roll pass around the first reversing roller group, the lower steering roller, and the upper steering roller in sequence, and finally converge at the reversing mechanism. The reversing mechanism is used to arrange the yarn bundles from the four sides in the same direction.

[0010] Further technical solution: The reversing mechanism includes a third mounting frame fixedly installed at the top of the yarn box body. Four second reversing roller groups are installed at the bottom of the third mounting frame, and the four second reversing roller groups are distributed on the four sides of the third mounting frame. An output limiting roller group is also installed at the bottom of the third mounting frame. Two first reversing limiting roller groups are installed at both ends of the output limiting roller group. The two first reversing limiting roller groups are respectively installed on both sides of the output limiting roller group. The included angle between the axis of the first reversing limiting roller group and the axis of the output limiting roller group is 45°. Each of the two second reversing roller groups perpendicular to the axis of the output limiting roller group is provided with a limiting ring that matches the position of the first reversing limiting roller group.

[0011] Further technical solution: The B-axis swing mechanism includes two first mounting brackets, which are respectively mounted on two opposite inner sidewalls of the yarn box body. A B-axis motor is fixedly mounted on one of the first mounting brackets. A rotating shaft is fixedly mounted on the output shaft of the B-axis motor. The end of the rotating shaft is rotatably mounted on the other first mounting bracket. A cross frame is provided in the middle of the rotating shaft. A first limiting roller group for limiting the transmission of the yarn bundle is installed inside the cross frame. The axis of the first limiting roller group is parallel to the axis of the rotating shaft. A rotating skeleton is fixedly connected to both ends of the cross frame.

[0012] Further technical solution: The C-axis swing mechanism includes a rotating frame rotatably mounted between two rotating frames. A C-axis motor is fixedly mounted on the side of the rotating frame. The output shaft of the C-axis motor is fixedly connected to one end of the rotating frame. A second limiting roller group is mounted on the rotating frame. The axis of the second limiting roller group is perpendicular to the axis of the first limiting roller group. The filament placement head is mounted at the bottom of the rotating frame.

[0013] Further technical solution: The adaptive mechanism includes a second mounting frame fixedly installed on the inner side wall of the yarn box body. An installation frame is rotatably installed on the second mounting frame via a connecting rod. The rotation direction of the installation frame is the same as the swing direction of the cross frame. Two third limiting roller groups are slidably installed inside the installation frame. A first compression spring is connected between each of the two third limiting roller groups and the installation frame.

[0014] The connecting rod is fixedly connected to wing plates on both sides along its rotation direction. Two reset elastic rods are also installed on the second mounting frame, with the top ends of the two reset elastic rods abutting against the bottom of the two wing plates respectively.

[0015] A further technical solution: The reset elastic rod includes a fixed tube fixedly installed on the second mounting bracket, a reset rod is slidably installed inside the fixed tube, the top end of the reset rod extends out of the fixed tube and abuts against the bottom of the wing plate, and a second compression spring is connected between the reset rod and the fixed tube.

[0016] A further technical solution: The adaptive mechanism further includes a fixed cylinder, which is fixedly mounted on the second mounting bracket. A lifting block is slidably mounted on the fixed cylinder. A third compression spring is connected between the lifting block and the fixed cylinder. The connecting rod is rotatably mounted on the lifting block.

[0017] A further technical solution: A second reversing limit roller group is provided on the first mounting frame, and a third reversing limit roller group is installed between the two rotating frames.

[0018] Further technical solution: The filament laying head includes a clamping mechanism, a cutting mechanism, a filament feeding mechanism, a tensioning mechanism, a heating system, and a compaction mechanism.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. This invention integrates the ABC swing head onto the filament placement head, making the structure of the ABC swing head more compact and reducing its volume and weight. This effectively reduces the specifications and dimensions of the gantry frame, avoids the gantry frame bearing large torques and bending moments, and solves the problem of easy deformation of the gantry frame. Moreover, during filament placement, only the A-axis motor, B-axis swing mechanism, and C-axis swing mechanism need to be adjusted to adjust the direction and angle of the filament placement head, reducing the load on the swing head motor. By integrating the ABC swing head onto the filament placement head, the gantry frame only needs to drive the multi-angle swing adaptive integrated filament placement head to perform composite material laying and molding, resulting in less energy consumption and improved laying speed.

[0021] 2. In this invention, by rotating the mounting frame onto the second mounting bracket and making the rotation direction of the mounting frame the same as the swing direction of the cross frame, when the B-axis swing mechanism drives the C-axis swing mechanism and the filament laying head to swing, the mounting frame will deflect accordingly, causing the filament bundle on the third limit roller group to swing accordingly, thereby avoiding the situation where the deflection angle between the filament bundle and the third limit roller group, and between the filament bundle and the first limit roller group is too large, affecting the movement of the filament bundle. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the overall front cross-sectional structure of the present invention.

[0024] Figure 3 In this invention Figure 2 Enlarged diagram of point A in the middle.

[0025] Figure 4 This is a schematic diagram of the installation structure of the B-axis swing mechanism and the C-axis swing mechanism in this invention.

[0026] Figure 5 This is a schematic diagram of the reversing mechanism in this invention.

[0027] Figure 6 This is a schematic diagram of the adaptive mechanism in this invention.

[0028] Figure 7 This is a side view cross-sectional diagram of the adaptive mechanism in this invention.

[0029] In the attached diagram: 1. A-axis motor; 2. Yarn box body; 3. B-axis swing mechanism; 31. First mounting frame; 32. Rotating shaft; 33. Rotating frame; 34. Cross frame; 35. First limiting roller group; 36. B-axis motor; 4. C-axis swing mechanism; 41. C-axis motor; 42. Rotating frame; 43. Second limiting roller group; 5. Yarn laying head; 6. Reversing mechanism; 61. Third mounting frame; 62. Limiting ring; 63. First reversing limiting roller group; 64. Second reversing roller group; 65. Output limiting roller group; 7. Upper steering roller; 8. Adaptive mechanism. 81. Mounting frame; 82. First compression spring; 83. Third limiting roller group; 84. Connecting rod; 85. Wing plate; 86. Lifting block; 87. Fixed cylinder; 88. Second mounting bracket; 89. Reset elastic rod; 891. Fixed tube; 892. Second compression spring; 893. Reset rod; 810. Third compression spring; 9. First reversing roller group; 10. Through hole; 11. Prepreg guide roller; 12. Prepreg roll; 13. Backing paper collecting roller; 14. Lower turning roller; 15. Second reversing limiting roller group; 16. Third reversing limiting roller group. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0032] like Figures 1-7 As shown, a multi-angle swing adaptive integrated yarn placement head provided by the present invention includes an A-axis motor 1, which is mounted on the gantry of the yarn placement machine. The output shaft of the A-axis motor 1 is fixedly mounted with a yarn box body 2. Each of the four peripheral sides of the yarn box body 2 is provided with multiple prepreg rolls 12, prepreg guide rollers 11, and backing paper collecting rollers 13. In this example, there are four prepreg rolls 12, prepreg guide rollers 11, and backing paper collecting rollers 13 on each side. That is, the present invention is a 16-filament yarn placement head 5.

[0033] The yarn box body 2 is equipped with a B-axis swing mechanism 3 inside. The output end of the B-axis swing mechanism 3 extending out of the yarn box body 2 is equipped with a C-axis swing mechanism 4. The output end of the C-axis swing mechanism 4 is equipped with a yarn laying head 5. The B-axis swing mechanism 3 is used to drive the C-axis swing mechanism 4 to swing. The C-axis swing mechanism 4 is used to drive the yarn laying head 5 to swing. The swing directions of the C-axis swing mechanism 4 and the yarn laying head 5 are perpendicular to each other. The A-axis motor 1 is used to drive the yarn box body 2 and the yarn laying head 5 to rotate, so that the workpiece to be processed can be laid in three directions.

[0034] The yarn box body 2 is equipped with a guiding mechanism and an adaptive mechanism 8. The yarn bundle on the prepreg roll 12 passes around the guiding mechanism and sequentially passes through the adaptive mechanism 8, the B-axis swing mechanism 3 and the C-axis swing mechanism 4, and is wound around the yarn laying head 5. The yarn laying head 5 is used to lay the yarn bundle on the workpiece to be processed. The guiding mechanism is used to guide the yarn bundle. When the B-axis swing mechanism 3 and the C-axis swing mechanism 4 adjust the yarn laying head 5, the adaptive mechanism 8 is used to adapt and compensate for the tension of the yarn bundle.

[0035] Specifically, during the threading process, the filament bundles on the prepreg roll 12 are sequentially passed around the prepreg guide roller 11 and the guiding mechanism, and then passed through the adaptive mechanism 8, the B-axis swing mechanism 3 and the C-axis swing mechanism 4. They are then wound onto the pressure roller of the filament laying head 5. At the same time, the backing paper of the filament bundle is wound onto the backing paper collecting roller 13, which is used to peel off the backing paper of the filament bundle.

[0036] This invention integrates the ABC swing head onto the filament placement head 5, making the structure of the ABC swing head more compact and reducing its volume and weight. This effectively reduces the specifications and dimensions of the gantry frame, avoids the gantry frame bearing large torques and bending moments, and solves the problem of easy deformation of the gantry frame. Moreover, during filament placement, only the A-axis motor 1, the B-axis swing mechanism 3, and the C-axis swing mechanism 4 need to be adjusted to adjust the direction and angle of the filament placement head 5, reducing the load on the swing head motor. By integrating the ABC swing head onto the filament placement head 5, the gantry frame only needs to drive the multi-angle swing adaptive integrated filament placement head to perform composite material laying and molding, resulting in less energy consumption and improved laying speed.

[0037] This invention provides a multi-angle swing-type adaptive integrated yarn laying head. In this embodiment, the guiding mechanism includes a first reversing roller group 9, a lower steering roller 14, an upper steering roller 7, and a reversing mechanism 6. There are four of each of the first reversing roller group 9, lower steering roller 14, and upper steering roller 7. The four first reversing roller groups 9 are respectively installed on the four outer peripheral sides of the yarn box body 2. The four lower steering rollers 14 and four upper steering rollers 7 are respectively installed on the four inner sides of the yarn box body 2. The side of the yarn box body 2 is provided with through holes 10 for the yarn bundles to pass through. The reversing mechanism 6 is installed on the inner top wall of the yarn box body 2. The adaptive mechanism 8 is located between the reversing mechanism 6 and the B-axis swing mechanism 3. The yarn bundles from the prepreg roll 12 pass around the first reversing roller group 9, the lower steering roller 14, and the upper steering roller 7 in sequence, and finally converge at the reversing mechanism 6. The reversing mechanism 6 is used to arrange the yarn bundles from the four sides in the same direction.

[0038] Specifically, each roller group consists of two rollers, with the gap between the two rollers being slightly larger than the thickness of the filament bundle, allowing the filament bundle to pass through smoothly without causing it to change angle again within the gap.

[0039] Since the prepreg roll 12 is perpendicular to the side of the yarn box body 2, the yarn bundle changes its angle for the first time when it passes around the first reversing roller group 9.

[0040] The axes of the first reversing roller group 9, the lower reversing roller 14, and the upper reversing roller 7 on the same side are parallel to each other. Therefore, the lower reversing roller 14 and the upper reversing roller 7 only change the direction of the filament bundle, not the angle.

[0041] When passing through the reversing mechanism 6, all the filament bundles are aligned in the same direction so that they can be subsequently wound onto the filament laying head 5.

[0042] The present invention provides a multi-angle swing adaptive integrated yarn placement head. In this embodiment, the reversing mechanism 6 includes a third mounting frame 61 fixedly installed at the top of the yarn box body 2. Four second reversing roller groups 64 are installed at the bottom of the third mounting frame 61, and the four second reversing roller groups 64 are distributed on the four sides of the third mounting frame 61. An output limiting roller group 65 is also installed at the bottom of the third mounting frame 61. Two first reversing limiting roller groups 63 are installed at both ends of the output limiting roller group 65. The two first reversing limiting roller groups 63 are respectively installed on both sides of the output limiting roller group 65. The angle between the axis of the first reversing limiting roller group 63 and the axis of the output limiting roller group 65 is 45°. Each of the two second reversing roller groups 64 perpendicular to the axis of the output limiting roller group 65 is provided with a limiting ring 62 that matches the position of the first reversing limiting roller group 63.

[0043] Specifically, the limiting roller group has several more limiting rings 62 than the reversing roller group. In this embodiment, there are 17 limiting rings 62 on the limiting roller group. The 17 limiting rings 62 divide the roller into 16 gaps for 16 filament bundles to pass through.

[0044] During threading, the filament bundles on the two second reversing roller groups 64 parallel to the axis of the output limiting roller group 65 can pass directly through the output limiting roller group 65 without changing the angle of the filament bundles.

[0045] The filament bundles on the two second reversing roller groups 64 perpendicular to the axis of the output limiting roller group 65 must first pass through the first reversing limiting roller group 63 to change the angle of the filament bundles. Then, the filament bundles on the first reversing limiting roller group 63 change the angle again and pass through the output limiting roller group 65. Since the filament bundles need to pass through different gaps on the output limiting roller group 65 to make the filament bundles distributed in a plane, different first reversing limiting roller groups 63 need to correspond to different gaps on the output limiting roller group 65. Therefore, the limiting rings 62 on the second reversing roller group 64 need to be installed to adapt to the position of the first reversing limiting roller group 63 to avoid the filament bundles having an excessively large deflection angle, which would affect the filament feeding.

[0046] Specifically, the limiting ring 62 and the first reversing limiting roller group 63 should be in the same vertical plane as much as possible. Otherwise, when the limiting ring 62 and the first reversing limiting roller group 63 are misaligned, the filament bundle will be distributed at an angle, which will increase the friction between the filament bundle and the limiting ring 62, and thus affect the feeding of the filament bundle.

[0047] The present invention provides a multi-angle swing adaptive integrated yarn laying head. In this embodiment, the B-axis swing mechanism 3 includes two first mounting brackets 31, which are respectively mounted on two opposite inner sidewalls of the yarn box body 2. A B-axis motor 36 is fixedly mounted on one of the first mounting brackets 31. A rotating shaft 32 is fixedly mounted on the output shaft of the B-axis motor 36. The end of the rotating shaft 32 is rotatably mounted on the other first mounting bracket 31. A cross frame 34 is provided in the middle of the rotating shaft 32. A first limiting roller group 35 for limiting the transmission of the yarn bundle is installed inside the cross frame 34. The axis of the first limiting roller group 35 is parallel to the axis of the rotating shaft 32. A rotating frame 33 is fixedly connected to both ends of the cross frame 34.

[0048] Specifically, the C-axis swing mechanism 4 is mounted on two rotating frames 33.

[0049] The filament bundle that emerges from the output limiting roller group 65 passes through the adaptive mechanism 8 and then through the first limiting roller group 35.

[0050] In use, the B-axis motor 36 drives the cross frame 34 to swing through the rotating shaft 32, and the cross frame 34 drives the C-axis swing mechanism 4 and the filament laying head 5 to swing through the rotating skeleton 33.

[0051] The present invention provides a multi-angle swing adaptive integrated filament placement head. In this embodiment, the C-axis swing mechanism 4 includes a rotating frame 42 rotatably mounted between two rotating frames 33. A C-axis motor 41 is fixedly mounted on the side of the rotating frame 33. The output shaft of the C-axis motor 41 is fixedly connected to one end of the rotating frame 42. A second limiting roller group 43 is mounted on the rotating frame 42. The axis of the second limiting roller group 43 is perpendicular to the axis of the first limiting roller group 35. The filament placement head 5 is mounted at the bottom of the rotating frame 42.

[0052] Specifically, the filament bundle that passes down from the first limiting roller group 35 will pass through the second limiting roller group 43 before being wound onto the filament laying head 5.

[0053] The C-axis motor 41 can drive the filament-laying head 5 to swing through the rotating frame 42.

[0054] The present invention provides a multi-angle swing adaptive integrated yarn placement head. In this embodiment, the adaptive mechanism 8 includes a second mounting frame 88 fixedly installed on the inner side wall of the yarn box body 2. A mounting frame 81 is rotatably mounted on the second mounting frame 88 via a connecting rod 84. The rotation direction of the mounting frame 81 is the same as the swing direction of the cross frame 34. Two third limiting roller groups 83 are slidably installed inside the mounting frame 81. A first compression spring 82 is connected between each of the two third limiting roller groups 83 and the mounting frame 81.

[0055] The connecting rod 84 is fixedly connected to two wing plates 85 on both sides along its rotation direction. The second mounting bracket 88 is also equipped with two reset elastic rods 89, and the top ends of the two reset elastic rods 89 respectively abut against the bottom of the two wing plates 85.

[0056] Specifically, the filament bundle passing through the output limiting roller group 65 successively passes around the two third limiting roller groups 83, and then passes through the first limiting roller group 35.

[0057] When the C-axis swing mechanism 4 and the filament laying head 5 swing simultaneously, the filament bundles on the first limiting roller group 35 and the second limiting roller group 43 twist by 90°, causing a difference in the movement distance of each filament bundle on the first limiting roller group 35. The filament bundles near the edge of the first limiting roller group 35 move a larger distance, while the filament bundles near the center of the first limiting roller group 35 move a smaller distance. To compensate for this and prevent the filament bundles from becoming loose, the mounting frame 81 will deflect and lift accordingly, thereby preventing the filament bundle tension from being too low, which would affect the movement of the filament bundles.

[0058] When the B-axis swing mechanism 3 drives the filament-laying head 5 to return, the two wing plates 85 drive the connecting rod 84 to return to the center under the action of the reset elastic rod 89.

[0059] The present invention provides a multi-angle swing adaptive integrated filament placement head. In this embodiment, the reset elastic rod 89 includes a fixed tube 891 fixedly installed on the second mounting bracket 88. A reset rod 893 is slidably installed inside the fixed tube 891. The top end of the reset rod 893 extends out of the fixed tube 891 and abuts against the bottom of the wing plate 85. A second compression spring 892 is connected between the reset rod 893 and the fixed tube 891.

[0060] The present invention provides a multi-angle swing adaptive integrated filament placement head. When the B-axis swing mechanism 3 and the C-axis swing mechanism 4 simultaneously adjust the filament placement head 5, the filament bundle will deflect at a certain angle relative to the mounting frame 81, so that the axis of the filament bundle and the third limiting roller group 83 are not perpendicular. When the filament bundle pulls the third limiting roller group 83, the change in its pulling direction may cause the third limiting roller group 83 to jam with the mounting frame 81, thus failing to compensate for the filament bundle or providing insufficient compensation. Therefore, in this embodiment, the adaptive mechanism 8 further includes a fixed cylinder 87, which is fixedly mounted on the second mounting frame 88. A lifting block 86 is slidably mounted on the fixed cylinder 87. A third compression spring 810 is connected between the lifting block 86 and the fixed cylinder 87. The connecting rod 84 is rotatably mounted on the lifting block 86.

[0061] Specifically, when the filament bundle pulls the third limiting roller group 83, the third limiting roller group 83 can drive the lifting block 86 to rise and fall through the mounting frame 81, thereby providing secondary compensation for the filament bundle and solving the problem that the filament bundle cannot be compensated smoothly due to the jamming of the third limiting roller group 83.

[0062] The present invention provides a multi-angle swing adaptive integrated filament laying head. In order to avoid wrinkles in the filament bundle, in this embodiment, a second reversing limit roller group 15 is provided on the first mounting frame 31, and a third reversing limit roller group 16 is installed between the two rotating frames 33.

[0063] The axis of the second reversing limit roller group 15 is parallel to the axis of the first limit roller group 35, and the axis of the third reversing limit roller group 16 is parallel to the axis of the second limit roller group 43. The filament bundle passing down from the third limit roller group 83 will first twist 90° and pass through the second reversing limit roller group 15 and the first limit roller group 35 in sequence. Then the filament bundle will twist -90° and pass through the third reversing limit roller group 16 and the second limit roller group 43 in sequence, and finally be wound on the filament laying head 5.

[0064] The present invention provides a multi-angle swing adaptive integrated filament placement head. In this embodiment, the filament placement head 5 includes a clamping mechanism, a cutting mechanism, a filament feeding mechanism, a tension mechanism, a heating system, and a compaction mechanism.

[0065] The clamping mechanism mainly consists of a cylinder, a clamping block, and a back plate. The clamping mechanism is used to receive the filament bundle from the C-axis swing mechanism 4, and when cutting is required, the clamping mechanism fixes the filament bundle to prevent the filament bundle from springing back.

[0066] The cutting mechanism mainly consists of a cylinder, a cutting blade, and an anvil. It employs 16 independent cutting blade mechanisms. When the filament bundle needs to be cut, the system issues a cutting command, and the cutting blade cuts the filament bundle.

[0067] The filament feeding mechanism is used to realize the forward conveying of the filament. Each filament can be fed and re-fed independently. When the filament is cut, the feeding mechanism can control the filament to be accurately fed back to the set position of the laying pressure roller.

[0068] The tension mechanism is used to control the tension of the filament bundle. The unwinding of each pre-impregnated filament bundle is controlled by a separate servo motor. The rotation speed of the servo motor is controlled according to the filament bundle laying speed fed back by the CNC system and the filament bundle tension change fed back by the tension detection mechanism to achieve constant filament bundle tension.

[0069] The compaction mechanism includes an elastic pressure roller and a pressure roller cylinder. The elastic pressure roller can compact each filament bundle while better adapting to the curvature changes of the laying surface. The compaction force is provided by the cylinder, and the pressure can be set manually or by programming and displayed on the human-machine interface with an indication error of ±2%.

[0070] The heating system has a heating temperature range of room temperature to 80°C, and the heating power can be automatically adjusted according to the laying speed to ensure that the temperature remains within the target temperature range during the laying process.

[0071] The wire-laying head 5 is existing technology, and its specific structure and installation position will not be described in detail here.

[0072] Working principle:

[0073] After the filament bundle is threaded, the rotation direction of the filament laying head 5 is controlled by the A-axis motor 1 according to the surface shape of the workpiece, and the swing direction of the filament laying head 5 is controlled by the B-axis motor 36 and the C-axis motor 41, so that the filament bundle can be perfectly laid on the workpiece. When the filament laying head 5 swings, the adaptive mechanism 8 adapts and compensates for the movement deviation of the filament bundle to avoid the filament bundle being too tight or too loose.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0075] 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 also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-angle oscillating adaptive integrated yarn placement head, comprising an A-axis motor and a yarn box body, wherein the yarn box body is fixedly mounted on the output shaft of the A-axis motor, and each of the four peripheral sides of the yarn box body is provided with multiple prepreg rolls, prepreg guide rollers, and backing paper collecting rollers, characterized in that, The yarn box body is equipped with a B-axis swing mechanism inside. The output end of the B-axis swing mechanism extending out of the yarn box body is equipped with a C-axis swing mechanism. The output end of the C-axis swing mechanism is equipped with a yarn laying head. The B-axis swing mechanism is used to drive the C-axis swing mechanism to swing. The C-axis swing mechanism is used to drive the yarn laying head to swing. The swing directions of the C-axis swing mechanism and the yarn laying head are perpendicular to each other. The A-axis motor is used to drive the yarn box body and the yarn laying head to rotate. The yarn box body is equipped with a guiding mechanism and an adaptive mechanism. The yarn bundle on the prepreg roll passes around the guiding mechanism and then passes through the adaptive mechanism, the B-axis swing mechanism and the C-axis swing mechanism in sequence, and finally winds around the yarn laying head. The guiding mechanism is used to guide the yarn bundle. When the B-axis swing mechanism and the C-axis swing mechanism adjust the yarn laying head, the adaptive mechanism is used to adapt and compensate for the tension of the yarn bundle. The B-axis swing mechanism includes two first mounting brackets. A B-axis motor is fixedly mounted on one of the first mounting brackets. A rotating shaft is fixedly mounted on the output shaft of the B-axis motor. A cross frame is provided in the middle of the rotating shaft. The adaptive mechanism includes a second mounting frame fixedly installed on the inner side wall of the yarn box body. A mounting frame is rotatably mounted on the second mounting frame via a connecting rod. The rotation direction of the mounting frame is the same as the swing direction of the cross frame. Two third limiting roller groups are slidably installed inside the mounting frame. A first compression spring is connected between each of the two third limiting roller groups and the mounting frame. The connecting rod is fixedly connected to wing plates on both sides along its rotation direction. Two reset elastic rods are also installed on the second mounting frame, with the top ends of the two reset elastic rods abutting against the bottom of the two wing plates respectively.

2. The multi-angle oscillating adaptive integrated filament placement head according to claim 1, characterized in that, The guiding mechanism includes a first reversing roller group, a lower steering roller, an upper steering roller, and a reversing mechanism. There are four of each of the first reversing roller group, the lower steering roller, and the upper steering roller. The four first reversing roller groups are respectively installed on the four outer peripheral sides of the yarn box body, and the four lower steering rollers and the four upper steering rollers are respectively installed on the four inner sides of the yarn box body. The sides of the yarn box body are provided with through holes for the yarn bundles to pass through. The reversing mechanism is installed on the inner top wall of the yarn box body. The adaptive mechanism is located between the reversing mechanism and the B-axis swing mechanism. The yarn bundles from the prepreg roll pass around the first reversing roller group, the lower steering roller, and the upper steering roller in sequence, and finally converge at the reversing mechanism. The reversing mechanism is used to arrange the yarn bundles from the four sides in the same direction.

3. The multi-angle oscillating adaptive integrated filament placement head according to claim 2, characterized in that, The reversing mechanism includes a third mounting frame fixedly installed at the top of the yarn box body. Four second reversing roller groups are installed at the bottom of the third mounting frame, and the four second reversing roller groups are distributed on the four sides of the third mounting frame. An output limiting roller group is also installed at the bottom of the third mounting frame. Two first reversing limiting roller groups are installed at both ends of the output limiting roller group. The two first reversing limiting roller groups are respectively installed on both sides of the output limiting roller group. The angle between the axis of the first reversing limiting roller group and the axis of the output limiting roller group is 45°. Each of the two second reversing roller groups perpendicular to the axis of the output limiting roller group is provided with a limiting ring that matches the position of the first reversing limiting roller group.

4. The multi-angle oscillating adaptive integrated filament placement head according to claim 3, characterized in that, Two first mounting brackets are respectively mounted on two opposite inner side walls of the yarn box body. The end of the rotating shaft is rotatably mounted on another first mounting bracket. A first limiting roller group for limiting the transmission of the yarn bundle is installed inside the cross frame. The axis of the first limiting roller group is parallel to the axis of the rotating shaft. Rotating skeletons are fixedly connected to both ends of the cross frame.

5. The multi-angle oscillating adaptive integrated filament placement head according to claim 4, characterized in that, The C-axis swing mechanism includes a rotating frame rotatably mounted between two rotating frames. A C-axis motor is fixedly mounted on the side of the rotating frame. The output shaft of the C-axis motor is fixedly connected to one end of the rotating frame. A second set of limiting rollers is mounted on the rotating frame. The axis of the second set of limiting rollers is perpendicular to the axis of the first set of limiting rollers. The filament laying head is mounted at the bottom of the rotating frame.

6. The multi-angle oscillating adaptive integrated filament placement head according to claim 1, characterized in that, The reset elastic rod includes a fixed tube fixedly mounted on the second mounting bracket. A reset rod is slidably installed inside the fixed tube. The top end of the reset rod extends out of the fixed tube and abuts against the bottom of the wing plate. A second compression spring connects the reset rod and the fixed tube.

7. The multi-angle oscillating adaptive integrated filament placement head according to claim 1, characterized in that, The adaptive mechanism further includes a fixed cylinder, which is fixedly mounted on a second mounting bracket. A lifting block is slidably mounted on the fixed cylinder. A third compression spring connects the lifting block and the fixed cylinder. The connecting rod is rotatably mounted on the lifting block.

8. The multi-angle oscillating adaptive integrated filament placement head according to claim 4, characterized in that, The first mounting frame is provided with a second reversing limit roller group, and a third reversing limit roller group is installed between the two rotating frames.

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