Large-size carbon fiber prepreg automatic transfer lifting appliance suction cup arrangement method

Abstract

The invention discloses a large-size carbon fiber prepreg automatic transfer hanger sucker arrangement method, which comprises the following steps: establishing a carbon fiber prepreg three-dimensional model, carrying out material characteristic assignment on the prepreg three-dimensional model, and carrying out finite element simulation analysis according to a finite element simulation result, so as to obtain a large-size carbon fiber prepreg automatic transfer hanger sucker arrangement model. And the maximum suspension amount of the carbon fiber prepreg sheet is used for reflecting the advantages and disadvantages of the arrangement modes of different types of suction cups, so that the optimal suction cup arrangement method is obtained. By means of the method, front-end prediction of the carbon fiber prepreg adsorption grabbing mode is achieved, an optimization method of suction cup arrangement is obtained, the number of suction cups and the material sheet suspension amount are reduced, the stability of the prepreg sheet in the transfer process is maintained, material waste caused by multiple times of grabbing adjustment is avoided, the method can adapt to prepregs of any size, the production cost is reduced, and the production efficiency is improved. And the production efficiency is improved, automatic operation is facilitated, and good application value and prospects are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to a large-size carbon fiber prepreg automatic transfer lifting appliance suction disc arrangement method. BACKGROUND

[0002] Carbon fiber prepreg with light weight and high strength characteristics is an important structural material widely used in the field of aerospace. Prepreg refers to a sheet material in which the resin is in a semi-cured state after the reinforcing fibers are pre-impregnated with resin and processed. Currently, in production, the transfer of prepreg sheets mainly relies on manual handling. Since the prepreg sheet in the uncured state is soft and deformed, it needs to be handled carefully to avoid fiber breakage or resin layer damage. However, in the production of large carbon fiber structures, the prepreg sheet is large in size and area, and during manual handling, it is easy to bend and wrinkle due to uneven stress, which seriously affects the quality of the product. In addition, manual transfer is low in efficiency and high in risk, which cannot meet the production requirements of high precision and high quality.

[0003] Automated manufacturing technology refers to the use of automated equipment and systems to achieve efficient and high-quality manufacturing of materials, products or components through precise control and programmed operation. By generating negative pressure with vacuum suction cups, carbon fiber prepreg is tightly attached to the surface of the suction cup, achieving automated transfer of carbon fiber prepreg sheets, which can perfectly replace manual handling. However, at present, there is a lack of mature technology and theoretical guidance in the field of carbon fiber prepreg automatic suction and grabbing. In actual production and manufacturing processes, the scientificity and rationality of vacuum suction disc arrangement are often ignored, and the arrangement is only based on subjective experience. Unreasonable suction point arrangement can cause carbon fiber prepreg to sag and deform, resulting in fiber wrinkles, affecting the quality of prepreg laying and even causing it to fall off during grabbing and transfer. Simply increasing the number of suction points not only increases production costs and reduces production efficiency, but also often requires a lot of operational experience to adjust in actual production. Moreover, for different shapes and sizes of prepreg, experience is not applicable, resulting in material waste and poor effect in solving the sagging problem.

[0004] Therefore, how to reasonably arrange the suction disc arrangement, reduce the amount of material sagging, maintain the stability of the prepreg sheet transfer process, and improve the laying quality of carbon fiber prepreg, is still a problem to be solved. SUMMARY

[0005] In view of the problem that the unreasonable arrangement of adsorption points makes the carbon fiber prepreg prone to large sagging deformation and wrinkles in the adsorption and transfer process, and even causes the sheet to fall off, which cannot meet the laying requirements of the carbon fiber prepreg, the present application provides a large-size carbon fiber prepreg automatic transfer lifting appliance suction cup arrangement method, through simulation, the maximum sag of the carbon fiber prepreg sheet under different types of suction cup arrangement is analyzed, the front end prediction of the carbon fiber prepreg adsorption and grabbing mode is realized, the number of suction cups and the sag of the sheet are reduced, and the stability of the transfer process of the prepreg sheet is maintained. The specific technical scheme is as follows:

[0006] A large-size carbon fiber prepreg automatic transfer lifting appliance suction cup arrangement method, by establishing a three-dimensional model of carbon fiber prepreg, and assigning material characteristics to the three-dimensional model of the prepreg, and then using finite element simulation analysis, according to the finite element simulation results, the advantages and disadvantages of different types of suction cup arrangement are reflected by the maximum sag of the carbon fiber prepreg sheet, so as to obtain the optimal method of suction cup arrangement.

[0007] The aforementioned large-size carbon fiber prepreg automatic transfer lifting appliance suction cup arrangement method, specifically includes the following steps:

[0008] Step one, establish a three-dimensional simplified model

[0009] According to the shape and size of the actual carbon fiber prepreg and vacuum suction cup, the three-dimensional design software is used to construct the three-dimensional model of the carbon fiber prepreg sheet and the three-dimensional model of the vacuum suction cup;

[0010] Step two, establish a finite element analysis model

[0011] The three-dimensional model of the carbon fiber prepreg sheet and the three-dimensional model of the vacuum suction cup constructed by the three-dimensional design software are imported into the finite element analysis software, and the interaction relationship between the two contact surfaces is defined, and the finite element analysis model is assembled for arrangement simulation analysis.

[0012] Step three, initial arrangement simulation

[0013] According to the material properties of the actual carbon fiber prepreg and vacuum suction cup, the three-dimensional model of the carbon fiber prepreg sheet and the three-dimensional model of the vacuum suction cup imported into the finite element analysis software are valued; and the initial arrangement mode, suction force and boundary conditions of the vacuum suction cup are set; according to the actual working condition of the carbon fiber prepreg automatic transfer, the initial arrangement mode of the vacuum suction cup is simulated.

[0014] Step four, suction cup arrangement optimization

[0015] According to the simulation result of the initial arrangement mode of the vacuum chuck in step three, the overhang and the number of the chucks at the maximum overhang deformation are adjusted, and / or the arrangement mode of the chucks is adjusted; then, the arrangement mode of the vacuum chucks after the adjustment is simulated again according to the actual working condition of the automatic transfer of the carbon fiber prepreg; the above operation is repeated to select the optimal arrangement mode of the chucks.

[0016] Step five, verifying the optimal arrangement mode

[0017] The actual transfer test of the carbon fiber prepreg adsorbed by the automatic transfer adsorption spreader in the different arrangement modes of the vacuum chucks adjusted in step four is used to verify the feasibility of the optimal arrangement mode of the chucks selected.

[0018] In the aforementioned arrangement method of the chucks of the automatic transfer spreader for the large-size carbon fiber prepreg, in step one, the three-dimensional design software is CATIA software; and the adsorption force of the vacuum chuck is:

[0019] F=ΔP×A (1);

[0020] In the formula, ΔP represents the internal and external pressure difference, A represents the effective adsorption area of the chuck, and F represents the adsorption force of the vacuum chuck.

[0021] The adsorption principle of the vacuum chuck is that the vacuum chuck is provided with a vacuum generating device (such as a vacuum pump, a Venturi tube, etc.), which can extract the air in the sealed cavity inside the chuck, which will cause the number of gas molecules in the cavity to decrease sharply, and at this time the pressure inside the chuck cannot resist the external atmospheric pressure any more, and this huge pressure difference (ΔP) will continuously and firmly press the chuck and the carbon fiber prepreg together; that is, the pressure difference acts on the effective adsorption area of the chuck, so that the vacuum chuck generates an adsorption force.

[0022] In the aforementioned arrangement method of the chucks of the automatic transfer spreader for the large-size carbon fiber prepreg, in step two, the interaction relationship between the contact surface of the three-dimensional model of the carbon fiber prepreg sheet and the three-dimensional model of the vacuum chuck refers to the pressure and friction force between them.

[0023] In the aforementioned arrangement method of the chucks of the automatic transfer spreader for the large-size carbon fiber prepreg, in step three, the assignment of the three-dimensional model of the carbon fiber prepreg sheet and the three-dimensional model of the vacuum chuck imported into the finite element analysis software includes:

[0024] The specific material type, elastic modulus, Poisson's ratio and shear modulus of the three-dimensional model of the carbon fiber prepreg sheet are assigned; and the specific material type, elastic modulus, Poisson's ratio, density and yield strength of the three-dimensional model of the vacuum chuck are assigned.

[0025] The initial arrangement mode of the vacuum chuck is set according to the size specification of the carbon fiber prepreg sheet and the number of the chucks, and generally the uniform arrangement of the chucks is taken as the initial arrangement mode.

[0026] The boundary condition of the vacuum chuck is that a fixed constraint is applied to the upper surface of the vacuum chuck, and the friction coefficient between the vacuum chuck and the carbon fiber prepreg sheet is defined, and the friction coefficient is generally set to 0.2;

[0027] In addition, the carbon fiber prepreg sheet is also assigned with the self-gravity load and the suction pressure load.

[0028] The algorithm principle involved in the large-size carbon fiber prepreg automatic transfer lifting appliance vacuum chuck arrangement method is as follows:

[0029] The carbon fiber prepreg is a typical orthotropic anisotropic structural material, and its mechanical properties can be approximately calculated according to the fabric, and the spatial stress state diagram of the orthotropic anisotropic structural material is as shown in the figure. Figure 1 The principal stress in the X-axis direction is denoted as σ1, the principal stress in the Y-axis direction is denoted as σ2, the principal stress in the Z-axis direction is denoted as σ3, the shear stress in the YZ plane is denoted as σ4, the shear stress in the ZX plane is denoted as σ5, and the shear stress in the XY plane is denoted as σ6. x y z yz zx xy That is:

[0030] x y z yz zx xy

[0031] The constitutive equation is as shown in formula (2):

[0032] i ij j (i,j=1,2,3,4,5,6) (2);

[0033] In the formula, σ is the stress component of the carbon fiber prepreg, ε is the strain component of the carbon fiber prepreg, and C is the stiffness coefficient of the carbon fiber prepreg. i j ij

[0034] Therefore, the constitutive equation of the carbon fiber prepreg can be expressed in matrix form as:

[0035] [σ]=[C][ε] (3);

[0036] At the same time, the stress-strain relationship of the carbon fiber prepreg can be expressed as:​​​​​​​​​​​​​​​​​​

[0037] ε i = S ij σ j (i,j = 1,2,3,4,5,6) (4);

[0038] In matrix form, it can be expressed as:

[0039] [ε] = [S] [σ] (5);

[0040] Where S ij is the stiffness coefficient of the material, thus we can get:

[0041] [S] = [C] -1 (6);

[0042] To facilitate the simulation, the relationship between the compliance matrix of the material and the engineering constants is established to realize the expression of the mechanical properties of carbon fiber prepreg through engineering constants. For orthotropic carbon fiber prepreg, when its stress state is stable, it can be regarded as an elastic-plastic material containing three groups of engineering constants in X, Y, and Z directions; that is, an elastic-plastic material containing three elastic moduli, three Poisson's ratios, and three shear moduli, a total of nine engineering constants. These three groups of engineering constants should satisfy the following basic conditions:

[0043]

[0044] Where: V is the Poisson's ratio of carbon fiber prepreg, G is the shear modulus of carbon fiber prepreg, E is the elastic modulus of carbon fiber prepreg; among them

[0045] In the process of finite element simulation of vacuum chuck adsorbing and grabbing carbon fiber prepreg, the size of carbon fiber prepreg in the Z direction (3 direction) is much smaller than that in the X and Y directions (1 and 2 directions), so this working state can be defined as a plane stress state. When the material is in a plane stress state, it can be approximately considered that the stress and strain in the Z direction are zero, and at this time the stress-strain relationship of carbon fiber prepreg can be represented by the following formula:

[0046]

[0047]

[0048] Where: 1 is the X-axis direction, 2 is the Y-axis direction, and 3 is the Z-axis direction; σ is the stress component of carbon fiber prepreg; ε is the strain component of carbon fiber prepreg; E is the elastic modulus of carbon fiber prepreg; V is the Poisson's ratio of carbon fiber prepreg; G is the shear modulus of carbon fiber prepreg; γ and β are matrix coefficients.

[0049] From formula (8), as long as the elastic modulus, Poisson's ratio and shear modulus of the carbon fiber prepreg in the horizontal plane are obtained, the stress-strain relationship can be obtained, and the finite element simulation process is carried out according to this principle.

[0050] In step four of the aforementioned large-size carbon fiber prepreg automatic transfer lifting appliance suction disc arrangement method, the overhanging amount in the simulation result is greater than or equal to 3mm, and the suction disc arrangement mode needs to be adjusted again, so as to predict that the deformation of the prepreg is less than 3mm, which meets the actual production requirements, that is, the deformation of the prepreg is within an acceptable range.

[0051] The present application has the following beneficial effects:

[0052] 1) The method of the present application realizes the front-end prediction of the carbon fiber prepreg suction and grabbing mode by simulating and analyzing the maximum overhanging amount of the carbon fiber prepreg sheet under different types of suction disc arrangement modes, avoids material waste caused by multiple grabbing adjustments, and can adapt to any size of prepreg, is simple to operate, and has remarkable effects.

[0053] 2) The method of the present application obtains the optimal method of suction disc arrangement and further finds the optimal position by simulating, adjusts the vacuum suction disc suction point, reduces the number of suction discs and the overhanging amount of the sheet, maintains the stability of the prepreg sheet transfer process, keeps the deformation of the prepreg within an acceptable range, and has great significance for the theoretical calculation of the suction position of prepregs of different shapes and sizes.

[0054] 3) The method of the present application predicts the optimal way of suction disc arrangement, reduces redundant suction points, reduces production cost, improves production efficiency, is convenient for automatic operation, ensures that the prepreg does not produce large deformation in the suction and transfer process, ensures the prepreg laying quality, provides a theoretical basis and technical support for the high-quality and efficient manufacturing of composite components, lays a foundation for the application of the automatic suction and transfer technology of prepregs in the automatic laying process.

[0055] Overall, the method of the present application realizes the front-end prediction of the carbon fiber prepreg suction and grabbing mode, obtains the optimal way of suction disc arrangement, and has a simple test method, convenient calculation, wide application range, good application value and prospect. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 It is a schematic diagram of the stress state of the carbon fiber prepreg sheet of the present application;

[0057] Figure 2 It is a schematic diagram of the three-dimensional simplified model structure of the vacuum suction disc of the present application;

[0058] Figure 3 It is a schematic diagram of the three-dimensional simplified model structure of the carbon fiber prepreg sheet of the present application;

[0059] Figure 4 A schematic diagram of an initial arrangement mode (arrangement mode 1) of the vacuum chuck;

[0060] Figure 5 A schematic diagram of boundary conditions of a three-dimensional model of the carbon fiber prepreg sheet and a three-dimensional model of the vacuum chuck of the present application;

[0061] Figure 6 A deformation distribution cloud chart of the arrangement mode 1 of the vacuum chuck;

[0062] Figure 7 A schematic diagram of the arrangement mode 2 of the vacuum chuck;

[0063] Figure 8 A schematic diagram of the arrangement mode 3 of the vacuum chuck;

[0064] Figure 9 A schematic diagram of the arrangement mode 4 of the vacuum chuck;

[0065] Figure 10 A deformation distribution cloud chart of the arrangement mode 2 of the vacuum chuck;

[0066] Figure 11 A deformation distribution cloud chart of the arrangement mode 2 of the vacuum chuck;

[0067] Figure 12 A deformation distribution cloud chart of the arrangement mode 2 of the vacuum chuck. DETAILED DESCRIPTION

[0068] The technical solutions of the present application will be described in detail below with reference to the embodiments. Obviously, the described embodiments are only the preferred embodiments of the present application, but not all the embodiments of the present application, and are not intended to limit the present application in other forms. Any skilled person in the art can make changes or modifications, etc. by using the disclosed technical content. However, any simple modification, equivalent change and modification made on the basis of the technical essence of the present application without departing from the technical solution of the present application still falls within the protection scope of the present application.

[0069] Example 1

[0070] This embodiment is a method for arranging a large-size carbon fiber prepreg automatic transfer sling chuck. The carbon fiber prepreg is T800 / epoxy resin prepreg. The carbon fiber prepreg is a wedge-shaped sheet with a length of 11040mm, a length of 1020mm at the wider end, and a length of 580mm at the narrower end. Due to the large size and soft quality, unreasonable arrangement of the sling chuck can cause large sagging deformation, fiber wrinkles, and affect the prepreg laying quality or even cause shedding during the grabbing and transferring process. Therefore, an attempt is made to obtain an optimal method for arranging the chuck through simulation. The method specifically includes the following steps:

[0071] Step one, establishing three-dimensional simplified model

[0072] According to the requirements of traceless adsorption transport, the size specification of the vacuum chuck screened based on Bernoulli principle is 1000mmx130mmx10mm; the three-dimensional simplified model of carbon fiber prepreg and vacuum chuck is constructed by using three-dimensional design software CATIA. The size specification of carbon fiber prepreg and vacuum chuck is consistent with that in actual production, and the specific model and size are shown in Figure 2 and Figure 3 .

[0073] Step two, establishing finite element analysis model

[0074] The three-dimensional model of carbon fiber prepreg and vacuum chuck constructed by three-dimensional design software is imported into finite element analysis software Abaqus, the interaction relationship (pressure and friction) of the contact surface between the two is defined, and the finite element analysis model is assembled for arrangement simulation analysis.

[0075] Step three, arrangement simulation

[0076] According to the material properties of carbon fiber prepreg and vacuum chuck, the finite element analysis model is valued, and the initial arrangement mode of vacuum chuck, the size of vacuum chuck suction force and the model boundary condition are set. The initial arrangement mode of vacuum chuck is simulated according to the actual working condition of automatic transfer of prepreg. The material value of carbon fiber prepreg is T800 / epoxy prepreg, and the material value of vacuum chuck is Q235 steel. The specific material attribute parameters are shown in Tables 1 and 2.

[0077] Table 1. Carbon fiber prepreg material parameters

[0078]

[0079] Table 2. Vacuum chuck material parameters

[0080] Material Elastic modulus (GPa) Poisson's ratio Density (g / cm3) Yield strength (MPa) Q235 steel 210 0.3 7.85 235

[0081] The size of vacuum chuck suction force is calculated according to the size specification of vacuum chuck and the formula (1) combined with the suction pressure difference of vacuum chuck, wherein the suction pressure difference of vacuum chuck is obtained by experiment under the condition that carbon fiber prepreg does not appear suction trace. The pressure difference ΔP is 3078Pa, and thus the size of suction force is 400N.

[0082] The initial arrangement mode of vacuum chuck is equal interval uniform distribution, as shown in Figure 4 , which is recorded as arrangement mode 1. The upper surface of the chuck is applied with fixed constraint, and the contact attribute is added between the chuck and the prepreg. The adsorption pressure load is applied on the contact surface between the prepreg and the chuck, and the size of adsorption pressure is 400N. At the same time, the overall structure is applied with gravity action for simulation calculation. The specific model boundary condition is shown in Figure 5 .As shown, the simulation results are as follows: Figure 6 As shown in the simulation results, the maximum overhang of the material sheet in the initial suction cup arrangement (arrangement method 1) is 3.287 mm, exceeding the maximum overhang threshold of 3 mm. Overhang deformation is an inevitable phenomenon during the suction process. Excessive overhang deformation can easily cause the material sheet to detach during suction and may also lead to wrinkles during subsequent sheet stacking, directly affecting the molding quality. Therefore, suction cup arrangement method 1 (uniformly distributed at equal intervals) results in a larger maximum overhang and poorer suction effect, requiring further optimization.

[0083] Step 4: Optimize the suction cup arrangement

[0084] Further adjustments to the suction cup arrangement: (1) Add small suction cups laterally in areas where the sheet material experiences significant hanging deformation, such as... Figure 7 As shown, this is denoted as arrangement method 2; (2) Small suction cups are added vertically in areas where the material sheet has large hanging deformation, such as Figure 8 As shown, this is denoted as arrangement method 3; (3) Keep the initial number of suction cups unchanged and rearrange the planned suction cup distribution, as shown in Figure 3. Figure 9 As shown, this is denoted as layout method 4. Then, step three is repeated to obtain the simulation results for layout methods 2, 3, and 4, as shown... Figure 10 to Figure 12 As shown in the simulation results, the maximum overhang of the material sheet is reduced in suction cup arrangements 2, 3, and 4 compared to suction cup arrangement 1; however, the maximum overhang of the material sheet in suction cup arrangements 2 and 3 is not significantly different, and the adsorption effect is basically similar, with the maximum overhang of arrangement 2 and arrangement 3 both around 2.032 mm; while the maximum overhang of the material sheet in suction cup arrangement 4 is 1.663 mm, showing the best overall adsorption effect. Therefore, arrangement 4 is selected as the optimal suction cup arrangement.

[0085] Step 4: Verify the simulation results

[0086] Based on the finite element simulation results, an automatic transfer adsorption device was used to test and verify prepreg sheets adsorbed by different vacuum suction cup arrangements. The results showed that suction cup arrangements 2 and 3 resulted in varying degrees of suspension during the transfer of the prepreg, and the transferred sheets exhibited varying degrees of deformation and wrinkles. In contrast, the prepreg transferred by arrangement 4 did not show significant deformation or wrinkles, ensuring the quality of the prepreg placement. This demonstrates that arrangement 4 is the optimal suction cup arrangement with the best transfer effect.

[0087] It can be seen that the method successfully realizes the front-end prediction of the carbon fiber prepreg adsorption and grabbing mode by simulating and analyzing the maximum overhanging amount of the carbon fiber prepreg under different types of suction cup arrangement modes, avoids material waste caused by multiple grabbing adjustments, and can adapt to prepregs of any size, is simple to operate, and has remarkable effects. Through the simulation of the method, the optimal method of suction cup arrangement is successfully achieved, and the optimal position is found; by adjusting the vacuum suction cup adsorption point, the number of suction cups and the overhanging amount of the prepreg are reduced, the stability of the prepreg transfer process is maintained, the deformation of the prepreg is kept within an acceptable range, and the theoretical calculation of the adsorption position of prepregs of different shapes and sizes has great significance. Moreover, the optimal method of suction cup arrangement is predicted by the method, the redundant adsorption points are reduced, the production cost is improved, the production efficiency is reduced, and the automatic operation is facilitated, so that the prepreg does not produce large deformation in the adsorption and transfer process, the prepreg laying quality is guaranteed, a theoretical basis and technical support are provided for the high-quality and efficient manufacturing of composite components, and a foundation is laid for the application of the automatic adsorption and transfer technology of the prepreg in the automatic laying process.

[0088] Overall, the method realizes the front-end prediction of the carbon fiber prepreg adsorption and grabbing mode, obtains the optimal method of suction cup arrangement, and the test method is simple, convenient to calculate, widely applicable, and has good application value and prospect.

[0089] It is apparent to those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and that the present application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and it is intended to encompass all changes falling within the meaning and range of equivalents of the elements of the claims. Any reference signs in the claims should not be considered as limiting the claims to which they relate.

[0090] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in the embodiments can also be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. A method for arranging suction cups in an automatic transfer lifting device for large-size carbon fiber prepreg, characterized in that: By establishing a three-dimensional model of carbon fiber prepreg and assigning material characteristics to the model, and then using finite element simulation analysis, the maximum overhang of the carbon fiber prepreg sheet is used to reflect the advantages and disadvantages of different types of suction cup arrangement, thereby obtaining the optimal method for suction cup arrangement.

2. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 1, characterized in that: Includes the following steps: Step 1: Establish a simplified 3D model Based on the actual shape and size of the carbon fiber prepreg and vacuum suction cup, a 3D model of the carbon fiber prepreg sheet and a 3D model of the vacuum suction cup were constructed using 3D design software. Step 2: Establish a finite element analysis model The three-dimensional models of carbon fiber prepreg sheet and vacuum suction cup constructed by the three-dimensional design software are imported into the finite element analysis software, and the interaction relationship between the contact surfaces of the two is defined to assemble them into a finite element analysis model for layout simulation analysis. Step 3: Initial Layout Simulation Based on the material properties of the actual carbon fiber prepreg and vacuum suction cup, values ​​were assigned to the three-dimensional models of the carbon fiber prepreg sheet and the vacuum suction cup imported into the finite element analysis software; the initial arrangement, suction force, and boundary conditions of the vacuum suction cup were set; and the initial arrangement of the vacuum suction cup was simulated and transferred according to the actual working conditions of automatic transfer of carbon fiber prepreg. Step 4: Optimize the suction cup arrangement Based on the simulation results of the initial arrangement of vacuum suction cups in step three, adjust the overhang amount and the number of suction cups at the point of maximum overhang deformation, and / or the arrangement of suction cups; then, simulate the adjusted arrangement of vacuum suction cups again based on the actual working conditions of automatic transfer of carbon fiber prepreg; repeat the above operations to select the optimal arrangement of suction cups. Step 5: Verify the optimal layout The carbon fiber prepreg adsorbed in step four, with different vacuum suction cup arrangements adjusted using an automated transfer and adsorption device, is then processed... Actual transfer tests were conducted to verify the feasibility of the selected optimal suction cup arrangement.

3. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 2, characterized in that: In step one, the 3D design software is CATIA software; the vacuum suction cup adsorption force is: F = ΔP × A (1); In the formula: ΔP represents the internal and external pressure difference, A represents the effective adsorption area of ​​the suction cup, and F represents the adsorption force of the vacuum suction cup.

4. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 2, characterized in that: In step two, the interaction between the contact surfaces of the three-dimensional model of the carbon fiber prepreg sheet and the three-dimensional model of the vacuum chuck is the pressure and friction between the carbon fiber prepreg sheet and the vacuum chuck.

5. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 2, characterized in that: In step three, the process of assigning values ​​to the three-dimensional models of the carbon fiber prepreg sheet and the vacuum suction cup imported into the finite element analysis software includes: assigning values ​​to the specific material type, elastic modulus, Poisson's ratio, and shear modulus of the three-dimensional model of the carbon fiber prepreg sheet; and assigning values ​​to the specific material type, elastic modulus, Poisson's ratio, density, and yield strength of the three-dimensional model of the vacuum suction cup.

6. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 5, characterized in that: In step three, the initial arrangement of the vacuum suction cups is uniformly arranged according to the size and specifications of the carbon fiber prepreg sheet and the number of suction cups. The boundary conditions of the vacuum suction cups are specifically to apply a fixed constraint to the upper surface of the vacuum suction cup, define the friction coefficient between the contact surface of the vacuum suction cup and the carbon fiber prepreg sheet, and input the load of the carbon fiber prepreg sheet under its own gravity and the suction pressure load of the suction cup.

7. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 2, characterized in that: In step three, the simulation transfer defines the carbon fiber prepreg as a plane stress state, and its stress-strain relationship is expressed as: In the formula: 1 represents the X-axis direction, 2 represents the Y-axis direction, and 3 represents the Z-axis direction; σ represents the stress component of the carbon fiber prepreg; ε represents the strain component of the carbon fiber prepreg; E represents the elastic modulus of the carbon fiber prepreg; V represents the Poisson's ratio of the carbon fiber prepreg; G represents the shear modulus of the carbon fiber prepreg; and γ and τ are matrix coefficients.

8. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 6, characterized in that: The relationship between the elastic modulus, Poisson's ratio, and shear modulus of the carbon fiber prepreg is expressed as follows: in: In the formula: 1 is the X-axis direction, 2 is the Y-axis direction, 3 is the Z-axis direction; V is Poisson's ratio, G is the shear modulus, and E is the elastic modulus.

9. The method for arranging suction cups of an automatic transfer lifting device for large-size carbon fiber prepregs according to claim 2, characterized in that: In step four, if the simulation result shows a droop of ≥3mm, the suction cup arrangement needs to be readjusted so that the carbon fiber prepreg deformation is <3mm to meet actual production requirements.

Images