Adsorption and transfer tool for large-size carbon fiber prepreg sheets and use method of adsorption and transfer tool

Abstract

The invention discloses a large-size carbon fiber prepreg sheet adsorbing and transferring tool and a using method. The large-size carbon fiber prepreg sheet adsorbing and transferring tool comprises a truss, and a plurality of sets of independent vacuum suction cup devices are arranged on the truss in the length direction at intervals; transfer trolleys are arranged at the two ends of the truss and drive the tool for adsorbing the material pieces to move. A lifting device is arranged between the truss and the transfer trolley, and the truss moves up and down relative to the transfer trolley under the action of the lifting device; a plurality of visual positioning assemblies are arranged on the truss in the length direction at intervals and used for adjusting the adsorption position between the tool and the material piece. The tool can replace manual material piece carrying, all assemblies are clear in labor division and efficient in cooperation, the vacuum suction cup device is independently controlled, guide rods of the lifting device are guided, real-time feedback of visual positioning is achieved, it is ensured that the tool runs stably, adsorption is firm, transferring is accurate, the tool can be stably matched with the prepreg transferring procedure in large carbon fiber piece production for a long time, and the production efficiency is improved. The practicability is high; the deformation of the material sheet is greatly reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of carbon fiber prepreg transfer fixtures, and specifically relates to a large-size carbon fiber prepreg sheet adsorption and transfer fixture and its usage method. Background Technology

[0002] Composite materials are widely used in the aerospace field due to their advantages such as high strength, corrosion resistance, fatigue resistance, and high designability.

[0003] Prepreg is a semi-cured sheet material made by pre-impregnating reinforcing fibers with resin and then treating it. The resin is usually in a semi-cured state, which facilitates subsequent molding. In the production of large carbon fiber parts, the transfer of prepreg sheets is a critical process, but currently it mainly relies on manual handling. Care must be taken to avoid fiber breakage or damage to the resin layer. Due to the large size and area of ​​the prepreg sheets, and their soft and easily deformable state in the uncured state, uneven force during manual handling can easily cause the material to bend and wrinkle, seriously affecting the quality of the parts. In addition, manual handling is inefficient and risky, making it difficult to meet the demands of high-precision, high-quality production.

[0004] To solve this problem, there is an urgent need to develop a material adsorption fixture to achieve automated and traceless transfer of prepreg sheets. Summary of the Invention

[0005] The purpose of this invention is to provide a large-size carbon fiber prepreg sheet adsorption and transfer tooling and a method for using it, so as to realize the automated and traceless transfer of prepreg sheets.

[0006] To solve the above-mentioned technical problems, the present invention provides a large-size carbon fiber prepreg sheet adsorption and transfer fixture, including a truss, on which multiple sets of independent vacuum suction cup devices are arranged at intervals along the length direction; and the large-size carbon fiber prepreg sheet is adsorbed at different positions by the multiple sets of vacuum suction cup devices.

[0007] The truss is equipped with transfer trolleys at both ends, which drive the tooling that adsorbs large-size carbon fiber prepreg sheets to move.

[0008] A lifting device is provided between the truss and the transfer trolley. Under the action of the lifting device, the truss moves up and down relative to the transfer trolley.

[0009] Multiple sets of visual positioning components are spaced apart along the length of the truss to adjust the adsorption position between the tooling and the large-size carbon fiber prepreg sheet.

[0010] Preferably, the vacuum suction cup device includes a fixed bracket, a suction cup mounting plate, and a suction cup lifting cylinder. The suction cup lifting cylinder is mounted on the fixed bracket, and the piston rod passes through the fixed bracket and is connected to the suction cup mounting plate.

[0011] The suction cup mounting plate is equipped with multiple sets of Bernoulli suction cups, which contact the surface of the material sheet to adsorb large-sized carbon fiber prepreg sheets.

[0012] Preferably, the multiple sets of Bernoulli suction cups are staggered along the horizontal and vertical directions on the surface of the suction cup mounting plate; and each set of Bernoulli suction cups is connected to an external air source device.

[0013] Preferably, the contact surface between each group of Bernoulli suction cups and the material sheet is sequentially provided with a sponge layer and a nitrile latex layer.

[0014] Preferably, the transfer trolley includes a frame and two sets of wheels, with the two sets of wheels respectively installed at both ends of the frame. Under the action of the transfer trolley, the tooling that adsorbs large-size carbon fiber prepreg sheets moves.

[0015] Preferably, the wheel is a Mecanum wheel.

[0016] Preferably, the lifting device includes a lifting fixed plate and a lifting electric cylinder. The lifting fixed plate is fixedly connected to the truss, and the telescopic rod of the lifting electric cylinder passes through the lifting fixed plate and is connected to the frame. Under the action of the lifting electric cylinder, the truss is driven to move up and down relative to the transfer trolley.

[0017] Preferably, the lifting and fixing plate is further provided with guide rods on both sides, and the ends of the guide rods are fixedly connected to the vehicle frame, so that the lifting and fixing plate drives the truss to move up and down along the guide rods.

[0018] Preferably, the visual positioning component includes a visual support and multiple industrial cameras mounted on the visual support. The industrial cameras are mounted on the truss via the visual support to capture edge images of the material sheet, identify and extract edge features using image processing technology, and calculate the relative positional deviation between edges using a feature matching algorithm.

[0019] This invention also provides a method for using a large-size carbon fiber prepreg sheet adsorption and transfer fixture, comprising the following steps:

[0020] Step A: Place the adsorption and transfer fixture on the prepreg platform;

[0021] Step A1: After the carbon fiber prepreg sheet is laid on the prepreg platform, the adsorption and transfer fixture is first lifted above the carbon fiber prepreg sheet by a gantry crane.

[0022] Step A2: Then, the adsorption and transfer fixture is lowered onto the prepreg platform. At the same time, the edge image of the material sheet is captured by an industrial camera. Image processing technology is used to identify and extract edge features. The relative positional deviation between the fixture and the edge of the material sheet is calculated using a feature matching algorithm. The collected relative positional deviation signal is transmitted to the wheels of the transfer trolley 3 so that the fixture is aligned with the first and last edges of the material sheet.

[0023] Step A3: Next, the lifting electric cylinder controls the overall truss and vacuum suction cup device to fall to 30mm above the material sheet, completing the positioning of the tooling and prepreg material sheet;

[0024] Step B: Adsorb the material sheet using a vacuum suction cup device;

[0025] Step B1: When the suction cup lifting cylinder controls the Bernoulli suction cup to gradually descend to the surface of the material, the Bernoulli suction cup reduces the pressure between itself and the material, and the material is adsorbed onto the Bernoulli suction cup. The suction force of the Bernoulli suction cup is controlled by the airflow through the solenoid valve. After the Bernoulli suction cup has firmly adhered to the material, the suction cup lifting cylinder locks the position of the Bernoulli suction cup, and the lifting cylinder drives the entire truss and vacuum suction cup device to rise, completing the adsorption action.

[0026] Step B2: The suction cup lifting cylinders in the multiple sets of vacuum suction cup devices are all independently controlled, which can adjust the height of multiple sets of Bernoulli suction cups to fit the undulating surface of the material sheet;

[0027] Step C: Transfer the sheet material to the fixture for fixing the heat insulation film;

[0028] Step C1: When the prepreg sheet is held in place by the Bernoulli suction cup, it needs to be transferred to the fixed heat insulation film fixture by the adsorption and transfer fixture. The gantry crane then lowers the entire adsorption and transfer fixture so that the wheels contact the ground.

[0029] Step C2: The heat insulation film fixing fixture has a positioning block to achieve matching and positioning with the material sheet. The edge distance is detected by the vision positioning component and fed back to the wheel in real time. Then the wheel moves to adjust the position of the material sheet and the heat insulation film fixing fixture, thus completing the precise placement of the material sheet and the fixture.

[0030] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include:

[0031] The adsorption and transfer fixture of this invention can replace manual handling of material sheets. Each component has a clear division of labor and works together efficiently. The independent control of the vacuum suction cup device, the guide rod guidance of the lifting device, and the real-time feedback of visual positioning ensure that the fixture operates smoothly, adsorbs firmly, and transfers accurately. It can be stably adapted to the prepreg transfer process in the production of large carbon fiber parts for a long time, and has strong practicality. It greatly reduces the deformation of the material sheets and improves production efficiency. At the same time, it solves the problem of adsorption marks caused by ordinary suction cup adsorption, and realizes the accurate positioning of the material sheets in the adsorption and transfer fixture and the accurate positioning of the material sheets in the fixed heat insulation film fixture. Attached Figure Description

[0032] Figure 1 A schematic diagram of the structure of the adsorption and transfer tooling for large-size carbon fiber prepreg sheets provided by the present invention;

[0033] Figure 2 A front view of the large-size carbon fiber prepreg sheet adsorption and transfer fixture provided by the present invention;

[0034] Figure 3 A top view of the large-size carbon fiber prepreg sheet adsorption and transfer fixture provided by the present invention;

[0035] Figure 4 A bottom view of the large-size carbon fiber prepreg sheet adsorption and transfer fixture provided by the present invention;

[0036] Figure 5 A first-view structural schematic diagram of the vacuum suction cup device provided by the present invention;

[0037] Figure 6 This is a second-view structural schematic diagram of the vacuum suction cup device provided by the present invention;

[0038] Figure 7 This is a structural schematic diagram of the location of the transfer trolley provided by the present invention;

[0039] Figure 8 This is a structural schematic diagram of the lifting device provided by the present invention.

[0040] The meanings of the markings in the attached diagram are as follows:

[0041] In the diagram: 1. Truss; 2. Vacuum suction cup device; 201. Fixed bracket; 202. Suction cup mounting plate; 203. Suction cup lifting cylinder; 204. Bernoulli suction cup; 3. Transfer trolley; 301. Frame; 302. Wheel; 4. Lifting device; 401. Lifting fixing plate; 402. Lifting electric cylinder; 403. Guide rod; 5. Vision positioning component. Detailed Implementation

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0043] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] Example

[0046] This invention provides a large-size carbon fiber prepreg sheet adsorption and transfer fixture. Please refer to [link / reference]. Figure 1-4 It includes a truss 1, on which multiple independent vacuum suction cup devices 2 are spaced apart along the length direction; large-sized carbon fiber prepreg sheets are independently adsorbed at different positions by the multiple sets of vacuum suction cup devices 2; a transfer trolley 3 is provided at both ends of the truss 1, which drives the tooling for adsorbing large-sized carbon fiber prepreg sheets to move; a lifting device 4 is provided between the truss 1 and the transfer trolley 3, under the action of the lifting device 4, the truss 1 moves up and down relative to the transfer trolley 3; multiple sets of visual positioning components 5 are spaced apart along the length direction of the truss 1 to adjust the adsorption position between the tooling and the large-sized carbon fiber prepreg sheets.

[0047] Specifically, such as Figure 5-6As shown, the vacuum suction cup device 2 includes a fixed bracket 201, a suction cup mounting plate 202, and a suction cup lifting cylinder 203. The suction cup lifting cylinder 203 is mounted on the fixed bracket 201, and the piston rod passes through the fixed bracket 201 and is connected to the suction cup mounting plate 202. Multiple sets of Bernoulli suction cups 204 are mounted on the suction cup mounting plate 202. The Bernoulli suction cups 204 contact the surface of the material sheet, thereby adsorbing large-size carbon fiber prepreg material sheets.

[0048] In this embodiment, multiple sets of Bernoulli suction cups 204 are staggered along the horizontal and vertical directions on the surface of the suction cup mounting plate 202; each set of Bernoulli suction cups 204 is connected to an external air source device; and each set of Bernoulli suction cups 204 has a sponge layer and a nitrile latex layer arranged sequentially on the contact surface between the contact surface and the material sheet.

[0049] Based on the requirement of traceless adsorption and transport, screening is based on Bernoulli's principle, a fundamental theorem in fluid mechanics, which describes the relationship between pressure, velocity, and height of a fluid in an ideal, inviscid, incompressible, and steady flow.

[0050]

[0051] In the formula, P represents the static pressure of the fluid, and V represents the velocity of the fluid. Let represent the fluid density, g represent gravitational acceleration, h represent the fluid height, and K represent a constant. When the air velocity between the suction cup and the prepreg sheet increases, the pressure decreases; conversely, the air velocity on the lower surface of the sheet decreases, resulting in higher pressure. This pressure difference generates lift, causing the prepreg sheet to adhere upwards to the suction cup. Bernoulli's principle suction cups achieve seamless adhesion, avoiding deformation caused by manual handling.

[0052] For further details, please refer to Figure 7 The transfer trolley 3 includes a frame 301 and two sets of wheels 302. The two sets of wheels 302 are respectively installed at both ends of the frame 301. Under the action of the transfer trolley 3, the tooling that adsorbs large-size carbon fiber prepreg sheets moves.

[0053] In this embodiment, the wheel 302 is a Mecanum wheel.

[0054] Specifically, such as Figure 8 As shown, the lifting device 4 includes a lifting fixed plate 401 and a lifting electric cylinder 402. The lifting fixed plate 401 is fixedly connected to the truss 1, and the telescopic rod of the lifting electric cylinder 402 passes through the lifting fixed plate 401 and is connected to the frame 301. Under the action of the lifting electric cylinder 402, the truss 1 is driven to move up and down relative to the transfer trolley 3.

[0055] Furthermore, guide rods 403 are provided on both sides of the lifting and fixing plate 401. The ends of the guide rods 403 are fixedly connected to the frame 301, so that the lifting and fixing plate 401 drives the truss 1 to move up and down along the guide rods 403.

[0056] In this embodiment, the visual positioning component 5 includes a visual support and multiple industrial cameras mounted on the visual support. The industrial cameras are mounted on the truss 1 via the visual support to capture edge images of the material sheet, identify and extract edge features using image processing technology, and calculate the relative positional deviation between edges using a feature matching algorithm.

[0057] This invention also provides a method for using a large-size carbon fiber prepreg sheet adsorption and transfer fixture, comprising the following steps:

[0058] Step A: Place the adsorption and transfer fixture on the prepreg platform;

[0059] Step A1: After the carbon fiber prepreg sheet is laid on the prepreg platform, the adsorption and transfer fixture is first lifted above the carbon fiber prepreg sheet by a gantry crane.

[0060] Step A2: Then, the adsorption and transfer fixture is lowered onto the prepreg platform. At the same time, the edge image of the material sheet is captured by an industrial camera. Image processing technology is used to identify and extract edge features. The relative positional deviation between the fixture and the edge of the material sheet is calculated using a feature matching algorithm. The collected relative positional deviation signal is transmitted to the wheels 302 of the transfer trolley 3 so that the fixture is aligned with the first and last edges of the material sheet.

[0061] Step A3: Next, the lifting electric cylinder 402 controls the overall truss 1 and the vacuum suction cup device 2 to fall to 30mm above the material sheet, completing the positioning of the tooling and the prepreg material sheet;

[0062] Step B: Adsorb the material sheet using a vacuum suction cup device;

[0063] Step B1: When the suction cup lifting cylinder 203 controls the Bernoulli suction cup 204 to gradually descend to the surface of the material, the pressure between the Bernoulli suction cup 204 and the material is reduced, and the material is adsorbed onto the Bernoulli suction cup 204. The suction force of the Bernoulli suction cup 204 is controlled by the airflow through the solenoid valve. After the Bernoulli suction cup 204 has firmly adsorbed the material, the suction cup lifting cylinder 203 locks the position of the Bernoulli suction cup 204, and the lifting cylinder 402 drives the overall truss 1 and the vacuum suction cup device 2 to rise, completing the adsorption action.

[0064] Step B2: The suction cup lifting cylinders 203 in the multiple sets of vacuum suction cup devices 2 are all independently controlled, which can adjust the height of the multiple sets of Bernoulli suction cups 204 to fit the undulating surface of the material sheet.

[0065] Step C: Transfer the sheet material to the fixture for fixing the heat insulation film;

[0066] Step C1: When the prepreg sheet is held in place by the Bernoulli suction cup 204, the sheet needs to be transferred to the fixed heat insulation film fixture by the adsorption and transfer fixture. The gantry crane drives the adsorption and transfer fixture to fall as a whole, so that the wheels 302 contact the ground.

[0067] Step C2: The heat insulation film fixing fixture has a positioning block to achieve matching and positioning with the material sheet. The edge distance is detected by the vision positioning component 5 and fed back to the wheel 302 in real time. Then the wheel 302 moves to adjust the position of the material sheet and the heat insulation film fixing fixture, and completes the precise placement of the material sheet and the fixture.

[0068] The adsorption-transfer method of this invention can replace manual handling of material sheets. Each component has a clear division of labor and works together efficiently. The independent control of the vacuum suction cup device, the guide rod guidance of the lifting device, and the real-time feedback of visual positioning ensure stable operation of the tooling, firm adsorption, and precise transfer. It can be stably adapted to the prepreg transfer process in the production of large carbon fiber parts for a long time, and has strong practicality. It greatly reduces the deformation of the material sheets and improves production efficiency. At the same time, it solves the problem of adsorption marks caused by ordinary suction cup adsorption, and realizes precise positioning of the material sheets in the adsorption-transfer tooling and precise positioning of the material sheets in the fixed heat insulation film tooling.

[0069] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A large-size carbon fiber prepreg sheet adsorption and transfer fixture, characterized in that, Includes a truss (1), on which multiple sets of independent vacuum suction cup devices (2) are arranged at intervals along the length direction; and the large-size carbon fiber prepreg sheet is independently adsorbed at different positions through the multiple sets of vacuum suction cup devices (2); The truss (1) is provided with transfer trolleys (3) at both ends, and the tooling for adsorbing large-size carbon fiber prepreg sheets is moved by the transfer trolleys (3); A lifting device (4) is provided between the truss (1) and the transfer trolley (3). Under the action of the lifting device (4), the truss (1) moves up and down relative to the transfer trolley (3). Multiple sets of visual positioning components (5) are arranged at intervals along the length of the truss (1) to adjust the adsorption position between the tooling and the large-size carbon fiber prepreg sheet.

2. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 1, characterized in that, The vacuum suction cup device (2) includes a fixed bracket (201), a suction cup mounting plate (202), and a suction cup lifting cylinder (203). The suction cup lifting cylinder (203) is mounted on the fixed bracket (201), and the piston rod passes through the fixed bracket (201) and is connected to the suction cup mounting plate (202). Multiple sets of Bernoulli suction cups (204) are installed on the suction cup mounting plate (202). The Bernoulli suction cups (204) contact the surface of the material sheet, thereby adsorbing large-size carbon fiber prepreg material sheets.

3. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 2, characterized in that, Multiple sets of the Bernoulli suction cups (204) are staggered along the transverse and longitudinal directions on the surface of the suction cup mounting plate (202); and each set of the Bernoulli suction cups (204) is connected to an external air source device.

4. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 2, characterized in that, Each group of Bernoulli suction cups (204) has a sponge layer and a nitrile latex layer arranged sequentially on the contact surface between the contact surface and the material sheet.

5. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 1, characterized in that, The transfer trolley (3) includes a frame (301) and two sets of wheels (302). The two sets of wheels (302) are respectively installed at both ends of the frame (301). Under the action of the transfer trolley (3), the tooling that adsorbs large-size carbon fiber prepreg sheets moves.

6. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 5, characterized in that, The wheel (302) is a Mecanum wheel.

7. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 5, characterized in that, The lifting device (4) includes a lifting fixing plate (401) and a lifting electric cylinder (402). The lifting fixing plate (401) is fixedly connected to the truss (1), and the telescopic rod of the lifting electric cylinder (402) passes through the lifting fixing plate (401) and is connected to the frame (301). Under the action of the lifting electric cylinder (402), the truss (1) is driven to move up and down relative to the transfer trolley (3).

8. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 7, characterized in that, The lifting and fixing plate (401) is also provided with guide rods (403) on both sides. The ends of the guide rods (403) are fixedly connected to the frame (301), so that the lifting and fixing plate (401) drives the truss (1) to move up and down along the guide rods (403).

9. The adsorption and transfer fixture for large-size carbon fiber prepreg sheets according to claim 1, characterized in that, The visual positioning component (5) includes a visual support and multiple industrial cameras mounted on the visual support. The industrial cameras are mounted on the truss (1) through the visual support to capture edge images of the material, identify and extract edge features using image processing technology, and calculate the relative positional deviation between edges using a feature matching algorithm.

10. A method for using a large-size carbon fiber prepreg sheet adsorption and transfer fixture, characterized in that, Includes the following steps: Step A: Place the adsorption and transfer fixture on the prepreg platform; Step A1: After the carbon fiber prepreg sheet is laid on the prepreg platform, the adsorption and transfer fixture is first lifted above the carbon fiber prepreg sheet by a gantry crane. Step A2: Then, the adsorption and transfer fixture is lowered onto the prepreg platform. At the same time, the edge image of the material sheet is captured by an industrial camera. Image processing technology is used to identify and extract edge features. The relative position deviation between the fixture and the edge of the material sheet is calculated using a feature matching algorithm. The collected relative position deviation signal is transmitted to the wheels (302) of the transfer trolley 3 so that the fixture is aligned with the first and last edges of the material sheet. Step A3: Next, the lifting electric cylinder (402) controls the overall truss (1) and the vacuum suction cup device (2) to fall to 30mm above the material sheet, completing the positioning of the tooling and prepreg material sheet; Step B: Adsorb the material sheet using a vacuum suction cup device; Step B1: When the suction cup lifting cylinder (203) controls the Bernoulli suction cup (204) to gradually descend to the surface of the material, the Bernoulli suction cup (204) reduces the pressure between itself and the material, and the material is adsorbed onto the Bernoulli suction cup (204). The suction force of the Bernoulli suction cup (204) is controlled by the airflow through the solenoid valve. After the Bernoulli suction cup (204) has firmly adsorbed the material, the suction cup lifting cylinder (203) locks the position of the Bernoulli suction cup (204), and the lifting electric cylinder (402) drives the overall truss (1) and the vacuum suction cup device (2) to rise, completing the adsorption action. Step B2: The suction cup lifting cylinders (203) in the multiple sets of vacuum suction cup devices (2) are all independently controlled, which can adjust the height of the multiple sets of Bernoulli suction cups (204) to fit the undulating surface of the material sheet; Step C: Transfer the sheet material to the fixture for fixing the heat insulation film; Step C1: When the prepreg sheet is held in place by the Bernoulli suction cup (204), the sheet needs to be transferred to the fixed heat insulation film fixture by the adsorption transfer fixture. The gantry crane drives the adsorption transfer fixture to fall as a whole, so that the wheels (302) contact the ground. Step C2: The heat insulation film fixing fixture has a positioning block and the material sheet to achieve matching positioning. The edge distance is detected by the vision positioning component (5) and fed back to the wheel (302) in real time. Then the wheel (302) moves to adjust the position of the material sheet and the heat insulation film fixing fixture, and completes the precise placement of the material sheet and the fixture.

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