Automatic paving equipment for large-curved-surface composite material

Abstract

The invention relates to the technical field of composite material forming, and provides large-curved-surface composite material automatic paving equipment which comprises a mold, two longitudinal moving frames and transverse moving equipment capable of moving in the horizontal direction. A paving head is mounted on the transverse moving equipment; the paving head comprises a mounting seat body; a front lifting seat and a rear lifting seat are fixedly arranged on the mounting seat body, and picking assemblies which are used for picking material sheets and are bent into preset curvatures are arranged on the two lifting seats; and a clamping assembly is mounted on the paving head. Therefore, one end of the material sheet is picked up through the two paving heads respectively, and the picked material sheet is bent to be consistent with the curvature of the to-be-paved surface of the mold. Wherein the paving head on one side clamps the material sheet, and the paving head on the other side presses and paves the material sheet on the mold. And then the material sheets are gradually pressed and laid on the mold along the longitudinal movement, so that the laying operation of the material sheets is completed. The paving head has the picking and bending functions, automatic paving operation of large-size curved surface composite materials is achieved, the paving efficiency is high, and the paving quality is good.

Description

Technical Field

[0001] This invention belongs to the field of composite material molding technology, and in particular relates to an automatic laying device for large curved surface composite materials. Background Technology

[0002] With the urgent need for lightweight, high-performance composite material components in the aerospace field, traditional manual installation processes can no longer meet the manufacturing precision and efficiency requirements of large and complex components.

[0003] Chinese Patent 202310538843.6 discloses a carbon fiber prepreg laying device and method, which uses a robotic arm to achieve automated laying operations. However, the existing equipment can only lay a limited size of material sheets, mostly flat materials under 10 meters in size, and cannot be used for laying large curved material sheets.

[0004] In conclusion, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the Invention

[0005] To address the aforementioned shortcomings, this invention provides an automatic laying device for large curved surface composite materials, solving the technical problem of automatic laying of large-sized curved material sheets.

[0006] To address the above problems, this invention provides an automatic laying device for large curved surface composite materials, comprising: The mold has its central axis set longitudinally. Two longitudinal moving frames are capable of reciprocating along the longitudinal direction; the longitudinal moving frames are equipped with transverse moving devices capable of moving in the horizontal direction; and the transverse moving devices are equipped with laying heads. The paving head includes a mounting base connected to a transverse moving device; a front hanger facing the mold and a rear hanger facing away from the mold are fixed on the mounting base; both the front hanger and the rear hanger are provided with a picking component for picking up the material sheet and bending the material sheet into a predetermined curvature; The laying head is also equipped with a clamping assembly; the clamping assembly includes a horizontally arranged track plate, on which two translation blocks that can move towards or away from each other in the horizontal direction are slidably arranged; each translation block is rotatably equipped with a clamping column; the end of the clamping column is equipped with two clamping wheels for clamping the edge of the material sheet; the laying head is also equipped with a flexible pressing roller.

[0007] According to the automatic laying device for large curved surface composite materials of the present invention, a relief cavity for installing two clamping wheels is provided in the clamping column; a clamping cylinder is also fixed on the clamping column, and the telescopic rod of the clamping cylinder extends into the relief cavity and is connected to a clamping wheel.

[0008] According to the automatic laying equipment for large curved surface composite materials of the present invention, an edge finder is also fixed on the edge clamping column; the edge finder is a laser rangefinder.

[0009] According to the automatic laying device for large curved surface composite materials of the present invention, the translation block is rotatably provided with a swing column, and the clamping column is rotatably provided on the swing column.

[0010] According to the automatic laying device for large curved surface composite materials of the present invention, the picking component of the front hanger includes a vertically arranged front positioning column, and multiple adjusting electric cylinders are symmetrically arranged on both sides of the front positioning column; the multiple adjusting electric cylinders and the front positioning column are respectively connected to a suction cup; The pickup assembly of the rear mounting bracket includes a vertically arranged rear positioning column, and multiple adjusting electric cylinders are symmetrically arranged on both sides of the rear positioning column; the multiple adjusting electric cylinders and the rear positioning column are respectively connected to a suction cup.

[0011] According to the automatic laying device for large curved surface composite materials of the present invention, the front positioning post and the rear positioning post form a vertical plane, and the vertical plane is parallel to the longitudinal direction; both the front positioning post and the rear positioning post are positioning electric cylinders.

[0012] According to the automatic laying equipment for large curved surface composite materials of the present invention, the front positioning column is equipped with a plurality of pressure electric cylinders for adjusting the curvature of the pressing roller.

[0013] According to the automatic laying equipment for large curved surface composite materials of the present invention, the rear hanger is further equipped with a scanning component for scanning the surface curvature of the mold and / or the curvature of the material sheet; the scanning component includes multiple scanners; there are three scanners, one of which is located in the vertical plane formed by the front positioning post and the rear positioning post, and the other two scanners are symmetrically distributed on both sides of the scanner; the scanner is a laser rangefinder.

[0014] The automatic laying equipment for large curved surface composite materials according to the present invention further includes a platform, on which the mold is placed; a longitudinally oriented longitudinal transfer rail is provided on both sides of the mold; both longitudinal transfer frames can move along the longitudinal transfer rail.

[0015] According to the automatic laying equipment for large curved surface composite materials of the present invention, a cutting device for cutting material sheets is also provided on one side of the platform.

[0016] In summary, this invention uses two laying heads to pick up one end of the material sheet and bend it to match the curvature of the surface to be laid on the mold. One laying head clamps the material sheet, while the other lays it onto the mold. Then, it moves longitudinally to gradually press the material sheet onto the mold, completing the laying operation. The laying head of this invention combines picking and bending functions, enabling automated laying of large-sized curved composite materials with high efficiency and good quality. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 Schematic diagram of the structure of the middle paving head; Figure 3 yes Figure 2 A schematic diagram of the structure of a local area in the middle; Figure 4 yes Figure 2 A schematic diagram of the structure of one embodiment in direction A; Figure 5 yes Figure 3 A partial sectional view along line B in the middle; Figure 6 This is a schematic diagram of the working structure of the tiling head of the present invention; Figure 7 yes Figure 2 A schematic diagram of the structure of one embodiment in direction A; In the diagram: 1-Mounting base, 11-Front hanger, 111-Front positioning column; 12-Rear hanger, 121-Rear positioning column; 13-Suction cup, 14-Adjusting electric cylinder, 15-Scanner; 2-Edge clamping column, 21-Swing column, 22-Edge finder, 23-Track plate, 24-Transfer block, 25-Clamping cylinder, 26-Clamping wheel; 3-Placing roller, 31-Pressure electric cylinder, 32-Pressure roller support rod; 100-Platform, 101-Cutting equipment; 200-Longitudinal transfer frame, 201-Longitudinal transfer rail, 202-Transverse transfer equipment; 300-Laying head, 400-Mold, 500-Material sheet. Detailed Implementation

[0018] See Figure 1 This invention provides an automatic laying device for large curved surface composite materials, comprising: Mold 400, with its central axis set longitudinally; Two longitudinal moving frames 200 are capable of reciprocating along the longitudinal direction; each longitudinal moving frame 200 is equipped with a transverse moving device 202 capable of moving in the horizontal direction; a laying head 300 is installed on the transverse moving device 202. See Figure 2 The paving head 300 includes a mounting base 1 connected to the transverse moving device 202; a front hanging seat 11 facing the mold 400 and a rear hanging seat 12 facing away from the mold 400 are fixed on the mounting base 1. Combination Figure 6 Both the front hanger 11 and the rear hanger 12 are provided with a picking component for picking up the material piece 500 and bending the material piece 500 into a predetermined curvature; During the installation process, two installation heads 300 move longitudinally to predetermined positions, each picking up one end of the material sheet 500 and bending it to match the curvature of the surface to be installed on the mold 400. Then, they move synchronously, moving the material sheet 500 directly above the mold 400. Next, one installation head 300 clamps the material sheet 500, holding it above the mold 400 without contacting it; the other installation head 300 descends, pressing the material sheet 500 onto the mold 400 and moving longitudinally towards the other installation head 300. During this movement, the material sheet 500 is gradually pressed onto the mold 400 until it reaches the position of the other installation head 300, completing the installation of the material sheet 500.

[0019] As one embodiment, it also includes a platform 100, on which the mold 400 is placed; a longitudinally oriented longitudinal transfer rail 201 is provided on each side of the mold 400; both longitudinal transfer frames 200 can move along the longitudinal transfer rail 201 so that their movement directions are consistent.

[0020] Even better, one side of the platform 100 is also provided with a cutting device 101 for cutting the material sheet 500.

[0021] See Figure 3 The paving head 300 is also equipped with a clamping assembly; the clamping assembly includes a horizontally arranged track plate 23, on which two translation blocks 24 capable of moving towards or away from each other in the horizontal direction are slidably arranged; each translation block 24 is rotatably equipped with a clamping post 2; combined with Figure 5 The end of the clamping column 2 is provided with two clamping wheels 26 for clamping the edge of the material sheet 500; See Figure 5 Furthermore, the clamping post 2 has a relief cavity for installing two clamping wheels 26; a clamping cylinder 25 is also fixed on the clamping post 2, and the telescopic rod of the clamping cylinder 25 extends into the relief cavity and is connected to a clamping wheel 26. Before clamping the material piece 500, the two clamping posts 2 rotate to the sides and open; the telescopic rod of the clamping cylinder 25 retracts, and the two clamping wheels 26 open. Then the two clamping posts 2 rotate inward, and the edge of the material piece 500 enters between the two clamping wheels 26. After that, the telescopic rod of the clamping cylinder 25 extends, and the two clamping wheels 26 clamp the material piece 500.

[0022] Even better, an edge finder 22 is also fixed on the edge clamping post 2. Preferably, the edge finder 22 is a laser rangefinder. During the laying operation, the edge finder 22 can detect the alignment status of the edge of the material sheet 500 on the corresponding side with the edge of the mold 400, and can achieve the required alignment by combining the lateral movement of the translation block 24, the rotation of the edge clamping post 2, and the action of the lateral movement device 202.

[0023] As one embodiment, the translation block 24 is rotatably provided with a swing column 21, and the clamping column 2 is rotatably provided on the swing column 21; the swing column 21 and the clamping column 2 realize two-stage rotation adjustment, increase the degree of adjustment freedom, and adapt to the laying of material sheets 500 of various sizes or curvatures.

[0024] As one embodiment, the pickup assembly of the front mounting bracket 11 includes a vertically arranged front positioning column 111, and multiple adjusting electric cylinders 14 are symmetrically arranged on both sides of the front positioning column 111; the multiple adjusting electric cylinders 14 and the front positioning column 111 are respectively connected to a suction cup 13. The pickup assembly of the rear mounting bracket 12 includes a vertically arranged rear positioning column 121, and multiple adjusting electric cylinders 14 are symmetrically arranged on both sides of the rear positioning column 121; the multiple adjusting electric cylinders 14 and the rear positioning column 121 are respectively connected to a suction cup 13. When picking up material piece 500, the front hanger 11 and the rear hanger 12 pick-up components operate synchronously.

[0025] The action of the pickup assembly of the front mounting bracket 11 is as follows: the suction cup 13 of the front positioning column 111 adsorbs the central axis area of ​​the material sheet 500; the suction cups 13 of the adjusting electric cylinders 14 on both sides of the front positioning column 111 adsorb the surface of the material sheet 500 respectively; then each adjusting electric cylinder 14 retracts a certain distance, so that the material sheet 500 is bent into a curved surface shape with a predetermined curvature.

[0026] The action of the pickup component of the rear mounting bracket 12 is as follows: the suction cup 13 of the rear positioning column 121 adsorbs the central axis area of ​​the material sheet 500; the suction cups 13 of the adjusting electric cylinders 14 on both sides of the front positioning column 111 adsorb the surface of the material sheet 500 respectively; then each adjusting electric cylinder 14 retracts a certain distance, so that the material sheet 500 is bent into a curved surface shape with a predetermined curvature.

[0027] The two picking components work together to pick up the sheet 500 and form a curved surface structure on the sheet 500, and the shape of the curved surface is consistent with the shape of the corresponding area on the mold 400.

[0028] After the sheet 500 is picked up, the clamping wheels 26 of the clamping pillars 2 on both sides clamp the edge of the sheet 500 and bend the edge upward to avoid the edge of the sheet 500 contacting the mold 400 first during the cutting process.

[0029] Furthermore, the front positioning post 111 and the rear positioning post 121 form a vertical plane, which is parallel to the longitudinal direction. When picking up the material sheet 500, the front positioning post 111 and the rear positioning post 121 can simultaneously adhere to the central axis position of the material sheet 500, ensuring laying accuracy.

[0030] Furthermore, both the front positioning post 111 and the rear positioning post 121 are positioning electric cylinders, which can participate in the adjustment of the curvature of the material sheet 500, thus expanding the adjustment range.

[0031] Optionally, the present invention can input the curvature data of the surface to be laid on the mold 400 into the control unit in advance, pick up the components and the two clamping pillars 2, and bend the material sheet 500 according to the input curvature data.

[0032] See Figure 4 As one embodiment, the rear hanger 12 is also equipped with a scanning component for scanning the surface curvature of the mold 400 and / or the curvature of the sheet 500; the scanning component includes a plurality of scanners 15.

[0033] Before picking up the sheet material 500, the laying head 300 moves above the mold 400, and the scanning component scans the curvature data of the mold 400 surface and transmits it to the control unit. After picking up the sheet material 500, the picking component and the two clamping posts 2 bend the sheet material 500 according to the scanned data. After the sheet material 500 is bent, the scanning component scans the curvature of the sheet material 500 again and transmits it to the control unit. Then, the curvature data of the sheet material 500 is compared with the curvature data of the mold 400 surface. If they are inconsistent, the corresponding adjusting electric cylinder 14 is controlled to make corrections to ensure laying accuracy.

[0034] Preferably, the scanner 15 is a laser rangefinder. Furthermore, the scanner 15 is rotatable and can acquire multiple data points.

[0035] In one embodiment, three scanners 15 are used, with one scanner 15 located in the vertical plane formed by the front positioning post 111 and the rear positioning post 121, and the other two scanners 15 symmetrically distributed on both sides of the first scanner 15. This results in more accurate acquisition of surface data.

[0036] As one embodiment, a flexible pressing roller 3 is also installed on the laying head 300; a plurality of pressure cylinders 31 for adjusting the curvature of the pressing roller 3 are installed on the front positioning column 111. Each pressure cylinder 31 can make the curvature of the pressing roller 3 consistent with the curvature of the mold surface 400.

[0037] As one example, see Figure 7 The front support 11 of the present invention is provided with two pressure roller support rods 32. The lower end of the pressure roller support rod 32 is rotatably connected to the end of the pressing roller 3 on the corresponding side. Both pressure roller support rods 32 can be extended and retracted, and cooperate with each pressure electric cylinder 31 to make the curvature of the pressing roller 3 consistent with the curvature of the mold 400 surface, so as to ensure that the material sheet 500 is tightly laid on the mold 400.

[0038] The pressing roller 3 of the present invention may be selected from those known in the art and installed on the laying head 300 in a manner known in the art.

[0039] After one end of the sheet 500 is attached to the mold 400, the longitudinal transfer frame 200 on that side moves to the other side. As the longitudinal transfer frame 200 on that side moves, the pressing roller 3 presses the sheet 500 firmly onto the surface of the mold 400, completing the laying operation.

[0040] Optionally, the action of the paving head 300 attaching one end of the sheet 500 to the mold 400 includes: the paving head 300 descends and first presses the central axis portion of the sheet 500 onto the mold 400; then, from the central axis to both sides, each adjusting electric cylinder 14 extends in sequence to press the sheet 500 onto the mold 400; finally, the clamping posts 2 on both sides press the edge of the sheet 500 onto the mold 400.

[0041] In summary, this invention provides an automated laying device for large curved surface composite materials. Two laying heads pick up one end of a material sheet and bend it to match the curvature of the surface to be laid on the mold. One laying head clamps the material sheet, while the other pressing it onto the mold. The device then moves longitudinally to gradually press the material sheet onto the mold, completing the laying operation. The laying heads of this invention combine picking and bending functions, enabling automated laying of large-sized curved surface composite materials with high efficiency and good quality.

[0042] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. An automatic laying device for large curved surface composite materials, characterized in that, include: The mold has its central axis set longitudinally. Two longitudinal moving frames are capable of reciprocating along the longitudinal direction; the longitudinal moving frames are equipped with transverse moving devices capable of moving in the horizontal direction; and the transverse moving devices are equipped with laying heads. The paving head includes a mounting base connected to a transverse moving device; a front hanger facing the mold and a rear hanger facing away from the mold are fixed on the mounting base; both the front hanger and the rear hanger are provided with a picking component for picking up the material sheet and bending the material sheet into a predetermined curvature; The laying head is also equipped with a clamping assembly; the clamping assembly includes a horizontally arranged track plate, on which two translation blocks that can move towards or away from each other in the horizontal direction are slidably arranged; each translation block is rotatably equipped with a clamping column; the end of the clamping column is equipped with two clamping wheels for clamping the edge of the material sheet; the laying head is also equipped with a flexible pressing roller.

2. The automatic laying equipment for large curved surface composite materials as described in claim 1, characterized in that, The clamping column has a relief cavity for installing two clamping wheels; a clamping cylinder is also fixed on the clamping column, and the telescopic rod of the clamping cylinder extends into the relief cavity and is connected to a clamping wheel.

3. The automatic laying equipment for large curved surface composite materials as described in claim 1, characterized in that, An edge finder is also fixed on the clamping column; the edge finder is a laser rangefinder.

4. The automatic laying equipment for large curved surface composite materials as described in claim 1, characterized in that, The translation block is rotatably equipped with a swing column, and the clamping column is rotatably mounted on the swing column.

5. The automatic laying equipment for large curved surface composite materials as described in claim 1, characterized in that, The pickup assembly of the front mounting bracket includes a vertically arranged front positioning column, and multiple adjusting electric cylinders are symmetrically arranged on both sides of the front positioning column; the multiple adjusting electric cylinders and the front positioning column are respectively connected to a suction cup; The pickup assembly of the rear mounting bracket includes a vertically arranged rear positioning column, and multiple adjusting electric cylinders are symmetrically arranged on both sides of the rear positioning column; the multiple adjusting electric cylinders and the rear positioning column are respectively connected to a suction cup.

6. The automatic laying equipment for large curved surface composite materials as described in claim 5, characterized in that, The front positioning post and the rear positioning post form a vertical plane, and this vertical plane is parallel to the longitudinal direction; both the front positioning post and the rear positioning post are positioning electric cylinders.

7. The automatic laying equipment for large curved surface composite materials as described in claim 5, characterized in that, The front positioning column is equipped with multiple pressure cylinders for adjusting the curvature of the compaction roller.

8. The automatic laying equipment for large curved surface composite materials as described in claim 6, characterized in that, The rear hanger is also equipped with a scanning assembly for scanning the surface curvature of the mold and / or the curvature of the sheet material; the scanning assembly includes multiple scanners; there are three scanners, one of which is located in the vertical plane formed by the front positioning post and the rear positioning post, and the other two scanners are symmetrically distributed on both sides of the scanner; the scanner is a laser rangefinder.

9. The automatic laying equipment for large curved surface composite materials as described in any one of claims 1 to 8, characterized in that, It also includes a platform on which the mold is placed; a longitudinally oriented longitudinal transfer rail is provided on each side of the mold; both longitudinal transfer frames can move along the longitudinal transfer rail.

10. The automatic laying equipment for large curved surface composite materials as described in claim 9, characterized in that, The platform is also equipped with a cutting device for cutting the material sheets on one side.

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