Carbon fiber cloth continuous slitting and adaptive follow-up film coating equipment and use method

Abstract

The application discloses a kind of carbon fiber cloth continuous slitting and adaptive follow-up film coating equipment and use method, equipment includes rack, front sequence continuous unwinding feeding mechanism, shearing device, adaptive follow-up film coating mechanism and composite traction and packaging discharge mechanism;Synchronous shearing structure is used to realize cloth stable conveying and slitting with negative pressure positioning and non-negative pressure isolation belt, real-time data acquisition on cutting path is completed by double visual detection components, and automatic setting of deviation correction, static electricity removal and dust removal parameters in slitting is realized based on PPO adaptive algorithm.The application can realize the full-process automatic processing of carbon fiber cloth continuous feeding, high-precision cutting, adaptive film coating and integrated heat sealing, effectively improve the cutting edge quality, reduce the cost of manual debugging, significantly improve the adaptability and production efficiency of the equipment, and is suitable for the automatic production and processing of various specifications of carbon fiber cloth.

Description

Technical Field

[0001] This invention relates to a continuous carbon fiber fabric slitting and adaptive follow-up coating equipment and its usage method, belonging to the technical field of automated cutting and coating equipment. Background Technology

[0002] High-performance composite materials such as carbon fiber cloth have wide applications in modern industry and high-end manufacturing. Their processing places stringent requirements on slitting accuracy, production efficiency, and surface protection performance. Due to the high cost and fragile nature of carbon fiber tow, it is prone to edge detachment and scattering during slitting. At the same time, its lightweight nature makes it easy to generate electrostatic adsorption and dust during processing.

[0003] Existing small and medium-sized high-speed carbon fiber slitting equipment has the following technical defects in practical applications:

[0004] Firstly, production efficiency is limited. Traditional transverse slitting mechanisms require the preceding unwinding mechanism to stop and wait, making it impossible to achieve continuous supply and coordinated slitting of carbon fiber cloth. This results in a significant reduction in the overall production efficiency of the equipment, making it difficult to meet the needs of large-scale continuous production.

[0005] Secondly, the slitting quality is unstable. Existing equipment lacks a real-time visual correction mechanism based on material texture characteristics. When there is a slight deviation in the fabric feed, the cutter can easily cut the carbon fiber filaments across the texture, causing the fibers to become scattered and burrs to grow at the cut edge, which seriously affects the material edge quality and subsequent performance.

[0006] Third, environmental hazards during production. If the fiber dust and debris generated during carbon fiber slitting are not treated in a timely and effective manner, they will seriously endanger the health of operators. At the same time, dust accumulation will affect the stable operation of precision components of equipment and increase maintenance costs.

[0007] Fourth, lack of surface protection. Traditional slitting mechanisms do not integrate a unified film-sealing function. The slitting carbon fiber cloth lacks surface protection during subsequent handling and is easily loosened or worn due to friction and collision, making it difficult to meet the strict requirements of high-end manufacturing fields for material cleanliness and integrity.

[0008] Fifth, poor process adaptability. Existing equipment requires manual adjustment of cutting and dust removal parameters, and cannot adapt to the cutting process of different types and textures of carbon fiber cloth. Parameter setting depends on manual experience, resulting in poor slitting quality stability.

[0009] In summary, existing carbon fiber fabric slitting technologies suffer from prominent problems such as downtime, edge fraying, dust pollution, and lack of coating protection. There is an urgent need for an integrated solution that can achieve continuous slitting, intelligent deviation correction, dust and static electricity removal, and adaptive coating. Summary of the Invention

[0010] The present invention provides a continuous carbon fiber cloth slitting and adaptive follow-up coating equipment and its usage method in order to solve the problems existing in the prior art.

[0011] The technical solutions adopted in this invention are as follows:

[0012] A continuous carbon fiber cloth slitting and adaptive follow-up coating equipment is used to slitting the carbon fiber cloth into blocks and independently sealing each block between a continuous upper coating and a lower coating. The equipment includes a frame and a preceding continuous unwinding feeding mechanism, a follow-up slitting device, an adaptive follow-up coating mechanism, and a composite traction and packaging discharge mechanism, which are sequentially installed on the frame along the carbon fiber cloth conveying direction.

[0013] The tracking and cutting device is slidably mounted on the frame and can move at the same speed as the fabric along the carbon fiber fabric conveying direction to achieve non-stop tracking and cutting. After the cutting is completed, it moves in the opposite direction to reset.

[0014] The adaptive follow-up coating mechanism is equipped with a passive follow-up coating roller, which is used to cooperate with the movement of the follow-up cutting device to change the coating area, so as to receive the carbon fiber cloth after cutting.

[0015] The composite traction and packaging discharge mechanism is used to simultaneously press the upper coating film, carbon fiber cloth, and lower coating film together, and to pull apart the gap between adjacent carbon fiber cloths by differential traction to complete independent isolation packaging.

[0016] Furthermore, the slitting and cutting device includes a guide rail, a synchronous belt drive module, and a cutting mechanism; the cutting mechanism is slidably mounted on the frame via the guide rail and is driven by the synchronous belt drive module to reciprocate along the carbon fiber cloth conveying direction.

[0017] Furthermore, the slitting mechanism is provided with a left feed roller group, an inclined negative pressure base plate, a slitting integration module and a right discharge roller group in sequence along the conveying direction; the left feed roller group, the negative pressure base plate and the right discharge roller group are arranged in a stepped height difference, the slitting integration module is located above the negative pressure base plate and can move axially along the right discharge roller group to slitting the carbon fiber cloth.

[0018] Furthermore, the slitting integration module integrates a first visual inspection component, an anti-static ion fan, a fine-tuning cutting component, a dust-collecting edge-separating component, a second visual inspection component, and a slitting blade.

[0019] The negative pressure base plate is provided with a non-negative pressure isolation zone at the cutting path, and the static ion fan blows ion wind toward the non-negative pressure isolation zone to neutralize static electricity.

[0020] The first visual detection component extracts the carbon fiber cloth texture offset, and the fine-tuning cutting component drives the slitting tool to fine-tune according to the offset.

[0021] The dust extraction edge assembly is inserted into the slit to extract dust that has been neutralized by static electricity;

[0022] The second visual detection component is used to acquire and extract the slit image features after the dust removal process.

[0023] Furthermore, the adaptive follow-up coating mechanism also includes a discharge transition plate located upstream of the follow-up coating roller and a constant force lower coating unwinding machine; the constant force lower coating unwinding machine outputs lower coating at constant tension to the follow-up coating roller, and the discharge transition plate is used to guide the slit carbon fiber cloth to the follow-up coating roller.

[0024] Furthermore, the composite traction and packaging discharge mechanism includes a composite traction pressure roller group and a packaging hot pressing module; the composite traction pressure roller group is used for differential traction to open the gap between adjacent carbon fiber cloths; the packaging hot pressing module is provided with a transverse roller hot pressing module and a longitudinal hot pressing roller group in sequence along the conveying direction, the transverse roller hot pressing module is used to perform transverse heat sealing on the gap between adjacent carbon fiber cloths, and the longitudinal hot pressing roller group is used to perform heat pressing on the two sides of the coated carbon fiber cloth.

[0025] This invention also discloses a method for using the above-mentioned continuous carbon fiber cloth slitting and adaptive follow-up coating equipment, characterized by the following steps:

[0026] S1: The preceding continuous unwinding and feeding mechanism continuously outputs carbon fiber cloth. After being flattened and tension stabilized, it is supplied by the left feed roller group. The carbon fiber cloth is smoothly conveyed and transitioned along the inclined negative pressure bottom plate under the action of gravity.

[0027] S2: The tracking and cutting device moves at the same speed as the carbon fiber cloth along the conveying direction, while the cutting integration module performs transverse cutting perpendicular to the conveying direction; after the cutting is completed, the tracking and cutting device moves in the opposite direction to reset.

[0028] S3: The passive follow-up coating roller of the adaptive follow-up coating mechanism follows the follow-up shearing device, changes the lower coating laying area to receive the slit carbon fiber cloth, and the constant force lower coating unwinding machine outputs constant tension lower coating.

[0029] S4: The composite traction pressure roller group presses the upper film, carbon fiber cloth and lower film simultaneously, and accelerates the traction when the tail end of the slit carbon fiber cloth leaves the right discharge roller group to open the gap between adjacent carbon fiber cloths.

[0030] S5: The hot-pressing module performs transverse heat sealing and heat-pressing on both sides of the film and carbon fiber cloth after the gap is opened, completing the independent isolation sealing.

[0031] Further, step S2 includes:

[0032] S21: The first vision detection component extracts the visual texture features of the carbon fiber cloth before slicing, and the policy network outputs various action command signals.

[0033] S22: The static ion fan blows ion wind toward the non-negative pressure isolation zone of the negative pressure base plate with the power commanded by the strategy network to neutralize static electricity and avoid interference with the negative pressure adsorption airflow;

[0034] S23: The fine-tuning cutting component receives the correction signal and cutting speed signal output by the strategy network, drives the slitting tool to perform fine-tuning, and performs transverse slitting at the corresponding cutting speed;

[0035] S24: The dust extraction and separation component is inserted into the cut and the neutralized dust is extracted with the power of the strategy network command.

[0036] S25: The second vision detection component acquires and extracts the features of the cut image after the dust removal.

[0037] Further, steps S21-S25 involve the control unit executing adaptive control based on a proximal strategy optimization algorithm, including:

[0038] A multi-dimensional state sequence is constructed by collecting the current tool position coordinates, visual texture features, the action command of the previous moment, and the deviation features between the tool position and the ideal cutting path;

[0039] The multidimensional state sequence is input into the strategy network to generate and execute action commands including suction power, motor fine-tuning amount, ion wind power and cutting speed.

[0040] Based on the cut quality features extracted from the cut images acquired by the second vision detection component, the multi-objective joint reward is calculated, and the strategy network parameters are updated or the reward coefficients are adjusted according to the average reward value within the update cycle, until all reward coefficients and reward values ​​reach the preset target values.

[0041] Furthermore, adaptive control includes the following steps:

[0042] S61: Collect the current tool position coordinates, visual texture features, the previous action command, and the deviation features between the tool position and the ideal cutting path to construct a multi-dimensional state sequence. ;

[0043] S62: Input the multi-dimensional state sequence into the policy network to generate a system including dust collection power. Motor fine-tuning amount Ion wind power and cutting speed Action instructions , ;

[0044] S63: Perform cutting according to the action command, and collect and extract the cut image features after the dust removal through the second vision detection component;

[0045] S64: Calculate the multi-objective joint reward based on the kerf image features. and accumulate reward value ;

[0046] S65: Determine the current iteration step. Has the preset update cycle been reached? If yes, then calculate the average reward value within the calculation period. If not, return to continue with the control and data accumulation for the next step.

[0047] S66: Then calculate the advantage function GAE and the near-end truncation loss LCLIP to update the policy network parameters; if If the reward coefficients do not reach the target values, the average score of each reward is calculated to dynamically adjust the reward coefficients; if all reward coefficients reach the target values, the strategy network parameters are saved and the adaptive tuning process ends.

[0048] Furthermore, the multi-objective joint reward The calculation formula is:

[0049] ,

[0050] in, As a reward for trajectory matching, For edge quality rewards, As a reward for cleanliness, Penalties for exceeding limits;

[0051] The trajectory matching reward The calculation formula is:

[0052] ,

[0053] in This is the error sensitivity coefficient. These are the actual coordinates of the cut edge features. The coordinates of the ideal cutting edge feature;

[0054] The edge quality reward The calculation formula is:

[0055] ,

[0056] in The loose fiber penalty coefficient is... This represents the total number of burrs and loose pixels on the outer side of the cut.

[0057] The cleanliness reward The calculation formula is:

[0058] ,

[0059] in This is the dust penalty coefficient. The number of free dust noise points in the cut edge area;

[0060] The penalty for exceeding the limit Triggered when a sudden increase in the total number of loose pixels is detected and the suction power has been positively adjusted, a fixed penalty value is assigned.

[0061] Furthermore, it also includes a gradual tightening adjustment strategy:

[0062] Set the error sensitivity coefficient and penalty coefficient , The base value and the maximum stringency value;

[0063] Based on the ratio of the average score of individual rewards to the overall average reward value within the current update cycle, the update step size of the error sensitivity coefficient and penalty coefficient is dynamically adjusted to satisfy the following update relationship:

[0064] ,

[0065] in, This is the updated error sensitivity coefficient. This represents the current error sensitivity coefficient. Based on the step size factor, For the maximum stringency value, Based on the value, This represents the average reward for each item related to trajectory fit within the current period. This represents the overall average of multiple rewards within the current period.

[0066] If the performance of an individual award is better than the overall average, that is If the update step size is increased to accelerate the approach to the maximum stringency value, then the individual reward performance is worse than the overall average. If the update step size is reduced, the approach to the maximum stringency value will be delayed, thus achieving dynamic adjustment from lenient to stringent.

[0067] The present invention has the following beneficial effects:

[0068] (1) By using the follow-cutting device to move at the same speed as the fabric along the conveying direction of the carbon fiber fabric, the continuous supply of the preceding unwinding mechanism is maintained during the transverse cutting process, without the need to stop and wait, thus improving the production efficiency of the cutting equipment.

[0069] (2) By neutralizing static electricity in the cutting area with an antistatic ion fan, and using a dust extraction and edge separation component to extract dust from the cut seam, dust adsorption and edge burrs are reduced.

[0070] (3) A passive follow-up coating roller is adopted to follow the cutting and slitting device. By changing the lower coating area to receive the slit carbon fiber cloth, the lower coating feeding mechanism and the end traction mechanism maintain the constant tension of the film material, thus realizing the synchronous adaptation of the coating laying and slitting action and ensuring the stability of the coating process.

[0071] (4) When the carbon fiber cloth is separated from the discharge roller group by the composite traction pressure roller group, the gap between adjacent carbon fiber cloths is opened. Then, the sealing hot pressing module is used to perform transverse heat sealing at the gap and longitudinal heat pressing on both sides of the edge, so that each piece of carbon fiber cloth is independently sealed between the continuous upper and lower films, which facilitates surface protection in subsequent circulation.

[0072] (5) Based on the near-end strategy optimization algorithm, the multi-objective joint reward (including trajectory fit, edge quality and cleanliness) is calculated according to the slit image collected by the rear vision detection component. The control parameters such as suction power, motor fine adjustment, ion wind power and cutting speed are dynamically adjusted. The training process is optimized by adopting a progressive tightening adjustment strategy, so that the system can adapt to the cutting process requirements of different carbon fiber cloth materials and improve the stability of the cutting quality. Attached Figure Description

[0073] Figure 1 This is a schematic diagram of the overall structural layout of the present invention.

[0074] Figure 2 This is a schematic diagram of the preceding continuous unwinding and feeding mechanism of the present invention.

[0075] Figure 3 This is a schematic diagram of the assembly of the shearing and slitting device on the frame.

[0076] Figure 4 This is a schematic diagram of the shearing and cutting device.

[0077] Figure 5 This is a cross-sectional view showing the positional relationship between the negative pressure base plate and the slitting and integration module.

[0078] Figure 6 This is a schematic diagram of the segmented integrated module structure.

[0079] Figure 7 This is a structural diagram of the split integration module from another perspective.

[0080] Figure 8 This is a schematic diagram of the composite traction and packaging material discharge mechanism.

[0081] Figure 9 This is a schematic diagram showing the segmented encapsulation of carbon fiber cloth between the upper and lower covering films.

[0082] Figure 10 This is a schematic diagram of the PPO adaptive tuning control process of the present invention.

[0083] in:

[0084] 100. Rack;

[0085] 200. Preceding continuous unwinding feeding mechanism;

[0086] 210. Unwinding frame; 220. Flattening roller assembly; 230. First tension frame; 240. Left feed traction roller;

[0087] 300. Continuous shearing and slitting device;

[0088] 310. Guide rail; 320. Synchronous belt drive module; 321. Servo motor; 322. Synchronous belt pulley; 323. First synchronous belt; 330. Slitting mechanism; 331. Support slide plate assembly; 331a. First synchronous belt pressure plate; 332. Left feed roller assembly;

[0089] 333, negative pressure base plate; 333a, non-negative pressure isolation zone;

[0090] 334. Synchronous belt drive mechanism; 334a. Motor; 334b. Synchronous belt pulley set; 334c. Second synchronous belt; 334d. Guide rail;

[0091] 335, Slitting Integration Module; 335a, Slitting Module Frame; 335b, Second Synchronous Belt Pressure Plate; 335c, First Vision Inspection Component; 335d, Static Eliminating Ion Fan; 335e, Fine-tuning Cutting Component; 335f, Dust-collecting Edge Separation Component; 335g, Second Vision Inspection Component;

[0092] 336. Right discharge roller group;

[0093] 400. Adaptive follow-up coating mechanism; 410. Follow-up coating roller; 411. Discharge transition plate; 420. Constant force coating unwinding machine;

[0094] 500. Composite traction and packaging discharge mechanism;

[0095] 510. Composite traction pressure roller assembly; 520. Sealing and hot pressing module; 521. Transverse roller hot pressing module; 521a. Rotary heat sealing roller; 521b. First bottom pressure roller; 522. Second tension frame;

[0096] 523, longitudinal pressing roller assembly; 523a, second bottom pressure roller; 523b, heat sealing roller assembly. Detailed Implementation

[0097] The invention will now be further described with reference to the accompanying drawings.

[0098] like Figure 1 As shown, this invention discloses a continuous carbon fiber fabric slitting and adaptive follow-up coating device. This device is used to slit carbon fiber fabric into blocks and independently encapsulate each block between continuous upper and lower coatings (see...). Figure 9 (Illustrative diagram) The equipment includes a frame 100, on which a continuous unwinding feeding mechanism 200, a follow-up cutting and slitting device 300, an adaptive follow-up coating mechanism 400, and a composite traction and packaging discharge mechanism 500 are arranged in sequence along the carbon fiber cloth conveying direction. The mechanisms work together to complete the entire process of continuous feeding, follow-up cutting and slitting, adaptive follow-up coating and independent isolation packaging of carbon fiber cloth.

[0099] like Figure 2 As shown, the preceding continuous unwinding feeding mechanism 200 includes an unwinding frame 210, a flattening roller group 220, a first tension frame 230, and a left feed traction roller 240. The carbon fiber cloth roll is placed on the unwinding frame 210 and is continuously unwound under the action of the driving mechanism. The carbon fiber cloth is sequentially wound around the flattening roller group 220 and the first tension frame 230. The flattening roller group 220 widens the carbon fiber cloth and eliminates edge slack and wrinkles, ensuring the flatness of the feed. The first tension frame 230 adaptively absorbs and buffers the tension difference generated by the unwinding and subsequent actions by changing the angle of the frame body rotating around the axis, so that the carbon fiber cloth maintains a constant tension. After being flattened and stabilized, the carbon fiber cloth is smoothly and uniformly pulled by the left feed traction roller 240 and continuously fed to the subsequent chasing and cutting device 300 without interruption.

[0100] like Figure 3 , Figure 4 , Figure 5 As shown, the tracking and slitting device 300 is slidably mounted on the frame 100, including a guide rail 310, a synchronous belt drive module 320, and a slitting mechanism 330. The guide rail 310 is mounted on both sides of the frame 100 parallel to the carbon fiber cloth conveying direction. The synchronous belt drive module 320 is symmetrically arranged on the outside of the guide rail 310. The servo motor 321 of the synchronous belt drive module 320 is connected to the synchronous pulley 322. The first synchronous belt 323 is fixedly connected to the first synchronous belt pressure plate 331a on the outside of the support slide plate group 331. The servo motor 321 drives the first synchronous belt 323 to rotate, which drives the slitting mechanism 330 to reciprocate along the guide rail 310. During cutting, the slitting mechanism 330 moves at the same speed and in the same direction as the carbon fiber cloth to achieve tracking and slitting. After cutting, it quickly moves in the opposite direction to reset.

[0101] Inside the slitting mechanism 330, along the carbon fiber cloth conveying direction, there are sequentially arranged a left feed roller group 332, an inclined negative pressure base plate 333, a slitting integrated module 335, and a right discharge roller group 336. The left feed roller group 332, the negative pressure base plate 333, and the right discharge roller group 336 are arranged in a stepped height difference, with the left feed roller group 332 having the highest installation height. The negative pressure base plate 333 is inclined to match the height difference of the roller groups. Under the action of gravity and the traction of the roller groups, the carbon fiber cloth slides naturally and smoothly along the negative pressure base plate 333, avoiding suspension and deformation.

[0102] The negative pressure base plate 333 has a negative pressure chamber connected to an external vacuum source. The supporting surface is evenly distributed with negative pressure adsorption holes. A non-negative pressure isolation strip 333a is provided on the supporting surface along the transverse cutting path. The negative pressure base plate 333 is activated instantaneously before cutting. The carbon fiber cloth is firmly adsorbed without deformation through the negative pressure adsorption holes. The non-negative pressure isolation strip 333a avoids local deformation of the cloth in the cutting area due to negative pressure adsorption, and at the same time prevents aerodynamic interference between the vacuum adsorption airflow and the static ion wind.

[0103] The guide rail 334d of the synchronous belt drive mechanism 334 is horizontally mounted on the support slide plate assembly 331 perpendicular to the carbon fiber cloth conveying direction. The synchronous belt pulley assembly 334b ​​at the first and second ends of the guide rail 334d is connected to the independently controlled motor 334a. The second synchronous belt 334c is fixedly connected to the second synchronous belt pressure plate 335b on the slitting module frame 335a of the slitting integration module 335. The motor 334a drives the second synchronous belt 334c to rotate, thereby driving the slitting integration module 335 to move laterally along the guide rail 334d.

[0104] like Figure 6 , Figure 7 As shown, inside the slitting module frame 335a of the slitting integration module 335, along the transverse cutting direction, a first visual inspection component 335c, an anti-static ion fan 335d, a fine-tuning cutting component 335e, a dust-collecting edge-separating component 335f, and a second visual inspection component 335g are sequentially integrated. The first visual inspection component 335c includes an industrial camera and a coaxial light source, which is used to extract the visual texture features of the carbon fiber cloth before slitting.

[0105] The static ion fan 335d is located behind the first vision detection component 335c. Its air outlet is vertically downward and faces the non-negative pressure isolation belt 333a. It blows out ion wind downward to neutralize the static electricity on the surface of the carbon fiber cloth and does not interfere with the negative pressure adsorption airflow.

[0106] The fine-tuning cutting assembly 335e adjusts the Z-axis position of the slitting circular blade via the upper push rod. When resetting, the push rod retracts and lifts the blade. When cutting, the push rod presses down to send the blade to the working elevation. The slitting circular blade is connected to the ball screw and is driven by an independent motor that receives action signals.

[0107] The dust-collecting edge-separating component 335f is located behind the fine-tuning cutting component 335e. It includes an inverted triangular edge-separating wedge and a vacuum suction port. During cutting, the edge-separating wedge is inserted into the kerf to lift the cut edges on both sides of the carbon fiber cloth. The vacuum suction port simultaneously sucks up the free carbon fiber dust that has been neutralized by static electricity. The second vision inspection component 335g includes an industrial camera and a coaxial light source. It is located at the rear end of the slitting module frame 335a. It collects and extracts the kerf image features after dust removal for subsequent cutting quality assessment.

[0108] like Figure 4 , Figure 5 As shown, the adaptive follow-up coating mechanism 400 includes a follow-up coating roller 410, a discharge transition plate 411, and a constant force lower coating unwinding machine 420. The follow-up coating roller 410 is installed parallel to the discharge port of the right discharge roller group 336 between the support slide plate group 331. It is a passively driven free-moving roller. The discharge transition plate 411 is arranged parallel between the follow-up coating roller 410 and the right discharge roller group 336, smoothly guiding the slit carbon fiber cloth to the follow-up coating roller 410. The constant force lower coating unwinding machine 420 is installed in the space below the frame 100 and has a built-in constant force output component to output the lower coating smoothly with constant tension, ensuring that the coating film surface does not accumulate, loosen, or wrinkle. The follow-up coating roller 410 moves synchronously with the follow-up shearing and slitting device 300, only changing the laying area of ​​the lower coating on the support surface, without changing the conveying state of the coating. The movement speed of the lower coating is controlled by the end composite traction and packaging discharge mechanism 500.

[0109] like Figure 8 As shown, the composite traction and packaging discharge mechanism 500 is installed at the end of the frame 100 along the conveying direction. It includes a composite traction pressure roller group 510 and a packaging hot pressing module 520. The composite traction pressure roller group 510 consists of an upper pressure roller and a lower active roller arranged parallel to the follower film coating roller 410. The upper film is rolled into the gap of the roller group from top to bottom from the left tangent direction of the upper pressure roller, and the three layers of materials, namely the upper film, carbon fiber cloth and lower film, are pressed and output synchronously.

[0110] During the slitting and cutting stage, the composite traction pressure roller group 510 keeps pace with the feeding speed of the carbon fiber cloth. When the tail end of the slit carbon fiber cloth is completely separated from the clamping gap of the right discharge roller group 336, the composite traction pressure roller group 510 accelerates from the base speed to the set pulling speed, quickly pulling the film to form a physical gap between adjacent carbon fiber cloths. After the gap is formed, the original conveying speed is restored.

[0111] The hot-pressing module 520 is arranged in sequence along the conveying direction as a transverse roller hot-pressing module 521, a second tension frame 522, and a longitudinal hot-pressing roller group 523. The transverse roller hot-pressing module 521 is installed perpendicular to the conveying direction and includes a rotating heat-sealing roller 521a and a first bottom pressure roller 521b. The surface of the rotating heat-sealing roller 521a is provided with a raised heat-sealing strip. Pressing down completes the transverse heat sealing of the gap area. The second tension frame 522 adaptively buffers the tension difference generated by the pulling action, so that the material enters the longitudinal hot-pressing roller group 523 at a uniform speed. The longitudinal hot-pressing roller group 523 includes a second bottom pressure roller 523a and a symmetrically arranged heat-sealing roller group 523b, which continuously heat-presses and seals the edges of the film on both sides, completing the independent isolation and sealing of a single section of carbon fiber cloth.

[0112] During equipment operation, the carbon fiber cloth is smoothly conveyed by the continuously unwinding and feeding mechanism 200 after being spread and pressed. It is then smoothly transported along the stepped roller group and the negative pressure base plate 333. The tracking and cutting device 300 tracks and cuts the carbon fiber cloth at the same speed. The first vision detection component 335c extracts image features in real time and drives the fine-tuning cutting component 335e to cut. The static ion fan 335d and the dust suction and edge separation component 335f work synchronously to eliminate static electricity and suck up dust. After cutting, the tracking and cutting device 300 quickly resets. The adaptive follow-up film coating mechanism 400's follow-up film coating roller 410 passively follows and receives the carbon fiber cloth. The constant force film coating unwinding machine 420 applies film under constant tension. The composite traction pressure roller group 510 presses the three layers of material together and then differentially pulls the gap apart. The sealing and hot-pressing module 520 sequentially completes the transverse and longitudinal heat sealing, outputting the independently sealed carbon fiber cloth finished product.

[0113] Combination Figure 10 The equipment incorporates a multi-physical quantity collaborative adaptive tuning method for cutting carbon fiber fabric based on the near-end strategy optimization algorithm (PPO). The execution steps are as follows:

[0114] First, initialize the system parameters and set the iteration steps. Cumulative reward value Set the policy network update cycle ;

[0115] Real-time acquisition of the actual coordinates of the current tool position Real-time visual features extracted by a convolutional neural network (CNN) Previous action command information and the deviation characteristics between the tool position and the ideal cutting path Construct a multidimensional state sequence:

[0116] ,

[0117] Multidimensional state sequence Input a pre-established policy network and output action commands.

[0118] ,

[0119] in, For motor fine-tuning, For cutting speed, This refers to the suction power. This refers to the ion wind power;

[0120] The slicing integration module 335 performs slicing according to the action command, and the second visual detection component 335g acquires the slit image. After feature extraction by CNN, the joint reward of multiple targets is calculated.

[0121] ,

[0122] Among them, the trajectory matching reward is:

[0123] ,

[0124] Let be the error sensitivity constant. These are the actual coordinates of the cut edge features. For the ideal cutting edge feature coordinates, edge quality reward , The loose fiber penalty coefficient is... The total number of loose pixels on the outer side of the cut, and the cleanliness bonus. , This is the dust penalty coefficient. This represents the number of dust and noise particles in the cut edge area. As an over-limit penalty, it is only triggered when there is a sudden increase in stray pixels and the positive adjustment of suction power does not improve the situation, and a fixed penalty value is assigned.

[0125] Cumulative reward value Determine the number of iteration steps Has the update cycle been reached? If the target is not met, continue collecting data; if the target is met, calculate the average reward value. .

[0126] like Preset thresholds, calculate the dominance function GAE and proximal cutoff loss. Update the policy network parameters if If the preset threshold is not met and the reward coefficient does not reach the target value, calculate the average score of each reward and dynamically adjust the reward coefficient. If all reward coefficients reach the target value, save the strategy network parameters and end the adaptive tuning.

[0127] The method of this invention employs a gradual tightening adjustment strategy and sets an error sensitivity coefficient. Penalty coefficient , The base value and the maximum stringency value are dynamically adjusted by the coefficients to update the step size according to the following formula:

[0128] ,

[0129] in, This is the updated error sensitivity coefficient. This represents the current error sensitivity coefficient. Based on the step size factor, For the maximum stringency value, Based on the value, This represents the average reward for each item in the current cycle's trajectory fit. The update step size is set as the overall average reward value for the current period. When the performance of a single reward is better than the overall level, the update step size is increased; when it is worse than the overall level, the update step size is decreased. This achieves dynamic optimization that is first broad and then strict, and can adapt to the cutting process of different carbon fiber cloth materials without manual parameter tuning.

[0130] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be considered within the scope of protection of the present invention.

Claims

1. A continuous carbon fiber cloth slitting and adaptive follow-up coating device, used to slit the carbon fiber cloth into blocks and independently encapsulate each block between a continuous upper coating and a lower coating, characterized in that: It includes a frame (100), and a preceding continuous unwinding feeding mechanism (200), a follow-up shearing device (300), an adaptive follow-up coating mechanism (400), and a composite traction and packaging discharge mechanism (500) sequentially installed on the frame (100) along the carbon fiber cloth conveying direction. The follow-cutting and slitting device (300) is slidably mounted on the frame (100), and can move at the same speed as the fabric along the carbon fiber fabric conveying direction to achieve follow-cutting and slitting without stopping the machine, and move in the opposite direction to reset after slitting; The adaptive follow-up coating mechanism (400) is equipped with a passive follow-up coating roller (410) to cooperate with the movement of the follow-up cutting device (300) to change the coating area, so as to receive the slit carbon fiber cloth; The composite traction and packaging discharge mechanism (500) is used to simultaneously press the upper film, carbon fiber cloth and lower film together, and to pull apart the gap between adjacent carbon fiber cloths by differential traction to complete independent isolation packaging.

2. The carbon fiber cloth continuous slitting and adaptive follow-up coating equipment as described in claim 1, characterized in that: The slitting and cutting device (300) includes a guide rail (310), a synchronous belt drive module (320), and a cutting mechanism (330); the cutting mechanism (330) is slidably mounted on the frame (100) via the guide rail (310) and is driven by the synchronous belt drive module (320) to reciprocate along the carbon fiber cloth conveying direction.

3. The carbon fiber cloth continuous slitting and adaptive follow-up coating equipment as described in claim 2, characterized in that: The slitting mechanism (330) is provided with a left feed roller group (332), an inclined negative pressure base plate (333), a slitting integration module (335), and a right discharge roller group (336) in sequence along the conveying direction; the left feed roller group (332), the negative pressure base plate (333), and the right discharge roller group (336) are arranged in a stepped height difference, and the slitting integration module (335) is located above the negative pressure base plate (333) and can move along the axial direction of the right discharge roller group (336) to slitting the carbon fiber cloth.

4. The carbon fiber cloth continuous slitting and adaptive follow-up coating equipment as described in claim 3, characterized in that: The slitting integration module (335) integrates a first visual inspection component (335c), an anti-static ion fan (335d), a fine-tuning cutting component (335e), a dust-collecting edge-separating component (335f), a second visual inspection component (335g), and a slitting blade. The negative pressure base plate (333) is provided with a non-negative pressure isolation zone (333a) at the cutting path, and the static electricity ion fan (335d) blows ion wind toward the non-negative pressure isolation zone (333a) to neutralize static electricity; The first vision detection component (335c) extracts the carbon fiber fabric texture offset, and the fine-tuning cutting component (335e) drives the slitting tool to fine-tune according to the offset. The dust extraction slit assembly (335f) is inserted into the slit to extract dust that has been neutralized by static electricity; The second visual detection component (335g) is used to acquire and extract the slit image features after the dust removal process.

5. The carbon fiber cloth continuous slitting and adaptive follow-up coating equipment as described in claim 1, characterized in that: The adaptive follow-up coating mechanism (400) also includes a discharge transition plate (411) located upstream of the follow-up coating roller (410) and a constant force coating unwinding machine (420); the constant force coating unwinding machine (420) outputs the coating at constant tension to the follow-up coating roller (410), and the discharge transition plate (411) is used to guide the slit carbon fiber cloth to the follow-up coating roller (410).

6. The carbon fiber cloth continuous slitting and adaptive follow-up coating equipment as described in claim 1, characterized in that: The composite traction and packaging discharge mechanism (500) includes a composite traction pressure roller group (510) and a packaging hot pressing module (520); the composite traction pressure roller group (510) is used for differential traction to open the gap between adjacent carbon fiber cloths; the packaging hot pressing module (520) is provided with a transverse roller hot pressing module (521) and a longitudinal hot pressing wheel group (523) in sequence along the conveying direction. The transverse roller hot pressing module (521) is used to perform transverse heat sealing on the gap between adjacent carbon fiber cloths, and the longitudinal hot pressing wheel group (523) is used to perform heat pressing on the two sides of the coated carbon fiber cloth.

7. A method of using the carbon fiber cloth continuous slitting and adaptive follow-up coating equipment as described in any one of claims 3-6, characterized in that: Includes the following steps: S1: The preceding continuous unwinding feeding mechanism (200) continuously outputs carbon fiber cloth. After being flattened and tension stabilized, it is supplied by the left feed roller group (332). The carbon fiber cloth is smoothly conveyed and transitioned along the inclined negative pressure bottom plate (333) under the action of gravity. S2: The follow-up shearing and slitting device (300) moves at the same speed as the carbon fiber cloth conveying direction, while the slitting and slitting integrated module (335) performs transverse slitting perpendicular to the conveying direction; after the slitting is completed, the follow-up shearing and slitting device (300) moves in the opposite direction to reset. S3: The passive follow-up coating roller (410) of the adaptive follow-up coating mechanism (400) follows the follow-up shearing device (300) to change the lower coating laying area to receive the slit carbon fiber cloth. The constant force lower coating unwinding machine (420) outputs the lower coating with constant tension. S4: The composite traction pressure roller group (510) presses the upper film, carbon fiber cloth and lower film together simultaneously, and accelerates the traction to open the gap between adjacent carbon fiber cloths when the tail end of the slit carbon fiber cloth leaves the right discharge roller group (336). S5: The hot-pressing module (520) performs transverse heat sealing and hot-pressing sealing of the film and carbon fiber cloth after the gap is opened, and completes independent isolation sealing.

8. The method of use as described in claim 7, characterized in that: Step S2 includes: S21: The first visual detection component (335c) extracts the visual texture features of the carbon fiber cloth before slitting, and outputs various action command signals by the policy network; S22: The static ion fan (335d) blows ion wind toward the non-negative pressure isolation zone (333a) of the negative pressure base plate (333) with the power of the strategy network command to neutralize static electricity and avoid interference with the negative pressure adsorption airflow; S23: The fine-tuning cutting component (335e) receives the correction signal and cutting speed signal output by the strategy network, drives the slitting tool to perform fine-tuning, and performs transverse slitting at the corresponding cutting speed; S24: The vacuuming edge assembly (335f) is inserted into the slit and vacuums the neutralized dust with the power of the strategy network command; S25: The second vision detection component (335g) acquires and extracts the features of the cut image after the dust removal.

9. The method of use as described in claim 8, characterized in that: Steps S21-S25 involve the control unit executing adaptive control based on a proximal strategy optimization algorithm, including: A multi-dimensional state sequence is constructed by collecting the current tool position coordinates, visual texture features, the action command of the previous moment, and the deviation features between the tool position and the ideal cutting path; The multidimensional state sequence is input into the strategy network to generate and execute action commands including suction power, motor fine-tuning amount, ion wind power and cutting speed. Based on the cut quality features extracted from the cut images acquired by the second vision detection component (335g), the multi-objective joint reward is calculated, and the strategy network parameters are updated or the reward coefficients are adjusted according to the average reward value within the update cycle, until all reward coefficients and reward values ​​reach the preset target values.

10. The method of use as described in claim 9, characterized in that: Adaptive control includes the following steps: S61: Collect the current tool position coordinates, visual texture features, the previous action command, and the deviation features between the tool position and the ideal cutting path to construct a multi-dimensional state sequence. ; S62: Input the multi-dimensional state sequence into the policy network to generate a system including dust collection power. Motor fine-tuning amount Ion wind power and cutting speed Action instructions , ; S63: Perform cutting according to the action command, and collect and extract the cut image features after the dust removal through the second vision detection component (335g); S64: Calculate the multi-objective joint reward based on the kerf image features. and accumulate reward value ; S65: Determine the current iteration step. Has the preset update cycle been reached? If yes, then calculate the average reward value within the calculation period. If not, return to continue with the control and data accumulation for the next step. S66: Then calculate the advantage function GAE and the near-end truncation loss LCLIP to update the policy network parameters; if If the reward coefficients do not reach the target values, the average score of each reward is calculated to dynamically adjust the reward coefficients; if all reward coefficients reach the target values, the strategy network parameters are saved and the adaptive tuning process ends.

11. The method of use as described in claim 10, characterized in that: The multi-objective joint reward The calculation formula is: ， in, As a reward for trajectory matching, For edge quality rewards, As a reward for cleanliness, Penalties for exceeding limits; The trajectory matching reward The calculation formula is: ， in This is the error sensitivity coefficient. These are the actual coordinates of the cut edge features. The coordinates of the ideal cutting edge feature; The edge quality reward The calculation formula is: ， in The loose fiber penalty coefficient is... This represents the total number of burrs and loose pixels on the outer side of the cut. The cleanliness reward The calculation formula is: ， in This is the dust penalty coefficient. The number of free dust noise points in the cut edge area; The penalty for exceeding the limit Triggered when a sudden increase in the total number of loose pixels is detected and the suction power has been positively adjusted, a fixed penalty value is assigned.

12. The method of use as described in claim 11, characterized in that: It also includes a gradual tightening adjustment strategy: Set the error sensitivity coefficient and penalty coefficient , The base value and the maximum stringency value; Based on the ratio of the average score of individual rewards to the overall average reward value within the current update cycle, the update step size of the error sensitivity coefficient and penalty coefficient is dynamically adjusted to satisfy the following update relationship: ， in, This is the updated error sensitivity coefficient. This represents the current error sensitivity coefficient. Based on the step size factor, For the maximum stringency value, Based on the value, This represents the average reward for each item related to trajectory fit within the current period. This represents the overall average of multiple rewards within the current period. If the performance of an individual award is better than the overall average, that is If the update step size is increased to accelerate the approach to the maximum stringency value, then the individual reward performance is worse than the overall average. If the update step size is reduced, the approach to the maximum stringency value will be delayed, thus achieving dynamic adjustment from lenient to stringent.

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