A secondary rolling mechanism suitable for laying tape on irregularly shaped workpieces with varying curvature surfaces

Abstract

This invention discloses a secondary rolling mechanism suitable for laying tape on irregularly shaped workpieces with varying curvature surfaces, belonging to the field of automated composite material laying technology. The mechanism includes a mounting back plate, a main compaction mechanism, an auxiliary compaction mechanism, and a feedback lifting mechanism. The main compaction mechanism is mounted on the mounting back plate and is used for the first rolling of the composite material tape. The auxiliary compaction mechanism is connected to the main compaction mechanism and moves with it, used for the second rolling. The feedback lifting mechanism is mounted on the mounting back plate and connected to the auxiliary compaction mechanism, used to drive the auxiliary compaction mechanism to rise and fall in response to a control signal characterizing the rolling pressure. At least one of the main and auxiliary compaction mechanisms adopts a passive flexible connection method to generate adaptive displacement according to changes in the curvature of the irregularly shaped workpiece surface. This invention constitutes a six-bar linkage mechanism, which is compact and can automatically adapt to varying curvature surfaces and corner features, avoiding jamming and improving tape laying quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated composite material laying technology, and more specifically, to a secondary rolling mechanism suitable for laying tape on irregularly shaped workpieces with varying curvature surfaces, particularly suitable for automated tape laying operations of irregularly shaped composite material workpieces in aerospace and other fields. Background Technology

[0002] In the field of automated composite material tape laying, when automatically laying tape on the variable curvature surface of irregularly shaped workpieces, an automated tape laying device is required to lay the composite material tape onto the workpiece surface. However, the composite material tape laid on the workpiece surface often experiences weak adhesion between the composite material tape and the workpiece surface, as well as between the composite material tapes themselves, because it only undergoes one rolling action from the compaction roller of the automated tape laying device. Therefore, a second rolling action is needed to enhance the adhesion between the laid composite material tape and the workpiece surface, as well as between the composite material tapes themselves.

[0003] Current automated tape laying devices typically perform a primary roll pressing of the composite material tape using a compaction roller at the end, lacking a mechanism for a secondary roll pressing. Because irregularly shaped workpieces have corner features and varying surface curvature, the rolling mechanism must automatically adapt to both the changes in surface curvature and the corner features of the irregularly shaped workpiece to avoid jamming when passing corners. This presents significant challenges to the design of the secondary roll pressing mechanism in automated tape laying devices.

[0004] Therefore, it is necessary to design a secondary rolling mechanism suitable for laying tape on irregularly shaped workpieces with varying curvature surfaces. This mechanism should serve as a functional module of the automatic tape laying device, enabling the composite material tape to be rolled twice consecutively. It should also be able to adapt to changes in the curvature of the laying surface and the corner features of irregularly shaped workpieces, while ensuring a compact structure and stable movement. Summary of the Invention

[0005] This invention addresses the problems of difficulty in secondary rolling of composite material strips and difficulty in adapting to corners caused by changes in the curvature of the laid surface and the presence of corners in irregularly shaped workpieces during the tape laying process. It provides a secondary rolling mechanism suitable for tape laying on irregularly shaped workpieces with variable curvature surfaces.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a secondary rolling mechanism suitable for laying composite material strips on the surface of irregularly shaped workpieces with varying curvature, comprising: a mounting back plate for connection to an external motion mechanism; a main compaction mechanism disposed on the mounting back plate for performing a first rolling of the composite material strip laid on the surface of the irregularly shaped workpiece; an auxiliary compaction mechanism connected to the main compaction mechanism for following the movement of the main compaction mechanism to perform a second rolling of the composite material strip after the first rolling; and a feedback lifting mechanism disposed on the mounting back plate and connected to the auxiliary compaction mechanism for driving the auxiliary compaction mechanism to rise and fall relative to the mounting back plate in response to a control signal characterizing the rolling pressure; at least one of the main compaction mechanism and the auxiliary compaction mechanism adopts a passive flexible connection method to generate adaptive displacement according to the curvature of the irregularly shaped workpiece surface.

[0007] Preferably, the main compaction mechanism includes a main pressure roller, a main pressure roller fixing plate, a guide post, a linear bearing, a main compaction mechanism fixing seat, and an elastic element; the main pressure roller is rotatably disposed on the main pressure roller fixing plate; the guide post is fixed to the main pressure roller fixing plate and slides in cooperation with the linear bearing fixed to the main compaction mechanism fixing seat; the elastic element is sleeved on the guide post and is used to apply elastic pressure to the main pressure roller.

[0008] Preferably, the main compaction mechanism further includes a hydraulic damper, which is disposed on the main compaction mechanism fixing seat, and its buffer end contacts the main pressure roller fixing plate to absorb the impact generated when the main pressure roller contacts the surface of the irregular workpiece.

[0009] Preferably, the main compaction mechanism further includes a locking nut disposed on the guide post, the lower end of the elastic element abutting against the locking nut, and the compression amount of the elastic element can be adjusted by adjusting the position of the locking nut on the guide post, thereby adjusting the roller pressure of the main pressure roller.

[0010] Preferably, the auxiliary compaction mechanism includes an auxiliary pressure roller component, a swing arm, an optical axis, and an elastic sliding pair; one end of the swing arm is rotatably connected to the main compaction mechanism, and the other end of the swing arm is rotatably connected to the optical axis; the auxiliary pressure roller component is connected to the swing arm, and the auxiliary pressure roller component is provided with an auxiliary pressure roller; one end of the elastic sliding pair is rotatably connected to the optical axis, and the other end of the elastic sliding pair is rotatably connected to the feedback lifting mechanism, and the elastic sliding pair applies elastic pressure to the auxiliary pressure roller in a passive and flexible manner.

[0011] Preferably, the elastic sliding pair includes a guide rod, a guide tailstock, and a built-in compression spring; the guide rod is slidably engaged with the guide tailstock, the built-in compression spring is disposed inside the guide tailstock, one end of the built-in compression spring abuts against the inner wall of the guide tailstock, and the other end of the built-in compression spring abuts against the guide rod; when the guide rod slides in the guide tailstock, it compresses the built-in compression spring, and the built-in compression spring applies an elastic force to the guide rod, and the elastic force is transmitted to the auxiliary pressure roller through the optical axis and the swing arm.

[0012] Preferably, the elastic sliding pair further includes an adjusting bolt, and the end of the guide rod has a threaded hole. The adjusting bolt engages with the threaded hole. By adjusting the depth to which the adjusting bolt is screwed into the guide rod, the initial compression of the built-in compression spring can be adjusted, thereby adjusting the roller pressure of the auxiliary pressure roller.

[0013] Preferably, the auxiliary pressure roller component further includes a pressure sensor, which is disposed between the auxiliary pressure roller and the swing arm, for real-time monitoring of the roller pressure of the auxiliary pressure roller and feeding back the monitoring signal to the control system; when the roller pressure exceeds a preset threshold, the control system sends a lifting command to the feedback lifting mechanism.

[0014] Preferably, the control system receives the roller pressure signal fed back by the pressure sensor. When the roller pressure exceeds a preset threshold, the control system sends a lifting command to the feedback lifting mechanism. When the roller pressure recovers to below the preset threshold, the control system sends a pressing command to the feedback lifting mechanism.

[0015] Preferably, the feedback lifting mechanism includes a cylinder, a linear guide rail, and a linear slider; the cylinder body is fixed to the mounting back plate, and the cylinder push rod is connected to the auxiliary compaction mechanism; the linear guide rail is fixed to the mounting back plate, and the linear slider is fixed to the auxiliary compaction mechanism and slides in cooperation with the linear guide rail; when the cylinder push rod extends or retracts, it drives the auxiliary compaction mechanism to rise and fall along the linear guide rail.

[0016] Preferably, the secondary rolling mechanism constitutes a six-bar linkage, which includes: a first movable joint, which is a passive flexible drive joint in the main compaction mechanism, used to adapt to changes in the surface curvature of the irregular workpiece; a second movable joint, which is a passive flexible drive joint in the auxiliary compaction mechanism, used to provide flexible pressure to the auxiliary compaction mechanism; and a third movable joint, which is an active drive joint in the feedback lifting mechanism, used to drive the auxiliary compaction mechanism to rise and fall to avoid the corners of the irregular workpiece.

[0017] During operation, the main compaction mechanism first rolls the composite material strip for the first time, and the auxiliary compaction mechanism follows up by rolling the composite material strip a second time after the first roll. When the auxiliary compaction mechanism passes the corner of the irregular workpiece, the feedback lifting mechanism lifts the auxiliary compaction mechanism according to the control signal to avoid the corner, and then presses the auxiliary compaction mechanism down again after passing the corner.

[0018] Compared with the prior art, the present invention has the following significant advantages: 1. This invention employs a linkage mechanism to design a secondary rolling mechanism suitable for laying tape on irregularly shaped workpieces with varying curvature surfaces. It can achieve a secondary rolling effect of primary and secondary compaction of composite material tapes, and the structure is stable and reliable. The secondary rolling mechanism essentially constitutes a six-bar linkage, combining a primary compaction mechanism and an auxiliary compaction mechanism. The primary compaction mechanism and the auxiliary compaction mechanism are designed with passive flexibility to automatically adapt to changes in the curvature of the irregularly shaped workpiece surface.

[0019] 2. The secondary roller pressing mechanism designed in this invention can adapt to the corner characteristics of irregular workpieces and prevent jamming when passing through corners. The auxiliary compaction mechanism integrates a pressure sensor, which can monitor the roller pressure in real time when passing through the corner of the irregular workpiece. When the set roller pressure safety threshold is exceeded, the auxiliary compaction mechanism can automatically lift up to avoid the corner of the irregular workpiece, and then press down the auxiliary compaction mechanism after passing through the corner.

[0020] 3. The present invention has a compact and reliable overall structure, a small space ratio, and strong controllability. It can be integrated into an automatic tape laying device as an independent functional module to improve the quality and efficiency of laying composite material tapes on irregularly shaped workpieces with varying curvature surfaces. Attached Figure Description

[0021] Figure 1 This is an overall structural diagram of the secondary rolling mechanism for laying tape on the variable curvature surface of irregular workpieces proposed in this invention. Figure 2 This is a schematic diagram of the assembly of the components of the secondary rolling mechanism for laying tape on the surface of irregularly shaped workpieces with varying curvature, as proposed in this invention. Figure 3 Structural diagram of the main compaction mechanism; Figure 4 Exploded view of the main compaction mechanism; Figure 5 Structural diagram of the auxiliary compaction mechanism; Figure 6 Exploded view of the auxiliary compaction mechanism; Figure 7 A cross-sectional view of the left elastic sliding joint in the auxiliary compaction mechanism; Figure 8 A cross-sectional view of the auxiliary pressure roller component in the auxiliary compaction mechanism; Figure 9 A structural diagram of the lifting mechanism is provided for feedback. Figure 10 An exploded view of the lifting mechanism is provided for feedback. Figure 11 This is a simplified diagram of the secondary rolling mechanism for laying tape on the variable curvature surface of irregularly shaped workpieces, as proposed in this invention.

[0022] In the picture: 1. Irregularly shaped workpieces, 2. Composite material belt, 3. Install the back panel. 4. Main Compaction Mechanism; 4-1. Main Pressure Roller; 4-2. Left Bearing of Main Pressure Roller; 4-3. Right Bearing of Main Pressure Roller; 4-4. Left Bearing Seat; 4-5. Right Bearing Seat; 4-6. Main Pressure Roller Fixing Plate; 4-7. Left Guide Post; 4-8. Right Guide Post; 4-9. Left Linear Bearing; 4-10. Right Linear Bearing; 4-11. Main Compaction Mechanism Fixing Seat; 4-12. Left Compression Spring; 4-13. Right Compression Spring; 4-14. Left Radial Locking Nut; 4-15. Right Radial Locking Nut; 4-16. Left Retaining Ring; 4-17. Right Retaining Ring; 4-18. Hydraulic Buffer; 4-19. Buffer Locking Nut. 5. Auxiliary compaction mechanism, 5-1. Auxiliary pressure roller assembly, 5-1-1. Auxiliary pressure roller, 5-1-2. Left bearing of auxiliary pressure roller, 5-1-3. Right bearing of auxiliary pressure roller, 5-1-4. Left bearing seat of auxiliary pressure roller, 5-1-5. Right bearing seat of auxiliary pressure roller, 5-1-6. Auxiliary pressure roller fixing plate, 5-1-7. Left guide screw, 5-1-8. Right guide screw, 5-1-9. Base of auxiliary pressure roller assembly, 5-1-10. Pressure sensor, 5-2. Left swing arm, 5-3. Left swing arm bearing, 5-4. Left swing arm mounting seat, 5-5. Left swing arm retaining ring, 5-6. Left optical axis bearing, 5-7. Optical axis, 5-8. Left optical axis retaining ring, 5-9. Right swing arm, 5-10. Right swing arm bearing, 5-11. Right swing arm mounting seat, 5-12. Right... Side swing arm retaining ring, 5-13, right optical axis bearing, 5-14, right optical axis retaining ring, 5-15, left elastic sliding pair, 5-15-1, left optical rod, 5-15-2, left guide tailstock, 5-15-3, left built-in compression spring, 5-15-4, left adjusting bolt, 5-16, right elastic sliding pair, 5-16-1, right optical rod, 5-16-2, right guide tailstock, 5-16-3, right built-in compression spring, 5-16-4, right adjusting bolt, 5-17, left tailstock bearing, 5-18, left tailstock mounting platform, 5-19, left tailstock retaining ring, 5-20, left bearing cover, 5-21, right tailstock bearing, 5-22, right tailstock mounting platform, 5-23, right tailstock retaining ring, 5-24, right bearing cover. 6. Feedback Lifting Mechanism; 6-1. Lifting Mechanism Fixing Plate; 6-2. Left Cylinder Tailstock; 6-3. Left Cylinder Body; 6-4. Left Cylinder Push Rod; 6-5. Left Push Rod Nut; 6-6. Left Cylinder Downward Push Valve; 6-7. Left Cylinder Lifting Intake Valve; 6-8. Right Cylinder Tailstock; 6-9. Right Cylinder Body; 6-10. Right Cylinder Push Rod; 6-11. Right Push Rod Nut; 6-12. Right Cylinder Downward Push Valve; 6-13. Right Cylinder Lifting Intake Valve; 6-14. Left Linear Guide Rail; 6-15. Left Linear Slider; 6-16. Right Linear Guide Rail; 6-17. Right Linear Slider. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0024] This invention provides a secondary rolling mechanism suitable for laying composite material strips on irregularly shaped workpieces with varying curvature surfaces, used to achieve secondary rolling of composite material strips 2 laid on irregularly shaped workpieces 1. For example... Figure 1 and Figure 2 As shown, the secondary roller pressing mechanism includes a mounting back plate 3, a main compaction mechanism 4, an auxiliary compaction mechanism 5, and a feedback lifting mechanism 6. The mounting back plate 3 can be fixed to an automatic tape-laying device or a spatial motion mechanism. The main compaction mechanism 4 is fixed to the mounting back plate 3 via a main compaction mechanism fixing seat 4-11. The feedback lifting mechanism 6 is fixed to the mounting back plate 3 via a lifting mechanism fixing plate 6-1. The auxiliary compaction mechanism 5 is connected to the left bearing seat 4-4 of the main compaction mechanism 4 via a left swing arm mounting seat 5-4, and to the left linear slider 6-15 of the feedback lifting mechanism 6 via a left tailstock mounting platform 5-18.

[0025] The working principle of the secondary rolling mechanism for laying tape on the surface of irregularly shaped workpieces with varying curvature provided by this invention is as follows: After the composite material belt 2 enters below the main pressure roller 4-1 of the main compaction mechanism 4, the main pressure roller 4-1 performs the first roll pressing on the composite material belt 2, laying the composite material belt 2 onto the irregular workpiece 1. Then, the auxiliary pressure roller 5-1-1 of the auxiliary compaction mechanism 5 performs the second roll pressing on the laid layer to enhance the adhesion effect of the composite material belt 2.

[0026] The main compaction mechanism 4 adopts a passive and flexible approach. On the one hand, it can automatically adapt to the changes in the surface curvature of the irregular workpiece 1. On the other hand, it can apply flexible pressure to the composite material belt 2 and has an elastic buffering effect, avoiding the impact of the main pressure roller 4-1 on the irregular workpiece 1 and the hard contact with the composite material belt 2, thereby protecting the workpiece and the composite material belt.

[0027] The auxiliary compaction mechanism 5 is designed as a linkage mechanism, closely following the movement of the main compaction mechanism 4, and performs a second rolling compaction on the laid composite material belt 2. The left elastic sliding pair 5-15 and the right elastic sliding pair 5-16 of the auxiliary compaction mechanism 5 are designed in a passive and flexible manner to ensure that the auxiliary pressure roller 5-1-1 can automatically adapt to the changes in the surface curvature of the irregular workpiece 1 and apply a flexible compaction force to the composite material belt 2.

[0028] The feedback lifting mechanism 6 can lift and press down the auxiliary compaction mechanism 5. When the corner of the irregular workpiece 1 is rolled, the pressure sensor of the auxiliary pressure roller component 5-1 in the auxiliary compaction mechanism 5 can monitor the roller pressure of the auxiliary pressure roller 5-1-1 in real time. When the roller pressure exceeds the set threshold, the control system sends a lifting command to the feedback lifting mechanism 6, which lifts the auxiliary compaction mechanism 5 to avoid the auxiliary compaction mechanism 5 getting stuck at the corner of the irregular workpiece 1.

[0029] Specifically, the main compaction mechanism 4 has the following structure: like Figure 3 and Figure 4 As shown, the main compaction mechanism 4 includes a main pressure roller 4-1, a left bearing 4-2, a right bearing 4-3, a left bearing seat 4-4, a right bearing seat 4-5, a main pressure roller fixing plate 4-6, a left guide post 4-7, a right guide post 4-8, a left linear bearing 4-9, a right linear bearing 4-10, a main pressure mechanism fixing seat 4-11, a left compression spring 4-12, a right compression spring 4-13, a left radial locking nut 4-14, a right radial locking nut 4-15, a left retaining ring 4-16, a right retaining ring 4-17, a hydraulic buffer 4-18, and a buffer locking nut 4-19.

[0030] The two ends of the main pressure roller 4-1 are respectively engaged with the left bearing 4-2 and the right bearing 4-3 of the main pressure roller. The left bearing 4-2 and the right bearing 4-3 of the main pressure roller are nested in the left bearing seat 4-4 and the right bearing seat 4-5, respectively. The left bearing seat 4-4 and the right bearing seat 4-5 are fixed to the main pressure roller fixing plate 4-6 by bolts. The main pressure roller 4-1 can rotate freely around its own axis.

[0031] The left guide post 4-7 and the right guide post 4-8 are fixed on the main pressure roller fixing plate 4-6. Simultaneously, the left guide post 4-7 and the right guide post 4-8 cooperate with the left linear bearing 4-9 and the right linear bearing 4-10 respectively, ensuring that the left guide post 4-7 and the right guide post 4-8 can move up and down within the left linear bearing 4-9 and the right linear bearing 4-10. The discs on the left guide post 4-7 and the right guide post 4-8 ensure that the left guide post 4-7 and the right guide post 4-8 will not detach downwards from the left linear bearing 4-9 and the right linear bearing 4-10. The left linear bearing 4-9 and the right linear bearing 4-10 are fixed to the main pressure mechanism fixing seat 4-11 by bolts.

[0032] The left compression spring 4-12 and the right compression spring 4-13 are respectively fitted onto the left guide post 4-7 and the right guide post 4-8. The bottoms of the left compression spring 4-12 and the right compression spring 4-13 contact the left radial locking nut 4-14 and the right radial locking nut 4-15, respectively, and the tops contact the left retaining ring 4-16 and the right retaining ring 4-17, respectively. The left guide post 4-7 and the right guide post 4-8 are provided with threads that mate with the left radial locking nut 4-14 and the right radial locking nut 4-15, ensuring that the positions of the left radial locking nut 4-14 and the right radial locking nut 4-15 on the left guide post 4-7 and the right guide post 4-8 are adjustable. After the positions of the left radial locking nut 4-14 and the right radial locking nut 4-15 are adjusted, they are securely fixed to the left guide post 4-7 and the right guide post 4-8 by tightening their internal set screws. The left retaining ring 4-16 and the right retaining ring 4-17 are in contact with the bottom end faces of the left linear bearing 4-9 and the right linear bearing 4-10, respectively.

[0033] When the left guide post 4-7 and the right guide post 4-8 slide within the left linear bearing 4-9 and the right linear bearing 4-10, the left compression spring 4-12 and the right compression spring 4-13 are compressed. These springs apply an elastic force to the left radial locking nut 4-14 and the right radial locking nut 4-15, which then transmits this elastic force to the left guide post 4-7 and the right guide post 4-8, and subsequently to the main pressure roller fixing plate 4-6, and finally to the main pressure roller 4-1. By adjusting the positions of the left radial locking nut 4-14 and the right radial locking nut 4-15 on the left guide post 4-7 and the right guide post 4-8 respectively, the compression of the left compression spring 4-12 and the right compression spring 4-13 can be adjusted, thereby adjusting the magnitude of the elastic force transmitted to the main pressure roller 4-1.

[0034] The hydraulic buffer 4-18 is located between the left linear bearing 4-9 and the right linear bearing 4-10, and is fixed to the main pressure mechanism mounting base 4-11 by two buffer locking nuts 4-19. The bottom of the hydraulic buffer 4-18 contacts the main pressure roller mounting plate 4-6. When the main pressure roller 4-1 contacts the surface of the irregular workpiece 1, the hydraulic buffer 4-18 can absorb the impact generated during the contact, effectively protecting the irregular workpiece.

[0035] Specifically, the auxiliary compaction mechanism 5 has the following structure: like Figure 5 and Figure 6 As shown, the auxiliary compaction mechanism 5 includes an auxiliary pressure roller component 5-1, a left swing arm 5-2, a left swing arm bearing 5-3, a left swing arm mounting seat 5-4, a left swing arm retaining spring 5-5, a left optical axis bearing 5-6, an optical axis 5-7, a left optical axis retaining spring 5-8, a right swing arm 5-9, a right swing arm bearing 5-10, a right swing arm mounting seat 5-11, a right swing arm retaining spring 5-12, a right optical axis bearing 5-13, a right optical axis retaining spring 5-14, a left elastic sliding pair 5-15, a right elastic sliding pair 5-16, a left tailstock bearing 5-17, a left tailstock mounting platform 5-18, a left tailstock retaining spring 5-19, a left bearing cover 5-20, a right tailstock bearing 5-21, a right tailstock mounting platform 5-22, a right tailstock retaining spring 5-23, and a right bearing cover 5-24.

[0036] One end of the left swing arm 5-2 is connected to the left swing arm mounting base 5-4 via a left swing arm bearing 5-3 in the form of a rotary joint. The left swing arm bearing 5-3 is nested in the left swing arm 5-2. The left swing arm retainer 5-5 is installed on the shaft end of the left swing arm mounting base 5-4 to prevent lateral movement of the left swing arm 5-2. The other end of the left swing arm 5-2 is connected to the left end of the optical axis 5-7 via a left optical axis bearing 5-6 in the form of a rotary joint. The left optical axis bearing 5-6 is nested in the left swing arm 5-2. The left optical axis retainer 5-8 is installed on the left shaft end of the optical axis 5-7 to prevent lateral movement of the left swing arm 5-2. Similarly, one end of the right swing arm 5-9 is connected to the right swing arm mounting base 5-11 via a right swing arm bearing 5-10 in the form of a rotary joint. The right swing arm bearing 5-10 is nested in the right swing arm 5-9, and the right swing arm retaining spring 5-12 is installed on the shaft end of the right swing arm mounting base 5-11 to prevent lateral movement of the right swing arm 5-9. The other end of the right swing arm 5-9 is connected to the right end of the optical axis 5-7 via a right optical axis bearing 5-13 in the form of a rotary joint. The right optical axis bearing 5-13 is nested in the right swing arm 5-9, and the right optical axis retaining spring 5-14 is installed on the right shaft end of the optical axis 5-7 to prevent lateral movement of the right swing arm 5-9.

[0037] The left and right ends of the auxiliary pressure roller component base 5-1-9 of the auxiliary pressure roller component 5-1 are respectively bolted to the left swing arm 5-2 and the right swing arm 5-9. The left optical rod 5-15-1 of the left elastic sliding pair 5-15 is connected to the optical axis 5-7 by a rotating joint, and the right optical rod 5-16-1 of the right elastic sliding pair 5-16 is also connected to the optical axis 5-7 by a rotating joint. The left elastic sliding pair 5-15 and the right elastic sliding pair 5-16 have the same structural form. The left optical rod 5-15-1 can extend and retract in the left guide tailstock 5-15-2, and the right optical rod 5-16-1 can extend and retract in the right guide tailstock 5-16-2. The left guide tailstock 5-15-2 is connected to the left tailstock mounting platform 5-18 via a left tailstock bearing 5-17 in the form of a rotating joint. The left tailstock retaining spring 5-19 is installed on the left shaft end of the left guide tailstock 5-15-2 to prevent lateral movement of the left guide tailstock 5-15-2. The left bearing cover 5-20 is fixed to the left tailstock mounting platform 5-18 with bolts to prevent lateral movement of the left tailstock bearing 5-17. Similarly, the right guide tailstock 5-16-2 is connected to the right tailstock mounting platform 5-22 via a right tailstock bearing 5-21 in the form of a rotating joint. The right tailstock retaining spring 5-23 is installed on the right shaft end of the right guide tailstock 5-16-2 to prevent lateral movement of the right guide tailstock 5-16-2. The right bearing cover 5-24 is fixed to the right tailstock mounting platform 5-22 with bolts to prevent lateral movement of the right tailstock bearing 5-21.

[0038] The left swing arm mounting base 5-4 and the right swing arm mounting base 5-11 are fixedly connected to the left bearing seat 4-4 and the right bearing seat 4-5 of the main compaction mechanism 4 respectively by bolts. The left tailstock mounting platform 5-18 and the right tailstock mounting platform 5-22 are fixedly connected to the left linear slider 6-15 and the right linear slider 6-17 of the feedback lifting mechanism 6 respectively by bolts. The required pressure force of the auxiliary pressure roller 5-1-1 of the auxiliary pressure roller component 5-1 comes from the left elastic sliding pair 5-15 and the right elastic sliding pair 5-16.

[0039] Specifically, the structure of the elastic sliding joint 5-15 is as follows: The left elastic sliding joint 5-15 and the right elastic sliding joint 5-16 have the same structural form. The left elastic sliding joint 5-15 includes a left smooth rod 5-15-1, a left guide tailstock 5-15-2, a left built-in compression spring 5-15-3, and a left adjusting bolt 5-15-4; the right elastic sliding joint 5-16 includes a right smooth rod 5-16-1, a right guide tailstock 5-16-2, a right built-in compression spring 5-16-3, and a right adjusting bolt 5-16-4.

[0040] by Figure 7 The principle of motion is illustrated using the cross-sectional view of the left elastic sliding joint 5-15 shown as an example: The left guide rod 5-15-1 and the left guide tail seat 5-15-2 are in a sliding fit relationship. A left-side built-in compression spring 5-15-3 is installed inside the left guide tail seat 5-15-2. The top of the left-side built-in compression spring 5-15-3 contacts the top of the inner wall of the left guide tail seat 5-15-2, and the bottom of the left-side built-in compression spring 5-15-3 contacts the top of the left guide rod 5-15-1. When the left guide rod 5-15-1 slides between the left guide tail seats 5-15-2, the left-side built-in compression spring 5-15-3 is compressed. A threaded hole is provided at the top of the left guide rod 5-15-1, and the left-side adjusting bolt 5-15-4 is threadedly engaged with the left guide rod 5-15-1. By adjusting the depth to which the left adjusting bolt 5-15-4 is screwed into the left guide rod 5-15-1, the initial compression of the left built-in compression spring 5-15-3 can be adjusted, thereby adjusting the magnitude of the elastic force applied by the left built-in compression spring 5-15-3 to the left guide rod 5-15-1. The top screw head of the left adjusting bolt 5-15-4 is restricted by the top end face of the left guide tail seat 5-15-2, ensuring that the left guide rod 5-15-1 will not slip out of the left guide tail seat 5-15-2 when subjected to the elastic force of the left built-in compression spring 5-15-3.

[0041] After the left optical rod 5-15-1 and the right optical rod 5-16-1 bear the elastic force of the left built-in compression spring 5-15-3 and the right built-in compression spring 5-16-3 respectively, the left optical rod 5-15-1 and the right optical rod 5-16-1 transmit the elastic force to the optical axis 5-7, and then to the left swing arm 5-2 and the right swing arm 5-9. Then the left swing arm 5-2 and the right swing arm 5-9 transmit the elastic force to the auxiliary pressure roller component base 5-1-9 of the auxiliary pressure roller component 5-1, and finally apply it to the laid composite material belt 2 through the auxiliary pressure roller 5-1-1.

[0042] Specifically, the auxiliary pressure roller component 5-1 has the following structure: like Figure 8 As shown, the auxiliary pressure roller component 5-1 includes an auxiliary pressure roller 5-1-1, a left auxiliary pressure roller bearing 5-1-2, a right auxiliary pressure roller bearing 5-1-3, a left auxiliary pressure roller bearing seat 5-1-4, a right auxiliary pressure roller bearing seat 5-1-5, an auxiliary pressure roller fixing plate 5-1-6, a left guide screw 5-1-7, a right guide screw 5-1-8, an auxiliary pressure roller component base 5-1-9, and a pressure sensor 5-1-10.

[0043] The two ends of the auxiliary pressure roller 5-1-1 are respectively engaged with the left-side bearing 5-1-2 and the right-side bearing 5-1-3 of the auxiliary pressure roller. The left-side bearing 5-1-2 and the right-side bearing 5-1-3 of the auxiliary pressure roller are nested in the left-side bearing seat 5-1-4 and the right-side bearing seat 5-1-5 of the auxiliary pressure roller, respectively. The left-side bearing seat 5-1-4 and the right-side bearing seat 5-1-5 of the auxiliary pressure roller are fixed to the auxiliary pressure roller fixing plate 5-1-6 by bolts. The auxiliary pressure roller 5-1-1 can rotate around its own axis. The auxiliary pressure roller fixing plate 5-1-6 is fixed with a left-side guide screw 5-1-7 and a right-side guide screw 5-1-8, both of which are in sliding engagement with the auxiliary pressure roller component base 5-1-9. A pressure sensor 5-1-10 is provided between the auxiliary pressure roller component base 5-1-9 and the auxiliary pressure roller fixing plate 5-1-6. The top of the pressure sensor 5-1-10 is fixedly connected to the auxiliary pressure roller component base 5-1-9 by bolts.

[0044] When the left-side built-in compression spring 5-15-3 and right-side built-in compression spring 5-16-3 inside the left-side elastic sliding joint 5-15 and right-side elastic sliding joint 5-16 apply elastic force to the left-side optical rod 5-15-1 and right-side optical rod 5-16-1, the force is first transmitted to the optical axis 5-7, and then to the left-side swing arm 5-2 and right-side swing arm 5-9. Because the two ends of the auxiliary pressure roller component base 5-1-9 are fixedly connected to the left-side swing arm 5-2 and right-side swing arm 5-9 respectively by bolts, the elastic force is further transmitted to the auxiliary pressure roller component base 5-1-9, and then the auxiliary pressure roller component base 5-1-9 begins to apply pressure to the pressure sensor 5-1-10. The guiding effect provided by the left-side guide screw 5-1-7 and right-side guide screw 5-1-8 ensures the correct direction of the pressure applied by the auxiliary pressure roller component base 5-1-9 to the pressure sensor 5-1-10, ensuring that the pressure sensor 5-1-10 is subjected to force at its center. After receiving pressure, the pressure sensor 5-1-10 transmits the pressure to the auxiliary pressure roller fixing plate 5-1-6, and finally to the auxiliary pressure roller 5-1-1, which applies the pressure to the laid composite material belt 2. Therefore, the pressure sensor 5-1-10 can monitor the magnitude of the roller pressure of the auxiliary pressure roller 5-1-1 and provide feedback to the control system.

[0045] When the auxiliary compaction mechanism 5 passes the corner of the irregular workpiece 1, the control system judges the roller pressure value fed back by the pressure sensor 5-1-10. When it exceeds the safety roller pressure threshold set by the system, the control system controls the feedback lifting mechanism 6 to lift the auxiliary compaction mechanism 5 to avoid jamming. After passing the corner, the control system controls the feedback lifting mechanism 6 to press the auxiliary compaction mechanism 5 down again.

[0046] The auxiliary compaction mechanism 5 adopts the principle of a four-bar linkage: The auxiliary compaction mechanism 5 forms a localized passive flexible four-bar linkage. The rotational joint between the left swing arm 5-2 and the left swing arm mounting base 5-4 serves as the first rotational joint of the passive flexible four-bar linkage; the rotational joints between the left swing arm 5-2 and the optical axis 5-7, and between the left optical rod 5-15-1 and the optical axis 5-7, serve as the second rotational joint of the passive flexible four-bar linkage; the passive flexible telescoping between the left optical rod 5-15-1 and the left guide tailstock 5-15-2 serves as a sliding joint of the passive flexible four-bar linkage; and the rotational joint between the left guide tailstock 5-15-2 and the left tailstock mounting platform 5-18 serves as the third rotational joint of the passive flexible four-bar linkage. Similarly, the rotating joint between the right swing arm 5-9 and the right swing arm mounting base 5-11 is considered the first rotating joint; the rotating joint between the right swing arm 5-9 and the optical axis 5-7, and the rotating joint between the right optical rod 5-16-1 and the optical axis 5-7, are considered the second rotating joint; the passive flexible telescoping between the right optical rod 5-16-1 and the right guide tailstock 5-16-2 is considered a sliding joint; and the rotating joint between the right guide tailstock 5-16-2 and the right tailstock mounting platform 5-22 is considered the third rotating joint. Therefore, the auxiliary compaction mechanism 5 is a four-bar linkage consisting of three rotating joints and one sliding joint. Its sliding joint is designed with passive flexibility and also has the characteristic of adjustable flexible force.

[0047] Specifically, the feedback lifting mechanism 6 is as follows: like Figure 9 and Figure 10 As shown, the feedback lifting mechanism 6 includes a lifting mechanism fixing plate 6-1, a left cylinder tailstock 6-2, a left cylinder body 6-3, a left cylinder push rod 6-4, a left push rod nut 6-5, a left cylinder downward thrust valve 6-6, a left cylinder lifting intake valve 6-7, a right cylinder tailstock 6-8, a right cylinder body 6-9, a right cylinder push rod 6-10, a right push rod nut 6-11, a right cylinder downward thrust valve 6-12, a right cylinder lifting intake valve 6-13, a left linear guide rail 6-14, a left linear slider 6-15, a right linear guide rail 6-16, and a right linear slider 6-17.

[0048] The left cylinder tailstock 6-2 is bolted to the lifting mechanism fixing plate 6-1. The tail of the left cylinder body 6-3 is connected to the left cylinder tailstock 6-2. The left cylinder push rod 6-4 can extend and retract within the left cylinder body 6-3. Two identical left cylinder push rod nuts 6-5 are installed at the ends of the left cylinder push rod 6-4. The left cylinder body 6-3 is equipped with a left cylinder downward thrust valve 6-6 and a left cylinder lifting intake valve 6-7. When compressed gas enters through the left cylinder downward thrust valve 6-6, the left cylinder push rod 6-4 extends downward from the left cylinder body 6-3; when compressed gas enters through the left cylinder lifting intake valve 6-7, the left cylinder push rod 6-4 retracts upward within the left cylinder body 6-3. The extension and retraction speed of the left cylinder push rod 6-4 in the left cylinder body 6-3 can be adjusted by regulating the flow rate of the compressed gas entering the left cylinder lower thrust valve 6-6 and the left cylinder lifting intake valve 6-7.

[0049] Similarly, the right cylinder tailstock 6-8 is bolted to the lifting mechanism fixing plate 6-1, and the tail of the right cylinder body 6-9 is connected to the right cylinder tailstock 6-8. The right cylinder push rod 6-10 can extend and retract within the right cylinder body 6-9, and two identical right push rod nuts 6-11 are installed at the ends of the right cylinder push rod 6-10. The right cylinder body 6-9 is equipped with a right cylinder downward thrust valve 6-12 and a right cylinder lifting intake valve 6-13. When compressed gas enters through the right cylinder downward thrust valve 6-12, the right cylinder push rod 6-10 extends downward from the right cylinder body 6-9; when compressed gas enters through the right cylinder lifting intake valve 6-13, the right cylinder push rod 6-10 retracts upward within the right cylinder body 6-9. The extension and retraction speed of the right cylinder push rod 6-10 in the right cylinder body 6-9 can be adjusted by regulating the flow rate of the compressed gas entering the right cylinder lower thrust valve 6-12 and the right cylinder lifting intake valve 6-13.

[0050] The left linear guide rail 6-14 and the right linear guide rail 6-16 are fixed to the lifting mechanism fixing plate 6-1 by bolts, and the left linear slider 6-15 and the right linear slider 6-17 slide on the left linear guide rail 6-14 and the right linear guide rail 6-16 respectively.

[0051] The left cylinder push rod 6-4 is fixedly connected to the left tailstock mounting platform 5-18 of the auxiliary compaction mechanism 5 via the left push rod nut 6-5, and the right cylinder push rod 6-10 is fixedly connected to the right tailstock mounting platform 5-22 of the auxiliary compaction mechanism 5 via the right push rod nut 6-11. Since the left tailstock mounting platform 5-18 and the right tailstock mounting platform 5-22 are respectively fixedly connected to the left linear slider 6-15 and the right linear slider 6-17 via bolts, when compressed gas enters the left cylinder lower thrust valve 6-6 and the right cylinder lower thrust valve 6-12, the left cylinder push rod 6-4 and the right cylinder push rod 6-10 can push the left tailstock mounting platform 5-18 and the right tailstock mounting platform 5-22 downwards along the left linear guide rail 6-14 and the right linear guide rail 6-16 respectively, thereby pushing the auxiliary compaction mechanism 5 downwards and pressing the auxiliary pressure roller 5-1-1 of the auxiliary compaction mechanism 5 onto the irregular workpiece 1. When compressed gas enters through the left cylinder lifting inlet valve 6-7 and the right cylinder lifting inlet valve 6-13, the left cylinder push rod 6-4 and the right cylinder push rod 6-10 can lift the left tailstock mounting platform 5-18 and the right tailstock mounting platform 5-22 upwards along the left linear guide rail 6-14 and the right linear guide rail 6-16 respectively, thereby lifting the auxiliary compaction mechanism 5 to avoid the corner of the irregular workpiece 1 and prevent jamming. The lifting and pressing speed of the auxiliary compaction mechanism 5 can be adjusted by regulating the flow rate of the compressed gas entering the left cylinder lower push valve 6-6, the right cylinder lower push valve 6-12, the left cylinder lifting inlet valve 6-7, and the right cylinder lifting inlet valve 6-13, thus avoiding impact with the irregular workpiece 1.

[0052] The feedback lifting mechanism 6 and the pressure sensor 5-1-10 of the auxiliary compaction mechanism 5 form a feedback control system, which can prevent the auxiliary compaction mechanism 5 from jamming when passing through the corner of the irregular workpiece 1. The pressure sensor 5-1-10 can monitor the roller pressure of the auxiliary pressure roller 5-1-1 in the auxiliary compaction mechanism 5 and feed it back to the control system. When the roller pressure of the auxiliary pressure roller 5-1-1 at the corner of the irregular workpiece 1 exceeds the set safety threshold, the control system controls the feedback lifting mechanism 6 to operate, causing the left cylinder lifting inlet valve 6-7 and the right cylinder lifting inlet valve 6-13 to enter compressed gas. This controls the left cylinder push rod 6-4 and the right cylinder push rod 6-10 to retract the left tailstock mounting platform 5-18 and the right tailstock mounting platform 5-22 upwards along the left linear guide rail 6-14 and the right linear guide rail 6-16, respectively. This lifts the auxiliary compaction mechanism 5 to avoid the corner of the irregular workpiece 1 and prevent jamming. After passing the corner, the auxiliary compaction mechanism 5 is pressed down again.

[0053] like Figure 11 As shown, the secondary rolling mechanism for laying tape on the surface of irregularly shaped workpieces with varying curvature proposed in this invention can be equivalent to a six-bar linkage mechanism.

[0054] The movable joint between component 1 and component 2 refers to the movement of the left guide post 4-7 and the right guide post 4-8 within the left linear bearing 4-9 and the right linear bearing 4-10. Because the left compression spring 4-12 and the right compression spring 4-13 are compressed and generate elasticity during the movement, this movable joint is a passive flexible drive joint.

[0055] The rotating joint between component 2 and component 3 refers to the rotational movement between the left swing arm 5-2 and the left swing arm mounting base 5-4, and between the right swing arm 5-9 and the right swing arm mounting base 5-11.

[0056] The rotational joint between component 3 and component 4 refers to the rotational motion involved on optical axis 5-7, including the rotational motion between the left swing arm 5-2 and optical axis 5-7, the rotational motion between the left optical rod 5-15-1 and optical axis 5-7, the rotational motion between the right swing arm 5-9 and optical axis 5-7, and the rotational motion between the right optical rod 5-16-1 and optical axis 5-7.

[0057] The movable joint between component 4 and component 5 refers to the telescopic movement of the left smooth rod 5-15-1 in the left guide tailstock 5-15-2 and the telescopic movement of the right smooth rod 5-16-1 in the right guide tailstock 5-16-2. Because the telescopic movement involves the elastic force generated by the compression of the left built-in compression spring 5-15-3 and the right built-in compression spring 5-16-3, this movable joint is a passive flexible drive joint.

[0058] The rotating joint between component 5 and component 6 refers to the rotational movement between the left guide tailstock 5-15-2 and the left tailstock mounting platform 5-18, and the rotational movement between the right guide tailstock 5-16-2 and the right tailstock mounting platform 5-22.

[0059] The movable joint between component 6 and component 1 refers to the telescopic movement of the left cylinder push rod 6-4 within the left cylinder body 6-3 and the telescopic movement of the right cylinder push rod 6-10 within the right cylinder body 6-9. Because the telescopic movement of the cylinders is driven by compressed gas, this movable joint is an actively driven joint.

[0060] In addition, the rotational joints between component 3 and the main pressure roller and the auxiliary pressure roller refer to the rotational motion of the main pressure roller 4-1 around its own axis and the rotational motion of the auxiliary pressure roller 5-1-1 around its own axis, which are local degrees of freedom.

[0061] This six-bar linkage ensures the adaptive effect of the main pressure roller 4-1 to changes in the surface curvature of the irregular workpiece 1, the adaptive effect of the auxiliary pressure roller 5-1-1 to changes in the surface curvature of the irregular workpiece 1, the lifting effect of the auxiliary pressure roller 5-1-1 to avoid the corners of the irregular workpiece 1, and the rolling effect of the main pressure roller 4-1 and the auxiliary pressure roller 5-1-1 on the composite material belt 2. Applying the formula for calculating the degrees of freedom of a planar mechanism, the six-bar linkage has three degrees of freedom. The three corresponding drives are the passive drives of the left compression spring 4-12 and the right compression spring 4-13, the passive drives of the left built-in compression spring 5-15-3 and the right built-in compression spring 5-16-3, and the active drive of compressed gas on the left cylinder push rod 6-4 and the right cylinder push rod 6-10. This secondary rolling mechanism with a six-bar linkage has the advantages of compact structure and reliable operation.

[0062] The secondary rolling mechanism for laying tape on the surface of irregularly shaped workpieces with varying curvature, as proposed in this invention, operates as follows: In order to achieve a good compaction effect on the surface of the irregular workpiece 1 with varying curvature, the composite material strip 2 is rolled twice using the secondary rolling mechanism proposed in this invention to enhance the adhesion between the composite material strip and the surface of the irregular workpiece, as well as between the composite material strips themselves.

[0063] First, the main compaction mechanism 4 in the secondary rolling mechanism performs the first rolling of the composite material belt 2 below the main pressure roller 4-1. Specifically, after the composite material belt 2 enters below the main pressure roller 4-1, the hydraulic buffer 4-18 in the main compaction mechanism 4 absorbs the impact force of the main pressure roller 4-1 at the moment of contact with the irregular workpiece 1. The main pressure roller 4-1 receives the elastic force generated by the compression of the left compression spring 4-12 and the right compression spring 4-13, and applies flexible pressure to the composite material belt 2, laying the composite material belt 2 on the irregular workpiece 1, completing the first rolling, and obtaining the composite material belt after the first rolling.

[0064] Then, the auxiliary compaction mechanism 5 in the secondary rolling mechanism performs a second rolling on the composite material strip after the first rolling. Specifically, the auxiliary compaction roller 5-1-1 in the auxiliary compaction roller component 5-1 directly contacts the composite material strip after the first rolling. The auxiliary compaction mechanism 5 has the form characteristics of a four-bar linkage, which can ensure that the auxiliary compaction roller 5-1-1 can automatically adapt to the curvature changes of the irregular workpiece 1 surface. The auxiliary compaction roller 5-1-1 receives elastic forces from the left built-in compression spring 5-15-3 and the right built-in compression spring 5-16-3, thereby applying flexible compaction force to the laid-up layer and completing the second rolling.

[0065] During the rolling process, the feedback lifting mechanism 6, in conjunction with the pressure sensor 5-1-10 in the auxiliary pressure roller component 5-1, achieves the effect of adapting to the corner of the irregular workpiece 1. Specifically, when the auxiliary compaction mechanism 5 rolls the corner of the irregular workpiece 1, the pressure sensor 5-1-10 monitors the roller pressure of the auxiliary pressure roller 5-1-1 in real time and feeds back the monitoring signal to the control system. The control system judges the roller pressure value fed back by the pressure sensor 5-1-10. When the roller pressure exceeds the set safety threshold, the control system sends a lifting command to the feedback lifting mechanism 6. After receiving the lifting command, the feedback lifting mechanism 6 acts to allow compressed gas to enter the left cylinder lifting inlet valve 6-7 and the right cylinder lifting inlet valve 6-13. This controls the left cylinder push rod 6-4 and the right cylinder push rod 6-10 to retract the left tailstock mounting platform 5-18 and the right tailstock mounting platform 5-22 upwards along the left linear guide rail 6-14 and the right linear guide rail 6-16, respectively. This lifts the auxiliary compaction mechanism 5 to avoid the corner of the irregular workpiece 1 and prevent jamming. When the control system determines that the auxiliary compaction mechanism 5 has passed the corner, the control system sends a pressing command to the feedback lifting mechanism 6. After receiving the pressing command, the feedback lifting mechanism 6 acts to allow compressed gas to enter the left cylinder lowering valve 6-6 and the right cylinder lowering valve 6-12, pressing the auxiliary compaction mechanism 5 down again to continue the second rolling.

[0066] The secondary rolling mechanism proposed in this invention, suitable for laying tape on irregularly shaped workpieces with varying curvature surfaces, can be widely applied in automated tape laying equipment for composite materials in aerospace, automotive manufacturing, and wind turbine blade industries. It is particularly suitable for automated tape laying operations on irregularly shaped workpieces with varying curvature surfaces and corner features. This invention features a compact and reliable overall structure, small footprint, and strong controllability. It can be integrated as an independent functional module into automated tape laying devices, effectively improving the quality and efficiency of laying composite material tapes on irregularly shaped workpieces with varying curvature surfaces. It has significant industrial practical value and promising prospects for widespread application.

[0067] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related system fields, are similarly included within the scope of protection of the present invention.

Claims

1. A secondary rolling mechanism suitable for laying tape on the surface of irregularly shaped workpieces with varying curvature, characterized in that, include: Install backplate (3) for connection with external motion mechanism; The main compaction mechanism (4) is set on the mounting back plate (3) and is used to perform the first roll pressing on the composite material strip (2) laid on the surface of the irregular workpiece (1); The auxiliary compaction mechanism (5) is connected to the main compaction mechanism (4) and is used to follow the movement of the main compaction mechanism (4) to perform a second roll compaction on the composite material belt (2) after the first roll compaction. as well as Feedback lifting mechanism (6) is provided on the mounting back plate (3) and connected to the auxiliary compaction mechanism (5) for driving the auxiliary compaction mechanism (5) to rise and fall relative to the mounting back plate (3) in response to the control signal characterizing the roller pressure; At least one of the main compaction mechanism (4) and the auxiliary compaction mechanism (5) adopts a passive flexible connection method to generate adaptive displacement as the surface curvature of the irregular workpiece (1) changes.

2. The secondary rolling mechanism according to claim 1, characterized in that, The main compaction mechanism (4) includes a main pressure roller (4-1), a main pressure roller fixing plate (4-6), a guide column, a linear bearing, a main compaction mechanism fixing seat (4-11), and elastic elements; The main pressure roller (4-1) is rotatably mounted on the main pressure roller fixing plate (4-6). The guide post is fixed to the main pressure roller fixing plate (4-6) and slides in cooperation with the linear bearing fixed to the main pressure mechanism fixing seat (4-11); The elastic elements (4-12, 4-13) are sleeved on the guide posts (4-7, 4-8) and are used to apply elastic pressure to the main pressure roller (4-1).

3. The secondary rolling mechanism according to claim 2, characterized in that, The main compaction mechanism (4) also includes a hydraulic buffer (4-18), which is set on the main compaction mechanism fixing seat (4-11). Its buffer end is in contact with the main pressure roller fixing plate (4-6) to absorb the impact generated when the main pressure roller (4-1) contacts the surface of the irregular workpiece (1).

4. The secondary rolling mechanism according to claim 2, characterized in that, The main compaction mechanism (4) also includes a locking nut set on the guide post. The lower end of the elastic element abuts against the locking nut. By adjusting the position of the locking nut on the guide post, the compression amount of the elastic element can be adjusted, thereby adjusting the roller pressure of the main pressure roller (4-1).

5. The secondary rolling mechanism according to claim 1, characterized in that, The auxiliary compaction mechanism (5) includes an auxiliary pressure roller component (5-1), a swing arm, an optical shaft (5-7), and an elastic sliding pair; One end of the swing arm is rotatably connected to the main compaction mechanism (4), and the other end of the swing arm is rotatably connected to the optical axis (5-7); The auxiliary pressure roller component (5-1) is connected to the swing arm, and the auxiliary pressure roller component (5-1) is provided with an auxiliary pressure roller (5-1-1). One end of the elastic sliding pair is rotatably connected to the optical axis (5-7), and the other end of the elastic sliding pair is rotatably connected to the feedback lifting mechanism (6). The elastic sliding pair applies elastic pressure to the auxiliary pressure roller (5-1-1) in a passive and flexible manner.

6. The secondary rolling mechanism according to claim 5, characterized in that, The elastic sliding pair includes a guide rod, a guide tailstock, and a built-in compression spring (5-15-3, 5-16-3). The optical rod is slidably engaged with the guide tail seat, and the built-in compression spring is disposed inside the guide tail seat. One end of the built-in compression spring abuts against the inner wall of the guide tail seat, and the other end of the built-in compression spring abuts against the optical rod. When the optical rod slides in the guide tailstock, it compresses the built-in compression spring. The built-in compression spring applies an elastic force to the optical rod, and the elastic force is transmitted to the auxiliary pressure roller (5-1-1) through the optical axis (5-7) and the swing arm.

7. The secondary rolling mechanism according to claim 6, characterized in that, The elastic sliding pair also includes an adjusting bolt. The end of the optical rod has a threaded hole. The adjusting bolt engages with the threaded hole. By adjusting the depth to which the adjusting bolt is screwed into the optical rod, the initial compression of the built-in compression spring can be adjusted, thereby adjusting the roller pressure of the auxiliary pressure roller (5-1-1).

8. The secondary rolling mechanism according to claim 5, characterized in that, The auxiliary pressure roller component (5-1) also includes a pressure sensor (5-1-10), which is disposed between the auxiliary pressure roller (5-1-1) and the swing arm, and is used to monitor the roller pressure of the auxiliary pressure roller (5-1-1) in real time and feed the monitoring signal back to the control system. When the roller pressure exceeds a preset threshold, the control system sends a lifting command to the feedback lifting mechanism (6).

9. The secondary rolling mechanism according to claim 8, characterized in that, The control system receives the roller pressure signal fed back by the pressure sensor (5-1-10). When the roller pressure exceeds the preset threshold, the control system sends a lifting command to the feedback lifting mechanism (6). When the roller pressure recovers to below the preset threshold, the control system sends a pressing command to the feedback lifting mechanism (6).

10. The secondary rolling mechanism according to claim 1, characterized in that, The feedback lifting mechanism (6) includes a cylinder, a linear guide rail, and a linear slider; The cylinder body is fixed to the mounting back plate (3), and the cylinder push rod is connected to the auxiliary compaction mechanism (5). The linear guide rail is fixed on the mounting back plate (3), and the linear slider is fixed on the auxiliary compaction mechanism (5) and slides with the linear guide rail; When the cylinder push rod extends or retracts, it drives the auxiliary compaction mechanism (5) to move up and down along the linear guide rail.

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