A paper sheet adhesive film removing and piling device for a carbon fiber prepreg surface and a working method thereof

Abstract

The application relates to the technical field of automation equipment, in particular to a paper sheet and adhesive film removing and stacking device for the surface of carbon fiber prepreg and a working method. The device comprises a sliding rail, a portal truss mechanical arm, a multi-size storage bin, a release paper stripping device, a pressing and forming device, a six-axis mechanical arm and a control console; the multi-size storage bin is located on the sliding rail and can slide left and right along the sliding rail; the portal truss mechanical arm is located above the multi-size storage bin; the release paper stripping device and the six-axis mechanical arm are located on the same side of the sliding rail, the release paper stripping device is located below the portal truss mechanical arm and parallel to the portal truss mechanical arm, and the pressing and forming device is close to the outer side of the release paper stripping device. The device can work continuously and stably, is faster than manual operation, and significantly improves the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a device and method for removing paper film buildup on the surface of carbon fiber prepreg. Background Technology

[0002] Carbon fiber prepreg is a composite material made by bonding epoxy resin to carbon fibers using high-pressure, high-temperature technology. It consists of carbon fiber yarn, epoxy resin, release paper, and other materials, processed through coating, hot pressing, cooling, lamination, and winding. Carbon fiber prepreg is an intermediate material in the manufacture of composite materials and their components, forming the basic unit of the composite material. Its uniformity and stability are crucial for ensuring the quality and reliability of the composite material and its components.

[0003] In the manufacture of carbon fiber composite leaf springs, the upper and lower surfaces of the carbon fiber prepreg are covered with paper film, which typically needs to be removed manually. Manual removal of the paper film is relatively inefficient and slow, becoming a key bottleneck affecting production efficiency. Furthermore, manual removal requires operators to perform manual tasks for extended periods, especially in high-volume production, leading to heavy workloads and fatigue. It also requires a high degree of labor intensity, increasing labor costs, particularly significantly with large production volumes.

[0004] Therefore, how to design an efficient automated device to complete this work process faster and improve production efficiency has become one of the urgent problems to be solved in this field. Summary of the Invention

[0005] To address the shortcomings of existing technologies where removing the paper film from carbon fiber prepregs largely relies on manual removal, which is time-consuming, labor-intensive, and inefficient, this invention provides a device and method for removing and stacking paper film on the surface of carbon fiber prepregs. Through a fully automated removal and stacking device, the efficiency and precision of removing and stacking paper film from the surface of carbon fiber prepregs are improved, achieving automated production line production of paper and film removal and stacking of carbon fiber prepregs. This completely solves the problems of efficiency, precision, stability, and applicability of existing manual equipment.

[0006] To address the aforementioned technical problems, this application provides the following technical solution:

[0007] A device for removing paper film buildup from the surface of carbon fiber prepreg includes a slide rail, a gantry truss robotic arm, a multi-size storage bin, a release paper peeling device, a pressing and forming device, a six-axis robotic arm, and a control console.

[0008] The multi-size storage bin is located on a slide rail and can slide left and right along the slide rail; the gantry truss robotic arm is located above the multi-size storage bin; the release paper peeling device and the six-axis robotic arm are located on the same side of the slide rail, the release paper peeling device is located below the gantry truss robotic arm and parallel to the gantry truss robotic arm, and the pressing and forming device is located near the outside of the release paper peeling device; the six-axis robotic arm is located within the space enclosed by the slide rail, the release paper peeling device and the pressing and forming device.

[0009] The gantry crane includes a gantry rail, a first lead screw is provided below the gantry rail, the gantry rail and the first lead screw are parallel to each other, the motor is located at one end of the first lead screw, at least one gantry manipulator is provided on the gantry rail, the gantry manipulator is connected to the first lead screw, and the gantry manipulator can move horizontally along the gantry rail through the transmission of the first lead screw.

[0010] The gantry manipulator is equipped with a base, on which a slider is fixed. The slider can slide relative to a vertical guide rail. A gear is provided on the base, and a vertical rack is fixed to one side of the vertical guide rail. The rack and gear mesh with each other, and the rack is fixed to the manipulator. When the gear rotates, the rack moves in the vertical direction, thereby causing the vertical guide rail and the slider to slide relative to each other, and causing the manipulator arm of the gantry manipulator to move vertically.

[0011] The bottom of the truss manipulator arm is equipped with a vacuum suction cup for picking up carbon fiber prepreg from multi-sized storage bins and placing it into the release paper peeling device.

[0012] The multi-size storage bins are equipped with various material boxes of different lengths, and each material box is equipped with a detection sensor that can monitor the product capacity in real time.

[0013] The release paper peeling device includes a peeling pad, a pressing cross plate on the outer side of the peeling pad, and a vertically placed peeling base plate on the inner side. There is a gap between the inner edge of the peeling pad and the peeling base plate. A pressing guide shaft is provided on the back of the pressing cross plate. A peeling pressure plate is provided above the peeling pad. The peeling pressure plate is driven by a drive motor to press the prepreg onto the peeling pad. A paper removal suction cup is provided below the peeling pad, and a first vision detection system is provided on one side of the paper removal suction cup.

[0014] The paper removal suction cup is located on a synchronous transmission belt, and a first transmission motor is provided at one end of the synchronous transmission belt; the first transmission motor drives the synchronous transmission belt to move, thereby driving the paper removal suction cup to move horizontally.

[0015] The pressing and forming device is provided with a pressing mold in the middle, and the pressing mold is open at both ends and has baffles on the front and rear sides.

[0016] The outer side of the pressing and forming device is provided with a film removal suction cup synchronous belt. The film removal suction cup synchronous belt is provided with a film removal suction cup mounting frame that can slide left and right along the film removal suction cup synchronous belt. The film removal suction cup is fixed on the film removal suction cup mounting frame. One end of the film removal suction cup synchronous belt is connected to a second drive motor. The second drive motor controls the film removal suction cup synchronous belt, thereby driving the film removal suction cup to move left and right.

[0017] The inner side of the pressing and forming device is provided with a pressing wheel timing belt. The pressing wheel timing belt is provided with at least one pressing wheel mounting bracket that can slide left and right along the pressing wheel timing belt. A pressing wheel is fixed on the pressing wheel mounting bracket. The pressing wheel is located above the groove formed by the two baffles of the pressing mold. One end of the pressing wheel timing belt is connected to a third drive motor. The third drive motor controls the pressing wheel timing belt, thereby driving the pressing wheel to move left and right. The lower part of the pressing mold is connected to a second lead screw, which controls the vertical movement of the pressing mold.

[0018] The pressing mold has a vacuum adsorption function; a second vision inspection system is provided on one side of the film removal suction cup.

[0019] The working method of the paper film removal and accumulation device on the surface of carbon fiber prepreg of the present invention includes the following steps:

[0020] ① The truss robot uses a vacuum suction cup to pick up carbon fiber prepreg from multi-sized storage bins and place it on the peeling pad;

[0021] ② The clamping guide shaft drives the clamping cross plate, which in turn pushes the material close to the peeling base plate to complete the positioning. The drive motor drives the peeling pressure plate through the lead screw to press the prepreg tightly onto the peeling pad. The paper removal suction cup adsorbs the bottom release paper at the tail of the material through the gap between the peeling pad and the peeling base plate. By making a small pulling motion, a small portion of the release paper is separated from the material. Then, the vacuum gripper at the end of the six-axis robotic arm grabs the prepreg. At this time, the first drive motor drives the paper removal suction cup to move horizontally through the synchronous drive belt to completely separate the remaining release paper. The release paper falls into the waste bin. The first vision detection system monitors in real time whether the release paper has been successfully peeled off.

[0022] ③ The vacuum gripper at the end of the six-axis robotic arm picks up the prepreg and places it in the pressing mold. The film removal suction cup first adsorbs the upper release film at the tail of the material. The film removal suction cup moves synchronously with the belt to separate the upper release film of the entire prepreg. The second vision detection system monitors in real time whether the film has been successfully peeled off.

[0023] Starting with the second prepreg, the pressing rollers press the prepreg together to compact and bond the multiple layers of prepreg together; the second lead screw controls the vertical movement of the pressing die.

[0024] Compared with the prior art, the paper film removal and working method on the surface of carbon fiber prepreg of the present invention has at least the following beneficial effects:

[0025] (1) Improved production efficiency: The paper release film removal and stacking device on the surface of carbon fiber prepreg of this invention is a set of equipment for removing release paper release film stacking on the surface of carbon fiber prepreg that can be precisely positioned by robot control. It can work continuously and stably, and is faster than manual operation, significantly improving production efficiency. Especially for mass production, this device can complete a large number of surface treatment tasks in a short time.

[0026] (2) Uninterrupted operation: The device can operate 24 hours a day without interruption, which reduces the production cycle, increases production capacity, and meets the needs of large-scale production.

[0027] (3) Improved consistency and accuracy: The paper film removal and accumulation device on the surface of carbon fiber prepreg of this invention can precisely control each processing step through preset programs, sensors and control systems, ensuring the consistency and accuracy of film removal and avoiding variations and errors in manual operation. The device can ensure that the film is removed evenly across the entire surface without missing any areas, thereby improving the overall quality of the product.

[0028] (4) Reduced labor costs and labor intensity: The paper film removal and stacking device on the surface of carbon fiber prepreg of the present invention greatly reduces the dependence on manual operation and reduces the demand for human resources. Especially when large-scale processing is required, the automated system can replace a large number of manual operations, thereby reducing production costs.

[0029] The following description, in conjunction with the accompanying drawings, further illustrates the device and operating method for removing and stacking paper film on the surface of carbon fiber prepreg according to the present invention. Attached Figure Description

[0030] Figure 1 Front view of an apparatus for removing paper film buildup from the surface of carbon fiber prepreg.

[0031] Figure 2 A top view of an apparatus for removing paper film buildup from the surface of carbon fiber prepreg.

[0032] Figure 3 An isometric view of an apparatus for removing the deposited paper film on the surface of carbon fiber prepreg.

[0033] Figure 4 This is an isometric view of the slide rails and multi-sized storage bins.

[0034] Figure 5 This is an isometric view of the gantry crane arm.

[0035] Figure 6 This is a schematic diagram of the gantry robot.

[0036] Figure 7 for Figure 6 An enlarged view of point "A" in the diagram.

[0037] Figure 8 This is an isometric view of the release paper peeling device.

[0038] Figure 9 This is a front view of the release paper peeling device.

[0039] Figure 10 This is an isometric view of the pressing and forming device.

[0040] Among them, 1-slide rail, 2-gantry truss robotic arm, 21-motor, 22-gantry guide rail, 23-truss robotic arm, 24-first lead screw, 25-vacuum suction cup, 26-vertical guide rail, 27-gear, 28-rack, 29-slider, 210-base, 211-tank chain, 212-robotic arm, 3-multi-size storage bin, 31-material box, 4-release paper peeling device, 41-drive motor, 42-peeling pressure plate, 43-peeling pad, 44-pressing guide 45-Pressing cross plate, 46-First drive motor, 47-Synchronous drive belt, 48-Paper removal suction cup, 49-First vision inspection system, 410-Glue peeling base plate, 5-Pressure forming device, 51-Second drive motor, 52-Film removal suction cup, 53-Second vision inspection system, 54-Pressing roller, 55-Pressure mold, 56-Pressing roller synchronous belt, 57-Second lead screw, 58-Film removal suction cup synchronous belt, 59-Third drive motor, 6-Six-axis robotic arm, 7-Control console. Detailed Implementation

[0041] like Figure 1-10 As shown, a paper film removal and stacking device for carbon fiber prepreg includes a slide rail 1, a gantry truss robotic arm 2, a multi-size storage bin 3, a release paper peeling device 4, a pressing and forming device 5, a six-axis robotic arm 6, and a control console 7.

[0042] The system comprises a slide rail 1, a gantry truss robotic arm 2, and a multi-size storage bin 3, which together form a multi-size prepreg storage and retrieval module. The release paper peeling device 4 is a high-precision prepreg paper peeling module. The pressing and forming device 5 includes a prepreg film peeling module and a pressing and forming module. A six-axis robotic arm 6 and a control console 7 form a robot control and conveying module.

[0043] The multi-size storage bin 3 is located on the slide rail 1 and can slide left and right along the slide rail 1; the gantry truss robotic arm 2 is located above the multi-size storage bin 3; the release paper peeling device 4 and the six-axis robotic arm 6 are located on the same side of the slide rail 1, the release paper peeling device 4 is located below the gantry truss robotic arm 2 and parallel to the gantry truss robotic arm 2, and the pressing and forming device 5 is close to the outside of the release paper peeling device 4; the six-axis robotic arm 6 is located in the space enclosed by the slide rail 1, the release paper peeling device 4 and the pressing and forming device 5.

[0044] The gantry crane 2 includes a gantry rail 22, with a first lead screw 24 located below the gantry rail 22. The gantry rail 22 and the first lead screw 24 are parallel to each other. The motor 21 is located at one end of the first lead screw 24. Two parallel gantry crane arms 23 are mounted on the gantry rail 22. The gantry crane arms 23 are connected to the first lead screw 24 and can move horizontally along the gantry rail 22 through the transmission of the first lead screw 24.

[0045] The gantry robot 23 is equipped with a base 210, on which a slider 29 is fixed. The slider 29 can slide relative to the vertical guide rail 26. A gear 27 is provided on the base 210. A vertical rack 28 is fixed to one side of the vertical guide rail 26. The rack 28 meshes with the gear 27 and is fixed to the robot arm 212. When the gear 27 rotates, the rack 28 moves vertically, thereby causing the vertical guide rail 26 and the slider 29 to slide relative to each other, and driving the robot arm 212 of the gantry robot 23 to achieve vertical movement. The bottom of the robot arm 212 of the gantry robot 23 is equipped with a vacuum suction cup 25, which is used to pick up carbon fiber prepreg from the multi-size storage bin 3 and place it into the release paper peeling device 4.

[0046] The gantry manipulator 23 is also equipped with a tank chain 211, which is flexible and its main function is to protect various lines.

[0047] The multi-size storage bin 3 is equipped with various material boxes 31 of different lengths, which can hold more than 40 sizes of prepreg. The multi-size storage bin 3 can move left and right with the help of the slide rail 1 and is precisely positioned by the servo motor to ensure that the stopping position of each bin is at the axis position of the gantry crane arm. Each material box 31 is equipped with a detection sensor that can monitor the product capacity in real time, and will send a signal and alarm output when the material is low.

[0048] The release paper peeling device 4 includes a peeling pad 43, with a pressing cross plate 45 on the outer side and a vertically placed peeling base plate 410 on the inner side. There is a gap between the inner edge of the peeling pad 43 and the peeling base plate 410. A pressing guide shaft 44 is provided on the back of the pressing cross plate 45. A peeling pressure plate 42 is provided above the peeling pad 43. The peeling pressure plate 42 is driven by a drive motor 41 to press the prepreg onto the peeling pad 43. A paper removal suction cup 48 is provided below the peeling pad 43. A first vision detection system 49 is provided on one side of the paper removal suction cup 48.

[0049] The paper removal suction cup 48 is located on the synchronous transmission belt 47, and a first transmission motor 46 is provided at one end of the synchronous transmission belt 47; the first transmission motor 46 drives the synchronous transmission belt 47 to move, thereby driving the paper removal suction cup 48 to move horizontally.

[0050] The pressing and forming device 5 has a pressing mold 55 in the middle, with openings at both ends and baffles on the front and rear sides; the outer side of the pressing and forming device 5 is provided with a film removal suction cup synchronous belt 58, and a film removal suction cup mounting frame that can slide left and right along the film removal suction cup synchronous belt 58 is provided on the film removal suction cup synchronous belt 58. A film removal suction cup 52 is fixed on the film removal suction cup mounting frame. One end of the film removal suction cup synchronous belt 58 is connected to a second drive motor 51, and the second drive motor 51 controls the film removal suction cup synchronous belt 58 to drive the film removal suction cup 52 to move left and right; the inner side of the pressing and forming device 5 is provided with A timing belt 56 for pressing rollers is provided. Two mounting brackets for pressing rollers 54 are mounted on the timing belt 56 and can slide left and right along it. The pressing rollers 54 are located above the groove formed by two baffles on the pressing mold 55. One end of the timing belt 56 is connected to a third drive motor 59, which controls the timing belt 56 to move the pressing rollers 54 left and right. The lower part of the pressing mold 55 is connected to a second lead screw 57, which controls the vertical movement of the pressing mold 55. The pressing mold 55 has a vacuum adsorption function to ensure sufficient pressure between the pressing rollers 54 and the prepreg. A second vision inspection system 53 is provided on one side of the film removal suction cup 52.

[0051] The clamping roller mounting bracket is equipped with a lead screw and a vertical linear guide rail. The lead screw is connected to the slider base, and the clamping roller 54 is mounted on the slider base, which can slide up and down along the vertical linear guide rail. A motor drives the lead screw, which in turn drives the slider base to slide up and down along the vertical linear guide rail, thus controlling the vertical movement of the clamping roller 54. Before rolling, the two clamping rollers 54 are located to the right of the pressing mold 55. During rolling, the two clamping rollers 54 are lowered, rolling is performed first from right to left, then from left to right, and then the two clamping rollers 54 are reset. Using two rollers increases the contact area, and the two rolling passes improve the rolling effect.

[0052] The bottom surface of the groove of the pressing mold 55 has an arc-shaped structure that is high in the center and low at both ends.

[0053] Among them, the six-axis robotic arm 6 is the CHX-3 robot.

[0054] The console 7 can control the position of the multi-size storage bins 3, the horizontal and vertical movement of the gantry robot 23, and the movements of components such as the vacuum suction cup 25, drive motor 41, pressing guide shaft 44, first transmission motor 46, paper removal suction cup 48, first vision inspection system 49, second transmission motor 51, film removal suction cup 52, second vision inspection system 53, pressing roller 54, pressing mold 55, pressing roller timing belt 56, second lead screw 57, film removal suction cup timing belt 58, third transmission motor 59, and six-axis robot arm 6.

[0055] The operating method of the paper film removal and deposition device on the surface of the carbon fiber prepreg includes the following steps:

[0056] ① The truss robot 23 picks up carbon fiber prepreg from the multi-size storage bin 3 through the vacuum suction cup 25 and places it on the peeling pad 43 to ensure that there is sufficient adsorption force between the subsequent paper removal suction cup 48 and the material.

[0057] ② The pressing guide shaft 44 drives the pressing horizontal plate 45, which in turn pushes the material close to the vertical surface of the peeling base plate 410 to complete the positioning. The drive motor 41 drives the peeling pressure plate 42 through the lead screw to press the prepreg tightly onto the peeling pad 43. The paper removal suction cup 48 adsorbs the bottom release paper at the tail of the material through the gap between the peeling pad 43 and the peeling base plate 410. By making a small pulling motion, a small part of the release paper is separated from the material. Then, the vacuum gripper at the end of the six-axis robotic arm 6 grabs the prepreg. At this time, the first drive motor 46 drives the paper removal suction cup 48 to move horizontally through the synchronous transmission belt 47 to completely separate the remaining release paper. The release paper falls into the waste bin. The first vision detection system 49 monitors in real time whether the release paper has been successfully peeled off.

[0058] ③ The vacuum gripper at the end of the six-axis robotic arm 6 picks up the prepreg and places it in the pressing mold 55. The film removal suction cup 52 first adsorbs the upper release film at the tail of the material. The film removal suction cup synchronous belt 58 drives the film removal suction cup 52 to move and separate the upper release film of the entire prepreg. The second vision inspection system 53 monitors in real time whether the film has been successfully peeled off to ensure product quality. Before the vacuum gripper at the end of the six-axis robotic arm 6 picks up the prepreg and the film removal suction cup 52 works, the two clamping rollers 54 are located on the right side of the pressing mold 55. During the rolling process, the two clamping rollers 54 fall down and roll from right to left, then from left to right, and then the two clamping rollers 54 return to their original positions.

[0059] Starting with the second prepreg, two pressing rollers 54 press the prepreg together to compact and bond the multiple layers of prepreg together; wherein, the second lead screw 57 controls the vertical movement of the pressing die 55.

[0060] The device stores prepregs of different sizes in multi-size storage bins and uses a gantry crane arm to place the prepregs into a high-precision prepreg release module to remove the release paper from the bottom surface. Then, a six-axis crane arm transports the prepregs to a prepreg film removal module to remove the release film from the top surface. The above operation is repeated for subsequent prepregs. The prepregs of different lengths are pressed and stacked layer by layer through a pressing and forming module to complete the production of composite leaf springs. The use of fully automated equipment for removing the release paper and release film from the surface of carbon fiber prepregs and stacking and forming them greatly improves work efficiency.

[0061] Through automated design, this invention enables fully automatic removal and deposition of the release liner on the surface of carbon fiber prepreg, significantly reducing manual workload, lowering operator fatigue, and improving work efficiency. The device, with its precise mechanical structure and automatic control, ensures the removal and deposition of the release liner on the carbon fiber prepreg surface, avoiding placement deviations caused by manual operation, thereby improving the accuracy and reliability of release liner removal and deposition.

[0062] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A device for removing paper film buildup on the surface of carbon fiber prepreg, characterized in that: It includes a slide rail (1), a gantry truss robotic arm (2), a multi-size storage bin (3), a release paper peeling device (4), a pressing and forming device (5), a six-axis robotic arm (6), and a control console (7); The multi-size storage bin (3) is located on the slide rail (1) and can slide left and right along the slide rail (1); the gantry truss robotic arm (2) is located above the multi-size storage bin (3); the release paper peeling device (4) and the six-axis robotic arm (6) are located on the same side of the slide rail (1), the release paper peeling device (4) is located below the gantry truss robotic arm (2) and parallel to the gantry truss robotic arm (2), and the pressing and forming device (5) is close to the outside of the release paper peeling device (4).

2. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 1, characterized in that: The gantry gantry robotic arm (2) includes a gantry guide rail (22), and a first lead screw (24) is provided below the gantry guide rail (22). The gantry guide rail (22) and the first lead screw (24) are parallel to each other. The motor (21) is located at one end of the first lead screw (24). At least one gantry robotic arm (23) is provided on the gantry guide rail (22). The gantry robotic arm (23) is connected to the first lead screw (24). The gantry robotic arm (23) can move horizontally along the gantry guide rail (22) through the transmission of the first lead screw (24).

3. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 2, characterized in that: The truss manipulator (23) is provided with a base (210), and a slider (29) is fixed on the base (210). The slider (29) can slide relative to the vertical guide rail (26). The base (210) is provided with a gear (27). A vertical rack (28) is fixed on one side of the vertical guide rail (26). The rack (28) meshes with the gear (27). The rack (28) is fixed together with the manipulator (212). When the gear (27) rotates, the rack (28) moves in the vertical direction, thereby causing the vertical guide rail (26) and the slider (29) to slide relative to each other, and causing the mechanical arm (212) of the gantry manipulator (23) to move vertically.

4. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 3, characterized in that: The bottom of the robotic arm (212) of the truss manipulator (23) is equipped with a vacuum suction cup (25) for picking up carbon fiber prepreg from the multi-size storage bin (3) and placing it into the release paper peeling device (4).

5. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 1, characterized in that: The multi-size storage bin (3) is equipped with various material boxes (31) of different lengths, and each material box (31) is equipped with a detection sensor that can monitor the product capacity in real time.

6. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 1, characterized in that: The release paper peeling device (4) includes a peeling pad (43), a pressing cross plate (45) on the outer side of the peeling pad (43), and a vertically placed peeling base plate (410) on the inner side. There is a gap between the inner edge of the peeling pad (43) and the peeling base plate (410). A pressing guide shaft (44) is provided on the back of the pressing cross plate (45). A peeling pressure plate (42) is provided above the peeling pad (43). The peeling pressure plate (42) is driven by a drive motor (41) to press the prepreg onto the peeling pad (43). A paper removal suction cup (48) is provided below the peeling pad (43). A first vision detection system (49) is provided on one side of the paper removal suction cup (48).

7. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 6, characterized in that: The paper removal suction cup (48) is located on the synchronous transmission belt (47), and a first transmission motor (46) is provided at one end of the synchronous transmission belt (47). The first transmission motor (46) drives the synchronous transmission belt (47) to move, thereby driving the paper removal suction cup (48) to move horizontally.

8. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 1, characterized in that: The pressing and forming device (5) is provided with a pressing mold (55) in the middle, and the pressing mold (55) is open at both the left and right ends and has baffles on the front and rear sides. The outer side of the pressing and forming device (5) is provided with a film removal suction cup synchronous belt (58). The film removal suction cup synchronous belt (58) is provided with a film removal suction cup mounting frame that can slide left and right along the film removal suction cup synchronous belt (58). A film removal suction cup (52) is fixed on the film removal suction cup mounting frame. One end of the film removal suction cup synchronous belt (58) is connected to the second drive motor (51). The second drive motor (51) controls the film removal suction cup synchronous belt (58) to drive the film removal suction cup (52) to move left and right. The inner side of the pressing and forming device (5) is provided with a pressing wheel timing belt (56). The pressing wheel timing belt (56) is provided with at least one pressing wheel mounting bracket that can slide left and right along the pressing wheel timing belt (56). A pressing wheel (54) is fixed on the pressing wheel mounting bracket. The pressing wheel (54) is located above the groove formed by the two baffles of the pressing mold (55). One end of the pressing wheel timing belt (56) is connected to the third drive motor (59). The third drive motor (59) controls the pressing wheel timing belt (56) to drive the pressing wheel (54) to move left and right. The lower part of the pressing mold (55) is connected to the second lead screw (57). The second lead screw (57) controls the vertical movement of the pressing mold (55).

9. The device for removing and stacking paper film on the surface of carbon fiber prepreg according to claim 8, characterized in that: The pressing mold (55) has a vacuum adsorption function; a second vision inspection system (53) is provided on one side of the film removal suction cup (52).

10. The method of operating the paper film removal and accumulation device on the surface of carbon fiber prepreg according to any one of claims 1-9, characterized in that, Includes the following steps: ① The truss robot (23) picks up carbon fiber prepreg from the multi-size storage bin (3) through the vacuum suction cup (25) and places it on the peeling pad (43); ② The pressing guide shaft (44) drives the pressing cross plate (45) to push the material close to the peeling bottom plate (410) to complete the positioning. The drive motor (41) drives the peeling pressure plate (42) through the screw to press the prepreg tightly onto the peeling pad (43). The paper removal suction cup (48) adsorbs the bottom release paper at the tail of the material through the gap between the peeling pad (43) and the peeling bottom plate (410). By making a small pulling motion, a small part of the release paper is separated from the material. Then the vacuum gripper at the end of the six-axis robotic arm (6) grabs the prepreg. At this time, the first drive motor (46) drives the paper removal suction cup (48) to move horizontally through the synchronous transmission belt (47) to completely separate the remaining release paper. The release paper falls into the waste bin. The first vision detection system (49) monitors in real time whether the release paper has been successfully peeled off. ③ The vacuum gripper at the end of the six-axis robotic arm (6) grabs the prepreg and places it in the pressing mold (55). The film removal suction cup (52) first adsorbs the upper isolation film at the tail of the material. The film removal suction cup synchronous belt (58) drives the film removal suction cup (52) to move and separate the upper isolation film of the entire prepreg. The second vision inspection system (53) monitors in real time whether the adhesive film has been successfully peeled off; Starting with the second prepreg, the pressing roller (54) rolls the prepreg to compact and bond the multiple layers of prepreg together; the second lead screw (57) controls the vertical movement of the pressing die (55).

Images