A variable stiffness and topology continuous fiber composite automatic fiber placement head device

Abstract

The application provides a variable stiffness and topology continuous fiber composite automatic fiber laying head device, and belongs to the field of continuous fiber composite automatic fiber laying forming. The fiber laying head device comprises a main fixed plate, a constant force mechanism pressure regulator module is arranged on the back surface of the main fixed plate, the constant force mechanism pressure regulator module is arranged between the fiber laying head device and a mechanical arm, a gas expansion shaft feeding assembly, a demolding roller assembly, a tension adjusting module, a variable distance fixed plate module and a clamping-shearing-reloading integrated module are sequentially arranged on the front surface of the main fixed plate along the fiber tape movement direction, a semiconductor laser head is arranged at the output end of the clamping-shearing-reloading integrated module, and a compacting wheel mechanism is arranged at the output end of the semiconductor laser head. The variable stiffness and topology continuous fiber composite automatic fiber laying head device is adopted, and the technical pain points of the automatic fiber laying head device in the current industry are solved.

Description

Technical Field

[0001] This invention relates to the field of automated fiber placement forming of continuous fiber composites, and in particular to an automated fiber placement head device for continuous fiber composites with variable stiffness and variable topology. Background Technology

[0002] Continuous fiber reinforced composites, due to their superior properties such as high specific strength, high specific modulus, and strong designability, are increasingly widely used in the manufacture of large, complex curved, high-performance components in the aerospace field. This has driven automated fiber placement technology to become the core process for the preparation of such components. Automated fiber placement of prepreg tape is a precise process involving multiple coordinated steps, requiring the sequential completion of unwinding and feeding, guiding and reversing, tension control, lateral constraint, clamping and shearing, refeeding, laser heating, and compaction. The stability, adaptability, and coordination of each step directly determine the forming quality of the component. Therefore, stringent requirements are placed on the functional integration, operational reliability, parameter adaptability, and pressure stability of the fiber placement head device.

[0003] While current automated filament placement devices in the industry can basically complete the core filament placement process, they still face numerous technical challenges in practical engineering applications due to limitations in mechanism design, drive methods, and control logic. These limitations make it difficult to meet the high-precision, high-efficiency, and high-consistency placement requirements for aerospace components. Specific problems are as follows: Existing fiber placement heads lack a real-time and flexible tension buffering mechanism in their feeding and placement processes. Dynamic changes in unwinding and placement speeds can easily cause the fiber tape to stretch, loosen, or even break, disrupting the continuity and tension uniformity of the fiber tape and directly reducing the quality of the placement process. For fiber tapes of different widths, the lateral constraint and positioning structures of existing fiber placement heads are mostly fixed or manually adjustable, lacking automated, rapid pitch-changing adjustment mechanisms. Adjustment operations are cumbersome, time-consuming, and inefficient, and it is difficult to ensure the stability of the lateral constraint, affecting the positional accuracy of the fiber tape placement. The structure and control are complex. Key fiber placement actions such as clamping, shearing, and refeeding are generally implemented using multiple independent drive mechanisms. This not only results in a large overall size and low integration of the fiber placement head, hindering lightweight and modular assembly, but also increases the control complexity of the equipment, making it prone to action coordination errors and reducing the reliability of the fiber placement process. The connection between the fiber placement head and the robotic arm lacks a dedicated constant force adjustment mechanism. Due to the inertial force of the fiber placement head itself, the placement pressure fluctuates significantly when the robotic arm moves rapidly or along the complex curvature trajectory of the mold. This results in inconsistent fiber tape compaction quality, leading to defects such as delamination and loose bonding, which affects the overall mechanical properties of the component. Furthermore, the functional modules of the existing fiber placement head are not optimized and integrated along the fiber tape's movement path, resulting in poor process connections. This increases the fiber tape's movement resistance and posture deviation, further impacting the stability of the fiber placement process.

[0004] The existence of the aforementioned technical problems has restricted the further application and development of automated wire placement technology in the manufacturing of high-end aerospace components. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic fiber placement head device for continuous fiber composite materials with variable stiffness and topology. This device addresses the technical pain points of current automatic fiber placement head devices in the industry, which are limited by factors such as mechanism design, driving method, and control logic. These limitations include insufficient tension control accuracy leading to easy stretching, loosening, and breakage of the fiber strip; poor adaptability of fiber strips of various widths affecting positional accuracy; redundant core motion drive making the structure and control complex and prone to coordination errors; unstable laying and compaction pressure causing inconsistent fiber strip compaction quality; and unreasonable layout of functional modules increasing motion resistance and posture deviation.

[0006] To achieve the above objectives, the present invention provides an automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials. The fiber placement head device includes a main fixing plate, and a constant force mechanism pressure regulator module is provided on the back of the main fixing plate. The constant force mechanism pressure regulator module is located between the fiber placement head device and the robotic arm. Along the fiber belt movement direction, the front of the main fixing plate is sequentially provided with an air expansion shaft feeding assembly, a demolding roller assembly, a tension adjustment module, a variable pitch fixing plate module, and a clamping-shearing-reloading integrated module. A semiconductor laser head is provided at the output end of the clamping-shearing-reloading integrated module, and a compaction wheel mechanism is provided at the output end of the semiconductor laser head.

[0007] Preferably, the air shaft feeding assembly is equipped with a torque motor, the air shaft in the air shaft feeding assembly is connected to the torque motor, and the air shaft feeding assembly integrates a stripping roller, which is connected to the material roll output end of the air shaft feeding assembly.

[0008] Preferably, the input end of the stripping roller assembly is connected to the fiber belt output end of the air shaft feeding assembly, and the output end of the stripping roller assembly is connected to the input end of the tension adjustment module.

[0009] Preferably, the tension adjustment module consists of a guide roller and a spring buffer mechanism, with the spring buffer mechanism fixedly connected to the guide roller, and the output end of the tension adjustment module connected to the input end of the variable pitch fixing plate module.

[0010] Preferably, the variable pitch fixing plate module includes a stepper motor, a lead screw and slider mechanism, a slant plate, and a variable pitch fixing plate. The stepper motor is driven and connected to the lead screw and slider mechanism. The slider of the lead screw and slider mechanism is fixedly connected to the slant plate. The slant plate has a slant. The variable pitch fixing plate slides with the slant of the slant plate through a pin. The movement of the slant pushes the variable pitch fixing plate to move in the fiber belt width direction. The output end of the variable pitch fixing plate module is connected to the input end of the clamping-shearing-reloading integrated module.

[0011] Preferably, the integrated clamping-shearing-re-feeding module uses compressed air as a power source and includes a pneumatic connector, a drive piston, a locking device, a drive clamping unit, a wire feeding motor, a wire feeding mechanism, a drive cutter, and an elastic element. Each pneumatic connector is connected to its corresponding drive piston. The drive clamping unit, the wire feeding mechanism, and the drive cutter are all linked to their respective drive pistons. The rollers of the wire feeding mechanism cooperate with the rollers of the wire feeding motor, driving the cutter to connect with the elastic element to achieve reset. The fiber tape output end of the integrated clamping-shearing-re-feeding module faces the heating area of ​​the semiconductor laser head.

[0012] Preferably, the semiconductor laser head is positioned directly opposite the fiber belt output end of the clamping-shearing-reloading integrated module, and the heating working area of ​​the semiconductor laser head is connected to the working end of the compaction wheel mechanism.

[0013] Preferably, the constant force mechanism pressure regulator module includes a connecting flange, a lead screw assembly, an adjusting knob, and a spline curve constant force spring. The lead screw assembly includes a lead screw and a lead screw nut. The adjusting knob is fixedly connected to the lead screw. The lead screw nut is sleeved on the lead screw and is linked with the spline curve constant force spring. One end of the connecting flange is connected to the robotic arm, and the other end of the connecting flange is fixed to the main body of the constant pressure mechanism. The output end of the spline curve constant force spring abuts against the back of the main fixed plate.

[0014] Therefore, the present invention employs the above-mentioned automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials, and the technical effects are as follows: 1. Achieving functional integration and structural compactness: The entire process of functions such as feeding and demolding, guiding and reversing, tension buffering, variable distance limiting, clamping / shearing / re-feeding, laser heating, and compaction and laying are integrated along the fiber belt movement path. All modules are uniformly installed on the main fixed plate to form an integrated frame. The structure layout is compact and reasonable, which greatly reduces the overall volume and space occupied by the fiber laying head. This is conducive to the lightweight design of the fiber laying head and adapts to the rapid movement requirements of the robotic arm.

[0015] 2. Optimize fiber belt tension control: The feed amount of the air shaft is adjusted in real time by the torque motor. Combined with the absorption and compensation effect of the spring buffer tension adjustment assembly, the fiber belt pulling and loosening caused by the change of unwinding and laying speed during the fiber laying process is doubly alleviated. This ensures that the fiber belt maintains a stable and uniform tension in subsequent processes, effectively avoiding defects such as fiber belt deviation and breakage caused by tension fluctuations.

[0016] 3. Automated and rapid adaptation of fiber tapes of different widths: Relying on the pin-groove mechanism driven by a stepper motor, the variable pitch fixing plate can be automatically adjusted, which can quickly adapt to fiber tapes of different widths, replacing the traditional manual adjustment method and greatly improving the efficiency of width adaptation; at the same time, the variable pitch fixing plate can form a stable lateral limit on the fiber tape in the width direction, effectively restricting the lateral movement of the fiber tape, avoiding fiber tape deviation and movement during the fiber laying process, and ensuring the accuracy of the laying trajectory. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the fiber placement head device of the present invention; Figure 2 This is a schematic diagram of the overall assembly of the variable pitch, clamping-shearing-reloading integrated module of the present invention; Figure 3 This is a schematic diagram of the clamping-shearing-reloading integrated module of the present invention; Figure 4 This is a schematic diagram of the pin-groove pitch-changing mechanism of the pitch-changing fixing plate of the present invention; Figure 5 This is a schematic diagram of the constant force connector mechanism for the filament placement head of the present invention; Figure 6 This refers to the real-time laying pressure when the spline curve is spring-locked according to the present invention. Figure 7 This refers to the real-time laying pressure of the spline curve spring when it is not locked, as per the invention.

[0018] Figure Labels 100. Wire laying head device; 101. Air shaft feeding assembly; 102. Demolding roller assembly; 103. Main fixing plate; 104. Tension adjustment module; 105. Semiconductor laser head; 106. Compactor wheel mechanism; 200. Constant force mechanism pressure regulator module; 201. Connecting flange; 202. Lead screw assembly; 203. Adjustment knob; 204. Spline curve constant force spring; 300. Clamping-shearing-reloading integrated module; 301. Drive cutter; 302. Drive piston; 303. Pneumatic connector; 304. Locking device; 305. Drive clamping unit; 306. Wire feeding motor; 307. Wire feeding mechanism; 400. Variable pitch fixing plate module; 401. Stepper motor; 402. Lead screw slider mechanism; 403. Inclined groove plate; 404. Variable pitch fixing plate. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0021] Example 1 like Figures 1-5 As shown, this invention provides an automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials. The main fixing plate 103 is the core bearing base and serves as the basic support component of the entire device. A constant force mechanism pressure regulator module 200 is installed on its back. The constant force mechanism pressure regulator module 200 is located between the fiber placement head device 100 and the robotic arm. One end of its connecting flange 201 is rigidly connected to the robotic arm, and the other end of the connecting flange 201 is fixedly connected to the main body of the constant force mechanism pressure regulator module 200. The output end of the spline curve constant force spring 204 elastically abuts against the back of the main fixing plate 103, realizing flexible suspension and adaptive adjustment of pressure between the fiber placement head device 100 and the robotic arm.

[0022] Along the direction of fiber belt movement, the front of the main fixing plate 103 is sequentially fixed with the air expansion shaft feeding assembly 101, the demolding roller assembly 102, the tension adjustment module 104, the variable pitch fixing plate module 400, and the clamping-shearing-re-feeding integrated module 300. Each module is detachably rigidly connected to the main fixing plate 103 by bolt groups.

[0023] The torque motor of the air shaft feeding assembly 101 is connected to the air shaft for transmission. The demolding roller is connected to the roll output end of the air shaft feeding assembly 101 and integrated into the main frame of the air shaft feeding assembly 101. The tension adjustment module 104 consists of a guide roller and a spring buffer mechanism. The spring buffer mechanism is fixedly connected to the guide roller and rigidly connected to the main fixed plate 103 through the fixed end of the spring buffer mechanism. The torque motor of the air shaft feeding assembly 101 provides stable unwinding power. With the elastic adjustment of the spring buffer mechanism and the guide roller of the tension adjustment module 104, the device 100 can compensate for tension fluctuations in the fiber belt during the conveying process in real time, avoiding problems such as tensile breakage or loose accumulation of the fiber belt.

[0024] The stepper motor 401 of the variable pitch fixing plate module 400 is driven and connected to the lead screw and slider mechanism 402. The slider of the lead screw and slider mechanism 402 is fixedly connected to the inclined groove plate 403. The variable pitch fixing plate 404 slides with the inclined groove of the inclined groove plate 403 through a pin. The main frame of the variable pitch fixing plate module 400 is fixedly connected to the main fixing plate 103. The stepper motor 401 of the variable pitch fixing plate module 400 drives the lead screw and slider mechanism 402 to move the inclined groove plate 403. Through the sliding engagement of the inclined groove and the pin, the variable pitch fixing plate 404 is pushed to move in the fiber width direction. The fiber placement head device 100 can quickly realize the switching of different fiber placement spacing to meet the process requirements of variable topology fiber placement.

[0025] Each pneumatic connector 303 of the clamping-shearing-re-feeding integrated module 300 is connected to a corresponding drive piston 302. The drive clamping unit 305, the yarn feeding mechanism 307, and the drive cutter 301 are all linked with their respective drive pistons 302. The rollers of the yarn feeding mechanism 307 cooperate with the rollers of the yarn feeding motor 306, driving the cutter 301 to connect with the elastic element. The overall frame of the module is fixedly connected to the main fixing plate 103. The clamping-shearing-re-feeding integrated module 300 uses compressed air as a power source. Through the linkage of the drive piston 302, it drives the clamping unit 305, the yarn feeding mechanism 307, and the drive cutter 301. With the active yarn feeding of the yarn feeding motor 306, the yarn laying head device 100 integrates the clamping, shearing, and re-feeding actions of the fiber strip into the same module, greatly shortening the action switching time and improving the yarn laying efficiency.

[0026] The semiconductor laser head 105 is fixed to the side of the output end of the clamping-shearing-reloading integrated module 300, and the semiconductor laser head 105 is directly facing the fiber tape output end of the module. The compaction wheel mechanism 106 is located at the output end of the semiconductor laser head 105, and its mounting bracket is fixedly connected to the end of the main fixing plate 103. The heating working area of ​​the semiconductor laser head 105 is connected to the working end of the compaction wheel mechanism 106. The spline curve constant force spring 204 of the constant force mechanism pressure regulator module 200 realizes the preload adjustment through the lead screw assembly 202 and the adjustment knob 203. Its output end abuts against the main fixing plate 103, so that the compaction wheel mechanism 106 always outputs a constant pressure during the fiber laying process. With the precise heating of the semiconductor laser head 105, the fiber laying head device 100 can ensure the bonding quality between the fiber tape and the matrix and improve the molding strength of the composite material.

[0027] like Figures 6-7 As shown, when the pressure roller floats and displaces following the laid-up surface, the spline curve constant force spring can output an approximately constant compaction load within a constant force working range adapted to the floating stroke. This effectively reduces the peak value and load fluctuation of the laying-up compaction force while ensuring the filament bundle continuously adheres to the surface, suppressing over-compression in localized areas, preventing excessive resin extrusion, and improving lay-up uniformity. This invention revolutionizes the traditional filament lay-up compaction mode by utilizing a spline curve constant force spring. It transforms the traditional planar lay-up condition of simply increasing the compaction level into achieving uniform compaction quality at different locations on complex curved surfaces, significantly improving the molding accuracy and lay-up quality of composite material components.

[0028] A conventional linear spring load and deformation satisfy an approximately linear relationship: ; When the floating displacement of the pressure roller changes, the output clamping load will change significantly in sync.

[0029] The spline curve constant force spring used in this invention, relying on a specific curved beam profile configuration, controllable deformation path, and structural geometric nonlinear effects, can achieve the following within a preset displacement range: ; The technical problem to be solved by this invention is not to provide clamping force, but to overcome the technical difficulty of significant fluctuations in clamping load caused by the floating displacement of the pressure roller during the laying of curved surfaces.

[0030] The filament placement head is characterized by limited installation space, restricted effective working stroke of the pressure roller, fixed load application direction, and high dynamic response requirements. Simultaneously, the clamping actuator must meet low-mass, low-moment-of-inertia design requirements and must not incorporate permanent magnets, complex sliding pairs, or large support frames to prevent spatial interference with the filament feeding, shearing, and heating mechanisms. The spline curve constant force spring used in this invention offers advantages such as integrated molding, no need for permanent magnet components, no complex kinematic pairs, and a compact structure, enabling it to match the stringent spatial layout and dynamic operating requirements of the filament placement head.

[0031] The overall workflow of this device is roughly as follows: The torque motor of the air shaft feeding assembly 101 drives the air shaft to rotate, and the air shaft drives the material roll to release the continuous fiber belt. The fiber belt first passes through the stripping roller integrated in the air shaft feeding assembly 101. The stripping roller completes the peeling of the protective film on the surface of the fiber belt. The stripped fiber belt is conveyed from the output end of the air shaft feeding assembly 101 to the stripping roller assembly 102.

[0032] The stripping roller assembly 102 receives the fiber belt conveyed by the air shaft feeding assembly 101. The stripping roller assembly 102 performs secondary stripping and guiding correction on the fiber belt. Subsequently, the stripping roller assembly 102 conveys the fiber belt to the tension adjustment module 104.

[0033] The guide roller of the tension adjustment module 104 receives the fiber belt, and the spring buffer mechanism automatically extends and retracts according to the real-time tension of the fiber belt, driving the guide roller to finely adjust its position. After the tension adjustment module 104 completes the tension compensation and stabilization of the fiber belt, it conveys the fiber belt to the variable pitch fixing plate module 400.

[0034] The stepper motor 401 of the variable pitch fixing plate module 400 drives the slider of the lead screw slider mechanism 402 to move according to the preset fiber laying topology parameters. The slider drives the inclined groove plate 403 to move synchronously. The inclined groove of the inclined groove plate 403 pushes the variable pitch fixing plate 404 to move in the fiber belt width direction through the pin shaft. After the variable pitch fixing plate 404 completes the fiber belt spacing adjustment, it conveys the fiber belt to the clamping-shearing-re-feeding integrated module 300.

[0035] Compressed air is connected to the pneumatic connector 303 of the clamping-shearing-re-feeding integrated module 300, which drives the corresponding drive piston 302 to move. The drive piston 302 drives the clamping unit 305 to clamp the fiber belt. The fiber feeding motor 306 starts, which drives the roller of the fiber feeding mechanism 307 to rotate. The fiber feeding mechanism 307 conveys the fiber belt to the output end.

[0036] The semiconductor laser head 105 is activated, and its heating working area precisely heats the fiber tape output by the clamping-shearing-re-feeding integrated module 300, causing the resin on the surface of the fiber tape to melt; the robotic arm drives the fiber placement head device 100 to move along a preset path, and the molten fiber tape is transported to the surface of the substrate to be formed.

[0037] Under the action of the spline curve constant force spring 204 of the constant force mechanism pressure regulator module 200, the compaction wheel mechanism 106 presses the molten fiber strip on the surface of the substrate with constant pressure. The compaction wheel mechanism 106 tightly adheres the fiber strip to the substrate, completing the fiber laying and forming of a single section of fiber strip.

[0038] After the preset length of fiber laying is completed, the drive piston 302 of the clamping-cutting-re-feeding integrated module 300 drives the cutter 301 to cut the fiber strip. The elastic element drives the cutter 301 to reset. Then, the drive clamping unit 305 releases the fiber strip, and the fiber feeding mechanism 307, driven by the fiber feeding motor 306, completes the re-feeding of the next section of fiber strip. The device enters the next round of fiber laying cycle. In addition, when the fiber laying head device stops working, the pull-down locking device 304 fixes the fiber strip.

[0039] Therefore, the present invention adopts the above-mentioned automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials. By highly integrating functional modules such as feeding and demolding, tension adjustment, automated width adaptation, clamping-shearing-re-feeding, laser heating and compaction placement, combined with a constant force mechanism pressure regulator module, it achieves high precision, high efficiency and high stability in the fiber placement process, effectively solving the technical pain points of insufficient fiber tension control, poor multi-width adaptability, large motion coordination error and unstable placement pressure in the prior art.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials, characterized in that, The fiber placement head device includes a main fixing plate. A constant force mechanism pressure regulator module is set on the back of the main fixing plate. The constant force mechanism pressure regulator module is set between the fiber placement head device and the robotic arm. Along the fiber belt movement direction, the front of the main fixing plate is arranged in sequence with an air expansion shaft feeding assembly, a demolding roller assembly, a tension adjustment module, a variable pitch fixing plate module, and a clamping-shearing-re-feeding integrated module. A semiconductor laser head is set at the output end of the clamping-shearing-re-feeding integrated module, and a compaction wheel mechanism is set at the output end of the semiconductor laser head.

2. The automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials according to claim 1, characterized in that, The air shaft feeding assembly is equipped with a torque motor. The air shaft in the air shaft feeding assembly is connected to the torque motor. The air shaft feeding assembly integrates a stripping roller, which is connected to the material roll output end of the air shaft feeding assembly.

3. The automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials according to claim 1, characterized in that, The input end of the stripping roller assembly is connected to the fiber belt output end of the air shaft feeding assembly, and the output end of the stripping roller assembly is connected to the input end of the tension adjustment module.

4. The automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials according to claim 1, characterized in that, The tension adjustment module consists of a guide roller and a spring buffer mechanism. The spring buffer mechanism is fixedly connected to the guide roller, and the output end of the tension adjustment module is connected to the input end of the variable pitch fixed plate module.

5. The automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials according to claim 1, characterized in that, The variable pitch fixing plate module includes a stepper motor, a lead screw and slider mechanism, a slant plate, and a variable pitch fixing plate. The stepper motor is driven by the lead screw and slider mechanism. The slider of the lead screw and slider mechanism is fixedly connected to the slant plate. The slant plate has a slant. The variable pitch fixing plate slides with the slant of the slant plate through a pin. The movement of the slant pushes the variable pitch fixing plate to move in the width direction of the fiber belt. The output end of the variable pitch fixing plate module is connected to the input end of the clamping-shearing-reloading integrated module.

6. The automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials according to claim 1, characterized in that, The integrated clamping-shearing-re-feeding module uses compressed air as its power source and includes pneumatic connectors, drive pistons, locking devices, drive clamping units, wire feeding motors, wire feeding mechanisms, drive cutters, and elastic elements. Each pneumatic connector is connected to its corresponding drive piston. The drive clamping unit, wire feeding mechanism, and drive cutter are all linked to their respective drive pistons. The rollers of the wire feeding mechanism cooperate with the rollers of the wire feeding motor, driving the cutter to connect with the elastic element to achieve reset. The fiber belt output end of the integrated clamping-shearing-re-feeding module faces the heating area of ​​the semiconductor laser head.

7. The automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials according to claim 1, characterized in that, The semiconductor laser head is positioned directly opposite the fiber belt output end of the clamping-shearing-reloading integrated module, and the heating working area of ​​the semiconductor laser head is connected to the working end of the compaction wheel mechanism.

8. The automatic fiber placement head device for variable stiffness and variable topology continuous fiber composite materials according to claim 1, characterized in that, The constant force mechanism pressure regulator module includes a connecting flange, a lead screw assembly, an adjusting knob, and a spline curve constant force spring. The lead screw assembly includes a lead screw and a lead screw nut. The adjusting knob is fixedly connected to the lead screw. The lead screw nut is sleeved on the lead screw and is linked with the spline curve constant force spring. One end of the connecting flange is connected to the robotic arm, and the other end of the connecting flange is fixed to the main body of the constant pressure mechanism. The output end of the spline curve constant force spring abuts against the back of the main fixed plate.

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