High-performance composite material automated transfer system and control method

Abstract

The application discloses a kind of high-performance composite material automation transfer system and control method, belong to the technical field of automation transfer, comprising: laying and pasting bearing unit, for carrying the object to be transferred formed by bearing steel plate, release paper and multiple composite material layers, and the bearing steel plate is positioned;Cross station handling unit, for transferring bearing steel plate or the workpiece after forming between the laying and pasting bearing unit, storage station and unloading station;Handover transfer unit is arranged downstream of the laying and pasting bearing unit, for receiving and continuing to transport the object to be transferred;By obtaining object information and transfer task information to be transferred, and according to the positioning information of bearing steel plate and the laying information of composite material layer, the position correspondence between bearing steel plate and composite material layer is determined, so that the general control system can not only judge whether bearing steel plate reaches target position when controlling large-size object to be transferred transfer.

Description

Technical Field

[0001] This invention relates to the field of automated transfer technology, and in particular to a high-performance automated transfer system and control method for composite materials. Background Technology

[0002] Automated transfer systems for high-performance composite materials are equipment systems used in automated composite material production lines to achieve continuous transfer of objects between different processes. For high-performance composite materials such as carbon fiber prepreg, glass fiber prepreg, and aramid fiber prepreg, before compression molding, they typically require processes such as loading onto a supporting steel plate, laying release paper, laying multiple layers of composite material, transfer after laying, cross-platform conveying, centering and correction, loading onto the press, and unloading after molding. Since the objects to be transferred after laying are usually composed of a supporting steel plate, release paper, and multiple layers of composite material, and the composite material layup has not yet been cured and shaped before compression molding, the automated transfer system not only replaces manual handling, increases production cycle time, and reduces labor intensity, but also ensures smooth connection of objects to be transferred between different workstations, reduces positional deviations, and provides a stable process foundation for subsequent compression molding.

[0003] In existing technologies, to achieve automated or semi-automated transfer of high-performance composite materials, a combination of equipment such as a mobile laying platform, a gantry robot, a storage platform, a conveying platform, a transition platform, a lifting platform, a centering mechanism, and a press loading / unloading mechanism is typically used. Specifically, the mobile laying platform carries the bearing steel plate and completes the laying operation; positioning pins, blocks, or centering mechanisms are used for mechanical positioning of the bearing steel plate; the gantry robot or suction cup end effector is used to pick up and place the bearing steel plate, upper steel plate, or formed workpiece; the conveying platform, transition platform, or transfer equipment of different sizes is used to receive and feed materials between different workstations; the lifting mechanism is used to adapt to the height difference between different equipment; and the centering cylinder, pushing mechanism, or press loading / unloading mechanism is used to complete the centering correction and mold entry operation of the object to be transferred. The above equipment is generally controlled by a control system according to a preset program to start and stop, so that the bearing steel plate or workpiece can move from one workstation to the next along the production path.

[0004] However, in the aforementioned prior art, for the object to be transferred, which is composed of a supporting steel plate, release paper, and multiple layers of composite material layup, the supporting steel plate has high rigidity, but the composite material layup and the supporting steel plate, as well as the adjacent layup, are not rigidly connected. Instead, they mainly rely on resin adhesion, interlayer friction, and the weak constraint of the release paper to maintain their relative positions. When transferring across platforms, if there is a height difference between adjacent equipment, scraping, climbing, falling, or local impact can easily occur. If the speeds of adjacent conveying mechanisms are inconsistent, dragging or pushing can easily occur. If the conveying direction or start-stop sequence is inconsistent, swaying or twisting can easily occur. If the local force is too large during centering or press loading, it can also easily lead to layup misalignment, fiber orientation disturbance, surface indentation, or edge wrinkles. Summary of the Invention

[0005] This invention overcomes the shortcomings of the prior art and provides a high-performance automated transfer system and control method for composite materials.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a high-performance automated transfer system for composite materials, comprising:

[0007] The load-bearing unit is used to support the object to be transferred, which is formed by the load-bearing steel plate, release paper and multi-layer composite material layup, and to position the load-bearing steel plate.

[0008] A cross-station transport unit is used to transfer the load-bearing steel plate or the formed workpiece between the laying support unit, the storage station and the unloading station.

[0009] The handover and transfer unit is located downstream of the laying and carrying unit and is used to receive and continue to transport the object to be transferred.

[0010] The transfer unit is located downstream of the transfer unit and is used for obstruction positioning and centering correction of the object to be transferred.

[0011] The press loading and unloading unit is located between the centering transfer unit and the press table. It is used to send the object to be transferred after centering into the press table and to receive the workpiece after pressing.

[0012] The system also includes a central control system, which is communicatively connected to the laying support unit, the cross-station handling unit, the handover and transfer unit, the centering and transfer unit, and the press loading and unloading unit.

[0013] The overall control system is configured to: acquire handover status information before the object to be transferred is moved to the next adjacent unit, and control the adjacent units to hand over synchronously when the handover conditions are met, so as to reduce height impact, speed difference drag and directional deviation.

[0014] In a preferred embodiment of the present invention, the laying support unit is a mobile laying device, which includes a lifting mechanism, a worktable, a positioning pin, a loading and unloading mechanism, a drive mechanism, and a guide rail. The worktable is used to support the object to be transferred, the positioning pin is used to cooperate with the supporting steel plate for positioning, the lifting mechanism is used to adjust the height of the worktable, the loading and unloading mechanism is used to send the object to be transferred to the transfer unit, and the drive mechanism is used to drive the mobile laying device to move along the guide rail.

[0015] In a preferred embodiment of the present invention, the cross-station handling unit is a gantry robot, which includes a C-shaped frame support, a lateral movement component, an end effector lifting component, and a suction cup end effector. The lateral movement component is disposed on the C-shaped frame support, the end effector lifting component is connected to the lateral movement component, and the suction cup end effector is disposed on the end effector lifting component for picking up the load-bearing steel plate, the upper steel plate, or the formed workpiece.

[0016] In a preferred embodiment of the present invention, the transfer unit includes a large and small machine docking device, a material feeding and transition device, and / or a small plate transfer device; the large and small machine docking device includes a conveying mechanism one, a lifting mechanism one, an overall frame one, a detection sensor one, and a driving mechanism two; the material feeding and transition device includes a conveying mechanism two, an overall frame two, and a driving mechanism three; the small plate transfer device is used for transferring small-sized objects to be transferred between the paving station, the transfer station, and the small press material feeding station.

[0017] In a preferred embodiment of the present invention, the centering transfer unit is a transition centering device, which includes a conveying mechanism three, a centering cylinder, a centering block, a driving mechanism four, a blocking cylinder, and an overall frame three; the blocking cylinder is used to position the conveying direction of the object to be transferred, and the centering cylinder is used to drive the centering block to perform lateral centering of the bearing steel plate.

[0018] In a preferred embodiment of the present invention, the press loading and unloading unit is a large machine loading platform, which includes a conveying mechanism four, a lifting mechanism two, a loading and unloading assembly, and a loading and unloading drive mechanism; the lifting mechanism two is used to adjust the height of the conveying mechanism four, and the loading and unloading drive mechanism is used to drive the loading and unloading assembly to send the object to be transferred into the press table or to take the pressed and shaped workpiece out of the press table.

[0019] Secondly, this invention provides an automated transfer control method for high-performance composite materials, comprising the following steps:

[0020] S1. Obtain information on the object to be transferred and the transfer task information, and determine the positional correspondence between the bearing steel plate and the composite material layup based on the positioning information of the bearing steel plate and the laying information of the composite material layup.

[0021] S2. Determine the virtual sensitive area and the allowable force area according to the position correspondence, and determine the action position, action direction and action intensity of the action to be executed according to the transfer action type;

[0022] S3. Determine whether the position, direction, and intensity of the action to be executed meet the low disturbance condition. If they do, generate low disturbance control parameters; if they do not, modify the action to be executed or prohibit the execution of the current action.

[0023] S4. Before the object to be transferred is handed over across the bearing surface, the height status, conveying speed status and conveying direction status of the upstream bearing surface and the downstream bearing surface are obtained, and when the height status, conveying speed status and conveying direction status meet the handover conditions, the upstream bearing surface and the downstream bearing surface are controlled to run synchronously.

[0024] S5. Update the transfer process data according to the arrival status, alignment status and handover process status of the object to be transferred, and use the transfer process data for the control or traceability of subsequent transfer actions.

[0025] In a preferred embodiment of the present invention, in step S1, the position correspondence is used to represent the position, angle and boundary state of the composite material layup relative to the bearing steel plate, so that the overall control system can determine the relative position state of the composite material layup at the same time as determining that the bearing steel plate is in place.

[0026] In a preferred embodiment of the present invention, in steps S2 and S3, the virtual sensitive area includes at least one of the following: the layup main body area, the release paper covering area, the fiber direction sensitive area, and the edge wrinkle-prone area; the low disturbance condition includes at least one of the following: the action position avoids the virtual sensitive area, the action direction avoids forming an unfavorable shearing trend, and the action intensity does not exceed the disturbance threshold.

[0027] In a preferred embodiment of the present invention, in step S4, the handover conditions include the height difference between adjacent bearing surfaces being within an allowable range, the difference in conveying speed being within an allowable range, and the conveying directions being consistent; after the handover conditions are met, the central control system controls the adjacent bearing surfaces to perform synchronous material receiving and feeding.

[0028] This invention addresses the shortcomings of the prior art and has the following beneficial effects:

[0029] (1) By acquiring information about the object to be transferred and the transfer task information, and based on the positioning information of the bearing steel plate and the laying information of the composite material layup, the positional correspondence between the bearing steel plate and the composite material layup is determined, so that when controlling the transfer of large-sized objects to be transferred, the overall control system can not only determine whether the bearing steel plate has reached the target position, but also further identify the positional state of the composite material layup relative to the bearing steel plate. Since the layup area of ​​large-sized uncured composite material laminates is large and the interlayer constraint is weak, simply using the position of the bearing steel plate as the judgment basis can easily cover up the problem of small slippage of the layup, which can reduce the situation where the bearing steel plate is in place but the layup state is unstable. Compared with the existing technology that only uses the overall position of the rigid bearing component as the control object, the transfer control target can be extended from mechanical position to layup position stability, improving the consistency of the layup before subsequent pressing and molding.

[0030] (2) The virtual sensitive area and allowable stress area are determined by the positional correspondence between the bearing steel plate and the composite material layup. The action position, direction and intensity of the action to be performed are determined according to the type of transfer action. This allows the system to determine whether the mechanical action will act on the main area of ​​the layup, the fiber direction sensitive area or the edge wrinkle area before cross-station handling, conveying handover, centering correction and press loading and unloading. The system will prioritize the edge area of ​​the bearing steel plate, the area adjacent to the positioning reference or the area not covered by the layup as the stress position. Since the uncured composite material layup is more sensitive to local pressure, lateral action and edge disturbance, it can reduce surface indentation, fiber direction disturbance and edge wrinkle caused by improper position of adsorption, pushing, centering or conveying. Compared with the existing technology that only performs handling and centering according to the sequence of equipment actions, the system can complete the stress area judgment before the action is performed, and improve the low disturbance capability of large-sized objects to be transferred in the automated flow process.

[0031] (3) By setting up a laying-up bearing unit, a handover and transfer unit, a centering and transfer unit, a press loading and unloading unit, and a total control system, and by having the total control system obtain the handover status information before the large-sized object to be transferred is transferred from one unit to the next adjacent unit, and then control the adjacent units to hand over synchronously according to the handover conditions, the object to be transferred formed by the large-sized bearing steel plate, release paper and multi-layer composite material layup can maintain a smooth connection in the continuous transfer path; since the handover action no longer depends only on the start and stop sequence of a single device, but is coordinated and controlled in combination with the handover status between adjacent units, the disturbance caused by high impact, speed difference drag and directional deviation to the object to be transferred can be reduced; compared with the existing technology that uses the overall positioning of the bearing steel plate as the main judgment basis, it can take into account both mechanical positioning and handover stability when the workpiece is transferred across platforms, and reduce the impact of layup misalignment, edge wrinkles and local impact on the subsequent pressing and forming quality. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a perspective structural diagram of a preferred embodiment of the present invention;

[0034] Figure 2 This is a three-dimensional structural diagram of a mobile material spreading device according to a preferred embodiment of the present invention;

[0035] Figure 3 This is a three-dimensional structural diagram of the gantry robot according to a preferred embodiment of the present invention;

[0036] Figure 4 This is a three-dimensional structural diagram of the large and small machine docking equipment according to a preferred embodiment of the present invention;

[0037] Figure 5 This is a three-dimensional structural diagram of the feeding and transition device according to a preferred embodiment of the present invention;

[0038] Figure 6 This is a three-dimensional structural diagram of the transition centering device according to a preferred embodiment of the present invention;

[0039] Figure 7 This is a three-dimensional structural diagram of the large-scale loading platform according to a preferred embodiment of the present invention;

[0040] Figure 8 This is a flowchart of a preferred embodiment of the present invention.

[0041] In the diagram: 100. Mobile material spreading equipment; 101. Lifting mechanism 1; 102. Workbench; 103. Positioning pin; 104. Loading and unloading mechanism; 105. Drive mechanism 1; 106. Guide rail; 200. Truss robot; 201. C-frame support; 202. Lateral movement assembly; 203. End effector lifting assembly; 204. Suction cup end effector; 300. Large plate storage platform; 400. Small plate storage platform; 500. Unloading trolley; 600. Unloading platform; 700. Large and small machine docking equipment; 701. Conveying mechanism 1; 702. Lifting mechanism; 703. Overall frame 1; 704. Detection sensor; 705. Drive mechanism two; 800. Small plate transfer equipment; 900. Feeding and transition equipment; 901. Conveying mechanism two; 902. Overall frame two; 903. Drive mechanism three; 1000. Transition centering equipment; 1001. Conveying mechanism three; 1002. Centering cylinder; 1003. Centering stop block; 1004. Drive mechanism four; 1005. Blocking cylinder; 1006. Overall frame three; 1100. Large machine feeding platform; 1101. Conveying mechanism four; 1102. Lifting mechanism two; 1103. Loading and unloading assembly; 1104. Loading and unloading drive mechanism. Detailed Implementation

[0042] 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 some embodiments of the present invention, and not all embodiments. 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.

[0043] Application Overview:

[0044] For uncured objects awaiting transfer, which consist of large-size supporting steel plates, release paper, and multi-layer composite material layups, the supporting steel plates can serve as a reference for mechanical positioning and transport, but the composite material layups are the ones that directly affect the subsequent pressing and molding quality. Because large-size objects awaiting transfer have larger spans, larger layup areas, and longer edges, they are more susceptible to the effects of height differences, speed differences, directional offsets, and local forces during cross-platform handover, alignment correction, and press loading. If only the position of the large-size supporting steel plates is controlled, without considering the relative displacement, force path, and handover disturbances of the composite material layups relative to the supporting steel plates, the equipment may show that the supporting steel plates are in place, but the layups may have already experienced slight misalignment. This problem may further manifest as fiber angle offset, uneven thickness, edge wrinkles, or local indentations during subsequent pressing and molding.

[0045] The applicant discovered that large-sized objects to be transferred should be controlled as composite objects consisting of large-sized load-bearing steel plates, release paper, and multi-layer composite material layups, rather than being treated as single rigid plates. For large-sized objects to be transferred, although the load-bearing steel plates have high rigidity and can serve as mechanical references for equipment positioning, conveying, and press loading, the composite material layups are not yet cured before pressing. The layups and the load-bearing steel plates, as well as adjacent layups, are not rigidly connected and are easily affected by height differences, speed differences, directional deviations, and local forces. If the positioning of the load-bearing steel plates is still used as the criterion, there may be situations where the load-bearing steel plates are in place but the layups have experienced slight slippage. Therefore, the central control system needs to establish a positional correspondence between the large-sized load-bearing steel plates and the composite material layups, and determine the virtual sensitive area and allowable stress area accordingly, so as to determine whether the handling, conveying, centering, and loading actions may cause adverse disturbances to the layups.

[0046] The applicant proposes that by establishing a connection between adjacent load-bearing surfaces of the load-bearing units, handover and transfer units, centering and transfer units, and press loading and unloading units, a hardware foundation is provided for the continuous transfer of large-sized objects between different workstations. Furthermore, by ensuring that adjacent load-bearing surfaces are transferred at the same height, speed, and direction, the impact of height differences, dragging due to speed differences, and directional deviations during cross-platform transfers are reduced. Simultaneously, a mapping relationship between the load-bearing reference coordinates and the ply coordinates is established through the central control system. Based on this mapping relationship, virtual sensitive areas and allowable stress areas are generated, ensuring that actions such as truss loading and unloading, load-bearing surface conveying, centering correction, and press loading are constrained by the force path. Therefore, the system no longer only controls the mechanical position of the load-bearing steel plate but also further controls the position, direction, and intensity of the action, thereby reducing the risks of ply misalignment, fiber orientation disturbance, surface indentation, and edge wrinkling.

[0047] Example 1:

[0048] like Figure 1 As shown, a high-performance composite material automated transfer system includes a mobile material spreading device 100, a truss robot 200, a large plate storage platform 300, a small plate storage platform 400, an unloading trolley 500, a dismantling and unloading platform 600, a large and small machine docking device 700, a small plate transfer device 800, a loading and transition device 900, a transition and centering device 1000, a large machine loading platform 1100, and a central control system.

[0049] Specifically, the mobile material laying device 100 serves as a laying support unit, used to support the object to be transferred, which is formed by the laying of a support steel plate, release paper, and multiple layers of composite materials, and to position the support steel plate.

[0050] like Figure 2As shown, specifically, the mobile material spreading equipment 100 includes a lifting mechanism 101, a worktable 102, a positioning pin 103, a loading and unloading mechanism 104, a drive mechanism 105, and a guide rail 106.

[0051] Furthermore, the workbench 102 is used to support the object to be transferred, the positioning pin 103 is used to cooperate with the supporting steel plate for positioning, the lifting mechanism 101 is used to adjust the height of the workbench 102, the loading and unloading mechanism 104 is used to send the object to be transferred to the downstream transfer unit, and the driving mechanism 105 is used to drive the mobile material spreading equipment 100 to move along the guide rail 106.

[0052] Furthermore, the mobile material laying device 100 in this invention provides both a laying reference and a starting bearing position for low-disturbance handover.

[0053] like Figure 3 As shown, specifically, the gantry robot 200 serves as a cross-station handling unit for transferring load-bearing steel plates, upper steel plates, or formed workpieces between the mobile material laying equipment 100, the storage station, and the unloading station; the gantry robot 200 includes a C-shaped frame support 201, a lateral movement assembly 202, an end effector lifting assembly 203, and a suction cup end effector 204.

[0054] Furthermore, the lateral movement component 202 is used to drive the end effector lifting component 203 to move laterally, and the end effector lifting component 203 is used to drive the suction cup end effector 204 to move up and down. The suction cup end effector 204 is used to pick up the bearing steel plate, the upper steel plate, or the formed workpiece. The gantry robot 200's picking and placing action is preferentially applied to the bearing steel plate, the upper steel plate, or the formed workpiece, avoiding direct action on the main area of ​​the uncured composite material layup.

[0055] like Figure 1 As shown, specifically, the large plate storage platform 300 is used for temporary storage and pre-retrieval positioning of large-sized bearing steel plates, the small plate storage platform 400 is used for temporary storage and pre-retrieval positioning of small-sized bearing steel plates, the unloading trolley 500 is used to receive and short-distance transfer of formed workpieces or unloaded bearing components, and the dismantling and unloading platform 600 is used to receive formed workpieces and cooperate in completing dismantling, unloading and transfer operations.

[0056] It should be noted that the above structure is mainly used for material buffering, auxiliary flow or post-forming processing, and is not the main creative structure of the low-disturbance handover and force path constraint of the present invention. Therefore, this embodiment only describes it from the overall functional level and does not elaborate on its internal substructure.

[0057] like Figure 4As shown, specifically, the large and small machine docking equipment 700, the material feeding and transition equipment 900, and the small plate transfer equipment 800 together constitute the transfer unit; wherein, the large and small machine docking equipment 700 includes a conveying mechanism 701, a lifting mechanism 702, an integral frame 703, a detection sensor 704, and a driving mechanism 705, which is used to receive the object to be transferred sent by the mobile material spreading equipment 100, and to transfer the object according to the specifications of the object to be transferred or the location of the target press.

[0058] like Figure 1 and Figure 5 As shown, the material transfer device 900 further includes a second conveying mechanism 901, a second overall frame 902, and a third drive mechanism 903, which are used to provide continuous support and conveying transition between the large and small machine docking device 700 and the transition centering device 1000; the small plate transfer device 800 is used for small-sized objects to be transferred between the laying station, the transfer station, and the small press loading station; for large-sized objects to be transferred, a continuous transfer path is mainly formed by the large and small machine docking device 700, the material transfer device 900, and the transition centering device 1000.

[0059] like Figure 6 As shown, specifically, the transition centering device 1000 serves as a centering transfer unit, used for blocking positioning and centering correction of the object to be transferred; the transition centering device 1000 includes a conveying mechanism 1001, a centering cylinder 1002, a centering block 1003, a drive mechanism 1004, a blocking cylinder 1005, and an overall frame 1006.

[0060] Furthermore, the conveying mechanism 1001 is used to carry and transport the object to be transferred, the blocking cylinder 1005 is used to form the conveying direction positioning after the object to be transferred reaches the centering area, the centering cylinder 1002 is used to drive the centering block 1003 to perform lateral centering on the carrying steel plate, and the driving mechanism 1004 is used to drive the conveying mechanism 1001 to run; when the transition centering device 1000 performs the centering action, it prioritizes the centering block 1003 to act on the allowable force area of ​​the carrying steel plate to avoid direct lateral extrusion on the uncured composite material layup.

[0061] like Figure 7 As shown, specifically, the large machine loading platform 1100 serves as the press loading and unloading unit and is set between the transition centering device 1000 and the press table. It is used to send the centered object to be transferred into the press table and to receive or remove the formed workpiece after pressing.

[0062] Furthermore, the large machine loading platform 1100 includes a fourth conveying mechanism 1101, a second lifting mechanism 1102, a loading / unloading assembly 1103, and a loading / unloading drive mechanism 1104; the fourth conveying mechanism 1101 is used to carry the object to be transferred, the second lifting mechanism 1102 is used to adjust the height of the fourth conveying mechanism 1101, and the loading / unloading drive mechanism 1104 is used to drive the loading / unloading assembly 1103 to perform loading or unloading actions; the large machine loading platform 1100, through lifting and controlled pushing, ensures that the object to be transferred maintains a relatively stable posture before entering the press table.

[0063] The central control system is connected to the mobile material laying equipment 100, the gantry robot 200, the large and small machine docking equipment 700, the small plate transfer equipment 800, the material loading and transition equipment 900, the transition and centering equipment 1000, and the large machine loading platform 1100.

[0064] It should be noted that the central control system is used to acquire handover status information, arrival status, alignment status, and transfer process status, and to control the actions of each device according to the handover conditions and low disturbance conditions.

[0065] Specifically, before the object to be transferred is moved from one unit to the next adjacent unit, the central control system acquires the height status, conveying speed status, and conveying direction status between adjacent units, and controls the adjacent units to transfer synchronously when the handover conditions are met.

[0066] Furthermore, the central control system also determines the virtual sensitive area and the allowable stress area based on the positional correspondence between the bearing steel plate and the composite material layup, so that the handling, conveying, centering and loading actions are applied to the allowable stress area of ​​the bearing steel plate as much as possible.

[0067] In this embodiment, the mobile material laying device 100, the large and small machine docking device 700, the material feeding and transition device 900, the transition centering device 1000, and the large machine feeding platform 1100 are arranged sequentially along the transfer direction of the large-sized object to be transferred, forming a continuous transfer path from the transfer after laying, the conveying across the bearing surface, the blocking centering, the press feeding, to the removal after molding.

[0068] The gantry robot 200 is used to perform cross-station loading and unloading of load-bearing steel plates, upper steel plates, and formed workpieces. The central control system is used to coordinate the height adjustment, conveyor start / stop, direction control, centering actions, and press loading / unloading actions of the above equipment. Through the above structure, the present invention provides a hardware foundation for low-disturbance automated transfer of large-size uncured composite material laminates.

[0069] Example 2:

[0070] like Figure 8 As shown, an automated transfer control method for high-performance composite materials includes the following steps:

[0071] S1. Obtain information on the object to be transferred and the transfer task information, and determine the positional correspondence between the bearing steel plate and the composite material layup based on the positioning information of the bearing steel plate and the laying information of the composite material layup.

[0072] S2. Determine the virtual sensitive area and the allowable force area according to the position correspondence, and determine the action position, action direction and action intensity of the action to be executed according to the transfer action type;

[0073] S3. Determine whether the position, direction, and intensity of the action to be executed meet the low disturbance condition. If they do, generate low disturbance control parameters; if they do not, modify the action to be executed or prohibit the execution of the current action.

[0074] S4. Before the object to be transferred is handed over across the bearing surface, the height status, conveying speed status and conveying direction status of the upstream bearing surface and the downstream bearing surface are obtained, and when the height status, conveying speed status and conveying direction status meet the handover conditions, the upstream bearing surface and the downstream bearing surface are controlled to run synchronously.

[0075] S5. Update the transfer process data according to the arrival status, alignment status and handover process status of the object to be transferred, and use the transfer process data for the control or traceability of subsequent transfer actions.

[0076] The control method of this invention does not simply control the movement of the bearing steel plate from one workstation to another, but simultaneously considers the mechanical position of the bearing steel plate, the relative position of the composite material ply, and the impact of the transfer action on the ply. Its basic framework is as follows: first, determine the object to be transferred and the transfer task; then, establish the positional correspondence between the bearing steel plate and the ply; then, divide the virtual sensitive area and the allowable stress area according to the positional correspondence; then, before the specific action is executed, determine whether the action position, action direction, and action intensity meet the low disturbance condition; finally, when the cross-bearing surface is handed over, determine whether the handover state meets the handover condition and record the transfer process data.

[0077] The technical challenge of this invention lies in the fact that the large-size uncured composite material objects to be transferred have a large span, large layup area, and long edges, and the layup and the supporting steel plate are not rigidly connected. If the handling, conveying, centering and press feeding are performed only according to the control logic of ordinary rigid plates, even if the supporting steel plate has reached the target position, the composite material layup may have already experienced slight slippage, edge wrinkling or fiber orientation disturbance. Therefore, this embodiment extends the transfer control from the mechanical positioning of the supporting steel plate to the state stability of the composite material layup by using position correspondence, force path constraints and synchronous handover control.

[0078] Example 3:

[0079] The technical solution in this embodiment is a further refinement based on the above embodiment 1.

[0080] In step S1, before the large-sized object to be transferred begins to be handled, conveyed, aligned, or loaded onto the press, the central control system first confirms the current object information, its current workstation, target workstation, the positioning reference of the supporting steel plate, and the theoretical position of the composite material layup relative to the supporting steel plate. Through the above information, the central control system associates the mechanical position of the supporting steel plate with the laying position of the composite material layup, so that subsequent transfer control no longer only judges whether the supporting steel plate is in place, but further focuses on whether the composite material layup is still within the reliable position range relative to the supporting steel plate.

[0081] The information of the object to be transferred includes at least one of the following: the specifications of the bearing steel plate, the location of the positioning holes of the bearing steel plate, the edge location of the bearing steel plate, the theoretical center of the layup, the layup boundary, the layup angle, the main fiber direction, the number of layup layers, and the coverage area of ​​the release paper.

[0082] The transfer task information includes at least one of the following: starting workstation, target workstation, transfer path, object specifications, transfer action type, and target press status.

[0083] The positioning information of the supporting steel plate represents its position and attitude, which can be obtained through the matching status of the positioning pin 103 and the positioning hole of the supporting steel plate, the equipment positioning signal, the feedback signal of the detection sensor 704, or the preset process data.

[0084] The layup information of composite material layers represents the position, angle and boundary of the layer, and can be obtained through layup procedures, layup design documents, product process documents or on-site confirmation data.

[0085] The positional correspondence reflects the position, angle, and boundary state of the composite material layup relative to the supporting steel plate.

[0086] In this embodiment, the central control system first reads the object number to be transferred, the specifications of the supporting steel plate, the number of layup layers, and the object specifications; then it reads the starting station, the target station, and the transfer action type; then it confirms the position reference of the supporting steel plate based on the positioning pin 103, the detection sensor 704, the station arrival signal, or the preset process data; finally, it confirms the theoretical center of the layup, the layup boundary, the layup angle, and the main fiber direction based on the layup program or layup design data.

[0087] The above information is uniformly stored as the control data of the object to be transferred, which is used for subsequent area division, low disturbance judgment and handover control.

[0088] Specifically, the position data of the supporting steel plate is in mm as a uniform length unit, and the ply angle is in degrees or radians as a uniform angle unit. If the coordinate origins of the data fed back by different devices are different, the central control system first unifies the coordinates and then calculates the position correspondence.

[0089] Information on objects to be transferred and transfer tasks can be generated after the tiling is completed, or when the supporting steel plate is positioned on the workbench 102; when the specifications, number of layers, layer angle or target work position changes, the central control system will reread the corresponding information.

[0090] The positional correspondence between the load-bearing steel plate and the composite material layup is expressed by the following formula:

[0091] ;

[0092] in, These are the coordinates of a point in the steel plate coordinate system, in mm. These are the coordinates of the corresponding point in the ply coordinate system, in mm; It is a rotation matrix; The angular deviation of the ply direction relative to the length direction of the supporting steel plate, expressed in degrees or radians; This represents the offset of the theoretical center of the ply relative to the theoretical center of the supporting steel plate, in mm.

[0093] The rotation matrix is ​​represented as:

[0094] ;

[0095] in, and This represents the directional projection relationship between the ply coordinate system and the steel plate coordinate system. When the ply direction is consistent with the length direction of the supporting steel plate... When the layers are laid at a preset angle, Select the corresponding ply design angle; This can be obtained through product design data, installation procedures, positioning reference data, or on-site calibration data. It can be obtained through the fiber direction information in the layup design angle or the laying procedure; all positional quantities, distance quantities, and offset quantities use a uniform length unit, and angle quantities use a uniform angle or radian unit.

[0096] For example, and The offset range is set according to the product design, or obtained through on-site calibration after installation. For large-sized uncured composite material laminates, if the offset detected on-site exceeds the design allowable range, the central control system marks the object as needing verification and restricts subsequent high-speed conveying or rapid centering actions.

[0097] Therefore, the positional correspondence directly serves low-disturbance transport control, rather than simply mathematical coordinate transformation.

[0098] In this embodiment, the prior art easily equates the position of the bearing steel plate with the position of the composite material layup, resulting in the equipment showing that it is in place but the layup has already slipped slightly; step S1 obtains the information of the object to be transferred and the transfer task information and establishes the position correspondence, and the overall control system extends the control range from mechanical positioning to the relative position stability of the layup.

[0099] In step S2, after obtaining the position of the ply relative to the supporting steel plate, the overall control system marks the positions that are not suitable for mechanical action as virtual sensitive areas and the positions that are suitable for adsorption, pushing, centering or conveying as allowable stress areas; then, according to the action type, including: picking and placing, conveying, centering or press feeding, the system determines the position, direction and intensity of the action.

[0100] The virtual sensitive area is represented in the form of control data and does not require a physical structure. It includes at least one of the following: the main layup area, the release paper covering area, the fiber orientation sensitive area, and the edge wrinkle-prone area.

[0101] The permissible stress-bearing area includes at least one of the following: the edge area of ​​the load-bearing steel plate, the area adjacent to the positioning hole, the non-ply covered area, and the pre-defined stress-bearing area.

[0102] The types of transfer actions include at least one of the following: truss pick-and-place, bearing surface conveying, cross bearing surface handover, blocking positioning, centering and correction, press loading, and post-forming unloading.

[0103] Specifically, the overall control system first determines the main area of ​​the layup and the area covered by the release paper based on the positional correspondence; then it determines the fiber direction sensitive area based on the layup angle and the main fiber direction; then it offsets the layup boundary inward or outward by a certain distance to form an edge wrinkle-prone area; finally, the above areas are used as virtual sensitive areas to participate in subsequent action judgments.

[0104] The area prone to wrinkling at the edge is represented as:

[0105] ;

[0106] in, This is an area where the edges are prone to wrinkling; For any point in the ply coordinate system, the unit is mm; This is the ply boundary; For point to the border The minimum distance, in mm; This is the edge-sensitive width threshold, in mm; Determined by the ply design outline, laying procedure, or ply outer outline confirmed by inspection; It is determined based on the ply size, number of ply layers, ply thickness, material viscosity, edge length, and location of historical defects.

[0107] For example, Take 2-10 times the layup thickness, or the process safety width; within this range, edge wrinkles can be effectively suppressed. For objects with longer edges, more layers, weaker adhesion, or more defects, take the larger value; for smaller objects with stable edges or covered by an upper steel plate, take the smaller value.

[0108] When determining the permissible stress area, the central control system determines the edge area based on the boundary of the bearing steel plate, the area adjacent to the positioning hole based on the position of the positioning hole, and the non-lay-covered area based on the lay-up boundary and the coverage of the release paper. Then, the above areas are combined with the preset permissible stress area.

[0109] The permissible stress area should be located where the load-bearing steel plate can withstand mechanical action and should not overlap with the virtual sensitive area.

[0110] If there is an overlap, priority will be given to avoiding the virtual sensitive area. The action position is determined by the adsorption point of the suction cup end effector 204, the contact position of the centering block 1003, the pushing position of the loading and unloading assembly 1103, or the contact position between the conveying mechanism and the bearing steel plate.

[0111] When determining the position, direction, and intensity of action, the central control system determines the actuator based on the type of transfer action, the position based on the actuator's current posture, target position, and action path, the direction based on the action path or driving direction, and the intensity based on speed, acceleration, thrust, suction force, or driving parameters.

[0112] The position of action should be mapped to the steel plate coordinate system or the ply coordinate system; the direction of action should form an angular relationship with the main fiber direction; the intensity of action is characterized by velocity, acceleration, force or their equivalent control quantities.

[0113] If the equipment only provides feedback control commands but cannot directly provide feedback force, then drive current, cylinder pressure, adsorption negative pressure, or push setting value are used as equivalent parameters.

[0114] In this embodiment, the prior art only executes the actions in sequence and does not determine whether the action location will disturb the ply before the action is performed; step S2 is determined by the virtual sensitive area, the allowable force area and the action parameters, and the overall control system completes the force path judgment before the action is executed.

[0115] In step S3, the low disturbance conditions include the action position condition, the action direction condition, and the action intensity condition. The action position condition requires that the action position is located in the allowable force area and avoids the virtual sensitive area; the action direction condition requires that the action direction does not form an unfavorable shearing trend relative to the main fiber direction; the action intensity condition requires that the action speed, acceleration, and action force do not exceed the allowable disturbance range.

[0116] Low-disturbance control parameters include conveying speed, conveying acceleration, centering speed, centering stroke, pushing speed, adsorption force, adsorption position, and start-stop curves.

[0117] The overall control system first determines whether the action position is within the allowable force area and avoids the virtual sensitive area; then it determines whether the angle between the action direction and the main fiber direction forms an unfavorable shear; then it determines whether the action speed, acceleration and action force exceed the allowable threshold; finally, it generates control parameters, corrects the action or prohibits the action based on the judgment results.

[0118] The position condition is expressed as:

[0119] ;

[0120] in, The location where the action to be performed will be applied. To allow for the stress-bearing area, For virtual sensitive areas; when lie in And not located At the same time, it meets the low disturbance requirement.

[0121] The direction of action condition is expressed as:

[0122] ;

[0123] in, The angle between the direction of motion and the principal direction of the fiber. This is the allowable coefficient for transverse shear; The transverse component representing the direction of motion relative to the main fiber direction; the larger the value, the easier it is to form transverse shear. The determination is based on material type, number of ply layers, ply angle, ply thickness, viscosity, and process safety requirements; in one embodiment, Set between 0.1 and 0.5; use a smaller value for large, uncured, multi-layered, or shear-sensitive objects, and relax the value appropriately for objects covered with steel plates or with good edge stability.

[0124] The intensity of the action is expressed by the comprehensive disturbance index:

[0125] ;

[0126] And it satisfies:

[0127] ;

[0128] in, The comprehensive disturbance index; acceleration of motion (mm / s) 2 ); Action speed (mm / s); The force exerted during the action (N); , , These are the allowable acceleration threshold, allowable velocity threshold, and allowable force threshold, respectively. , , For the weighting coefficients, satisfying .

[0129] Before calculation, parameters of different dimensions are normalized by dividing by their corresponding thresholds. The allowable acceleration threshold, allowable velocity threshold, and allowable force threshold are determined through actual material testing, production line debugging, equipment calibration, actual production line data, or process experience. The weighting coefficients are set according to the action type: centering and correction actions pay more attention to force, cross-bearing surface conveying actions pay more attention to speed and acceleration, and press feeding actions pay attention to both pushing speed and pushing force.

[0130] When there is a risk of disturbance in the action, the central control system reduces the disturbance by changing the action position, reducing the speed, adjusting the direction, or executing in segments.

[0131] If the position of action does not meet the requirements, move the adsorption point, contact point, or pushing point to the area where the force can be applied; if the direction of action does not meet the requirements, adjust the conveying direction, centering direction, or pushing direction to reduce the lateral component; if the intensity of action does not meet the requirements, reduce the speed, acceleration, or force, or adopt segmented propulsion; if the action cannot be corrected, prohibit the action and trigger an alarm.

[0132] Segmented propulsion refers to the process where the central cylinder 1002 or the loading / unloading assembly 1103 does not complete the entire stroke at once, but advances gradually in multiple smaller strokes, with detection or buffer time reserved between adjacent propulsions.

[0133] The single stroke, interval time, and propulsion speed are set according to the centering offset, the size of the bearing steel plate, the number of ply layers, and the process requirements.

[0134] In this embodiment, the prior art does not determine whether the actions of handling, centering and feeding will disturb the layup when performing the actions; step S3 uses low disturbance condition judgment and action correction to reduce the risk of layup misalignment, fiber orientation disturbance, surface indentation and edge wrinkling while maintaining continuity.

[0135] In step S4, before the object to be transferred moves from one device to the next, the central control system does not immediately start feeding. Instead, it first determines whether the height difference, speed difference, and conveying direction of the two devices are suitable for handover. Only when the conditions of the same height, speed, and direction are met is synchronous receiving and feeding allowed.

[0136] Among them, the upstream bearing surface is the bearing surface of the equipment currently bearing and preparing to feed materials, and the downstream bearing surface is the bearing surface of the equipment preparing to receive materials.

[0137] Height status refers to relative height, conveying speed status refers to conveying speed, and conveying direction status refers to the direction of movement; handover conditions include conditions of the same height, the same speed, and the same direction.

[0138] Specifically, the central control system reads the height, conveying speed, and conveying direction of the upstream and downstream bearing surfaces to determine whether the conditions are met.

[0139] The condition of equal height is expressed as:

[0140] ;

[0141] in, , The height of the upstream and downstream bearing surfaces (mm); The height difference is in mm. The allowable height difference threshold (mm) is used; the height is obtained from the lifting mechanism 101 or lifting mechanism 2 1102, the lifting mechanism 702, the displacement sensor, the encoder, or the feedback signal from the equipment. The determination is based on the thickness of the bearing steel plate, the weight of the object to be transferred, the layer thickness, the gap between the bearing surfaces, and the process safety requirements.

[0142] For example, The thickness should be less than the allowable value of the bearing steel plate thickness or the bearing surface gap to avoid climbing, falling or scratching.

[0143] The condition of the same speed is expressed as:

[0144] ;

[0145] in, , The conveying speed (mm / s) of the upstream and downstream bearing surfaces. The speed difference is (mm / s). The allowable speed difference threshold (mm / s) is set; the speed is obtained by converting the speed feedback, encoder signal or control command from drive mechanism 105, drive mechanism 2 705, drive mechanism 3 903 or drive mechanism 4 1004. The determination is based on the object's size, weight, number of ply layers, friction condition, and junction path length; for large-sized uncured composite laminates... Set the range to avoid obvious dragging, pushing or slipping between layers.

[0146] The same-direction condition is expressed as:

[0147] ;

[0148] in, , The direction of conveying between the upstream and downstream bearing surfaces is determined by the driving mechanism's operating direction signal, the control system's output status, or the equipment's operating status. When the directions are consistent and downstream is allowed to receive material while upstream is allowed to feed material, the same-direction condition is met.

[0149] Once the handover conditions are met, the central control system first controls the downstream unit to enter the receiving state, and then controls the upstream unit to send out the object to be transferred. When the object crosses two bearing surfaces at the same time, the system controls the two to run synchronously. When the center of gravity of the object is transferred to the downstream, the system controls the upstream unit to smoothly decelerate, and the downstream unit continues to receive until it is in place. If any condition is not met and cannot be adjusted to the allowable range, the central control system prohibits the handover and alarms.

[0150] In this embodiment, the prior art only transports across platforms according to the equipment start-up and shutdown sequence, without fully considering differences in height, speed and direction; step S4 reduces height impact, speed difference drag and direction deviation by judging the handover status and controlling the synchronous handover, so that large-size uncured composite material laminates maintain layup stability when transferred across the bearing surface.

[0151] In step S5, after each transfer action is completed, the central control system records the execution process and results of the action, and uses the recorded data as the basis for subsequent control and quality traceability. The transfer process data includes the number of the object to be transferred, the number of the supporting steel plate, the number of layers, the layer angle, the starting position, the target position, the transfer path, the handover height difference, the handover speed difference, the conveying direction status, the centering status, the arrival status, the low disturbance control parameters, the action correction record, and the abnormal alarm information.

[0152] The central control system records the corresponding arrival status, alignment status, and handover process status after each pick-up, delivery, alignment, handover, or press loading action. When an abnormality occurs, it records the abnormality type, the workstation where it occurred, the time of occurrence, and the handling result. This data is then associated with the number of the object to be transferred and stored for subsequent control parameter adjustments or quality traceability.

[0153] Specifically, if the central control system detects that the height difference exceeds the allowable range, the speed difference exceeds the allowable range, the direction is inconsistent, the downstream is not allowed to receive materials, the centering offset is too large, the action position falls into the virtual sensitive area, or the comprehensive disturbance index exceeds the limit, it will be recorded as abnormal data.

[0154] These abnormal data can be used to subsequently adjust the height difference threshold, speed difference threshold, force threshold, centering stroke, or conveying speed.

[0155] In this embodiment, the prior art lacks continuous recording of the disturbance state during the transfer process, making it difficult to trace the cause of ply misalignment or edge wrinkles; step S5 updates the transfer process data to provide a data foundation for subsequent control optimization, equipment maintenance, and quality problem localization.

[0156] Example 4:

[0157] The technical solution in this embodiment is a further refinement based on the above embodiments.

[0158] The core invention is to establish a virtual sensitive area and a permissible stress area by establishing the positional correspondence between the bearing steel plate and the composite material layup. By combining the position, direction, intensity of the action and the junction state of adjacent bearing surfaces, low-disturbance transfer control of large-sized uncured composite material objects to be transferred can be achieved.

[0159] The large-sized object to be transferred is composed of a large-sized supporting steel plate, release paper, and multiple layers of composite material layup, and is not an ordinary rigid plate. The supporting steel plate has high rigidity and can serve as a mechanical reference for equipment positioning, conveying, centering, and press loading. However, the composite material layup is not yet cured before pressing and molding, and the layup and the supporting steel plate, as well as the adjacent layup, are not rigidly connected. They are easily affected by local pressure, lateral shear, high impact, speed difference drag, and directional deviation. Therefore, this invention does not take the position of the supporting steel plate as the sole basis for successful transfer, but incorporates the stability of the layup relative to the supporting steel plate into the control object of the overall control system.

[0160] In the specific execution process, the central control system first establishes a steel plate coordinate system based on the positioning holes, positioning edges, or theoretical center of the bearing steel plate, and then establishes a ply coordinate system based on the ply theoretical center, ply boundary, and fiber main direction. Then, it establishes a positional correspondence based on the offset of the ply theoretical center relative to the theoretical center of the bearing steel plate and the angular deviation of the ply direction relative to the length direction of the bearing steel plate. Next, it generates virtual sensitive areas and allowable stress areas. Then, it determines whether the stress path meets the low disturbance condition based on the position, direction, and intensity of the action to be executed. Finally, before the handover across the bearing surface, it judges the height, speed, and direction of the adjacent bearing surface, and controls synchronous handover when the handover conditions are met.

[0161] This embodiment does not involve artificial intelligence model training or inference, but adopts a traditional control method based on equipment state variables, geometric position relationships and process parameters; each calculated quantity is unified on a standard before participating in the judgment: position, distance and height are in mm, speed is in mm per second, force is in N, and angle is in degrees or radians as a unified unit. When the origin or unit of data coordinates of different equipment is inconsistent, coordinate unification and unit conversion are performed first.

[0162] Edge-sensitive width threshold : The value is 2-10 times the ply thickness; when A thickness of 2 times the thickness provides a smaller protection range, suitable for objects with good edge stability, already covered with steel plates, or small sizes. It can improve throughput while protecting the layup. A thickness of 10 times the thickness provides a larger protection range, suitable for large-sized objects with long edges, multiple layers, or weak adhesion, effectively reducing the risk of edge wrinkling. Production line testing shows that low-disturbance transport can be achieved within the range of 2-10 times the thickness. For typical large-sized objects, 5-8 times the thickness is recommended.

[0163] Transverse shear allowable factor Values ​​range from 0.1 to 0.5; Suitable for fiber orientation sensitive and multi-layered layups; Suitable for objects already covered with steel plates or with good edge stability; tested and verified, it meets low disturbance requirements within the range of 0.1-0.5, and is recommended for conventional large-sized objects. .

[0164] Allowable acceleration threshold Permissible speed threshold Permissible force threshold For large objects to be transported; where the load-bearing steel plate is ≥1500mm×1000mm and the number of layers is ≥4, it is recommended to... , , For smaller objects, the threshold can be increased by 20-30%.

[0165] Efficiency is too low below 200, and detectable slippage occurs above 500; weighting coefficients... , , Set according to the action type: centering correction (0.2, 0.2, 0.6), cross-bearing surface conveying (0.4, 0.4, 0.2), press feeding (0.2, 0.4, 0.4); if the actuator cannot provide feedback... The driving current or cylinder pressure can be used as an equivalent substitute; if a parameter cannot be obtained, its weight is reset to zero and normalized again.

[0166] Handover condition threshold: Allowable height difference threshold Allowable speed difference threshold After testing, The handover is smooth, but the probability of scratching increases significantly when the thickness exceeds 2mm. Some objects exhibit relative displacement of their ply layers.

[0167] Segmented propulsion parameters: The single propulsion stroke should not exceed 1 / 3 of the total stroke, the interval between adjacent propulsion strokes should be 0.5-1.0s, and the propulsion speed should be 50% of the normal speed. For example, if the total stroke for centering is 30mm, it should be divided into 3 strokes of 10mm each, with an interval of 0.5s, and a speed of 15mm / s.

[0168] This invention transforms the conventional rigid sheet metal transfer control approach into a low-disturbance control approach for large-size composite transfer objects. By mapping the load-bearing reference coordinates to the ply coordinates, the system identifies the relative position of the ply. Through virtual sensitive areas and allowable stress areas, the system determines avoidance and stress locations. By judging the location, direction, and intensity of action, the system identifies disturbance risks before action. By ensuring handover at the same height, speed, and direction, the system reduces cross-platform impacts, dragging, and directional deviations. The combined effect of these methods ensures that large-size transfer objects maintain a stable ply state during handling, conveying, alignment, and press loading.

[0169] Basis for parameter determination and validity verification:

[0170] The key parameters in this embodiment are Edge-sensitive width threshold Transverse shear allowable coefficient Allowable height difference threshold Allowable speed difference threshold Allowable acceleration threshold Allowable speed threshold, Permissible force threshold and weighting coefficient , , All were determined through orthogonal experiments or actual production line measurements; specifically:

[0171] Test conditions: Uncured carbon fiber prepreg specimens with dimensions of 2000mm×1200mm and 6 layers were used. The specimens were run on an automated transfer line with different parameter combinations. Each parameter group was tested 30 times. The observed indicators included the width of the wrinkles at the layup edge, the fiber direction offset, and the depth of the surface indentation.

[0172] Validity of value range: Within the range of values ​​for each parameter given in this article, such as It is 2-10 times the thickness of the ply. It is 0.1-0.5. It is 0-2mm. The parameters range from 0 to 50 mm / s; no unacceptable ply misalignment, edge wrinkles, or fiber disturbance were observed in any of the test samples; when the parameters exceed this range, the defect rate increases significantly; therefore, the overall range can achieve a low-disturbance transport effect.

[0173] Normalization: The normalization before calculating the comprehensive disturbance index uses a linear scaling method, i.e. ,in These are the original parameters. This corresponds to the allowed threshold.

[0174] Based on the preferred embodiments of the present invention described above, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A high-performance automated transfer system for composite materials, characterized in that, include: The load-bearing unit is used to support the object to be transferred, which is formed by the load-bearing steel plate, release paper and multi-layer composite material layup, and to position the load-bearing steel plate. A cross-station transport unit is used to transfer the load-bearing steel plate or the formed workpiece between the laying support unit, the storage station and the unloading station. The handover and transfer unit is located downstream of the laying and carrying unit and is used to receive and continue to transport the object to be transferred. The transfer unit is located downstream of the transfer unit and is used for obstruction positioning and centering correction of the object to be transferred. The press loading and unloading unit is located between the centering transfer unit and the press table. It is used to send the object to be transferred after centering into the press table and to receive the workpiece after pressing. The system also includes a central control system, which is communicatively connected to the laying support unit, the cross-station handling unit, the handover and transfer unit, the centering and transfer unit, and the press loading and unloading unit. The overall control system is configured to: acquire handover status information before the object to be transferred is moved to the next adjacent unit, and control the adjacent units to hand over synchronously when the handover conditions are met, so as to reduce height impact, speed difference drag and directional deviation.

2. The high-performance composite material automated transfer system according to claim 1, characterized in that: The paving support unit is a mobile paving device, which includes a lifting mechanism, a worktable, a positioning pin, a loading and unloading mechanism, a drive mechanism, and a guide rail. The worktable is used to support the object to be transferred, the positioning pin is used to cooperate with the supporting steel plate for positioning, the lifting mechanism is used to adjust the height of the worktable, the loading and unloading mechanism is used to send the object to be transferred to the transfer unit, and the drive mechanism is used to drive the mobile paving device to move along the guide rail.

3. The high-performance composite material automated transfer system according to claim 1, characterized in that: The cross-station handling unit is a gantry robot, which includes a C-shaped frame support, a lateral movement component, an end effector lifting component, and a suction cup end effector. The lateral movement component is located on the C-shaped frame support, the end effector lifting component is connected to the lateral movement component, and the suction cup end effector is located on the end effector lifting component for picking up and holding steel plates, upper steel plates, or formed workpieces.

4. The high-performance composite material automated transfer system according to claim 1, characterized in that: The handover and transfer unit includes a large and small machine docking device, a material feeding and transition device, and / or a small plate transfer device; the large and small machine docking device includes a conveying mechanism one, a lifting mechanism, an overall frame one, a detection sensor, and a driving mechanism two; the material feeding and transition device includes a conveying mechanism two, an overall frame two, and a driving mechanism three; the small plate transfer device is used for small-sized objects to be transferred between the paving station, the transfer station, and the small press material feeding station.

5. The high-performance composite material automated transfer system according to claim 1, characterized in that: The centering transfer unit is a transition centering device, which includes a conveying mechanism three, a centering cylinder, a centering block, a driving mechanism four, a blocking cylinder, and an overall frame three. The blocking cylinder is used to position the object to be transferred in the conveying direction, and the centering cylinder is used to drive the centering block to perform lateral centering of the bearing steel plate.

6. The high-performance composite material automated transfer system according to claim 1, characterized in that: The press loading and unloading unit is a large machine loading platform, which includes a conveying mechanism four, a lifting mechanism two, a loading and unloading assembly, and a loading and unloading drive mechanism. The lifting mechanism two is used to adjust the height of the conveying mechanism four, and the loading and unloading drive mechanism is used to drive the loading and unloading assembly to send the object to be transferred into the press table or to take the pressed and shaped workpiece out of the press table.

7. A method for automated transfer control of high-performance composite materials, characterized in that, Includes the following steps: S1. Obtain information on the object to be transferred and the transfer task information, and determine the positional correspondence between the bearing steel plate and the composite material layup based on the positioning information of the bearing steel plate and the laying information of the composite material layup. S2. Determine the virtual sensitive area and the allowable force area according to the position correspondence, and determine the action position, action direction and action intensity of the action to be executed according to the transfer action type; S3. Determine whether the position, direction, and intensity of the action to be executed meet the low disturbance condition. If they do, generate low disturbance control parameters. If the conditions are not met, then modify the action to be performed or prohibit the current action from being performed; S4. Before the object to be transferred is handed over across the bearing surface, the height status, conveying speed status and conveying direction status of the upstream bearing surface and the downstream bearing surface are obtained, and when the height status, conveying speed status and conveying direction status meet the handover conditions, the upstream bearing surface and the downstream bearing surface are controlled to run synchronously. S5. Update the transfer process data according to the arrival status, alignment status and handover process status of the object to be transferred, and use the transfer process data for the control or traceability of subsequent transfer actions.

8. The automated transfer control method for high-performance composite materials according to claim 7, characterized in that: In step S1, the position correspondence is used to represent the position, angle and boundary state of the composite material layup relative to the bearing steel plate, so that the central control system can determine the relative position state of the composite material layup at the same time as determining that the bearing steel plate is in place.

9. The automated transfer control method for high-performance composite materials according to claim 7, characterized in that: In steps S2 and S3, the virtual sensitive area includes at least one of the following: the main layer area, the release paper covering area, the fiber orientation sensitive area, and the edge wrinkle-prone area; the low disturbance condition includes at least one of the following: the action position avoids the virtual sensitive area, the action direction avoids forming an unfavorable shear trend, and the action intensity does not exceed the disturbance threshold.

10. The automated transfer control method for high-performance composite materials according to claim 7, characterized in that: In step S4, the handover conditions include the height difference between adjacent bearing surfaces being within the allowable range, the difference in conveying speed being within the allowable range, and the conveying direction being consistent; after the handover conditions are met, the central control system controls the adjacent bearing surfaces to perform synchronous material receiving and feeding.

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