Roller with active water-cooling temperature control and force control sensing functions

Abstract

The utility model relates to a roller with active water-cooling temperature control and force control sensing functions, which is used for an automatic thermoplastic composite prepreg tape laying device, a water-cooling pipeline is arranged in the roller, and heat insulation glue with a certain thickness is wrapped outside the roller. The cooling speed of the device is controlled by changing the temperature and the flowing speed of water in a water cooling pipeline in a roller, a laying device and a cooling device are combined, so that the whole laying device is more compact, the roller is connected with the prepreg tape laying device through a wheel support, and a force feedback system is arranged above the wheel support. The force feedback system feeds back the mechanical information of the roller in real time and properly adjusts the pressure. The roller disclosed by the utility model can improve the accuracy and the working efficiency of the laying device.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic molding of thermoplastic composite materials, in particular to a roller in an automatic laying device for thermoplastic composite material prepreg tapes. Background Art

[0002] Resin-based thermoplastic composites are a special type of thermoplastic composites in which resin is used as a matrix material. Resin is a polymer compound with good plasticity and processability. Among resin-based thermoplastic composites, commonly used resins include polypropylene (PP), polyethylene (PE), polystyrene (PS), etc. The preparation process of resin-based thermoplastic composites generally includes the following steps: first, the resin is heated to a molten state, and then it is mixed evenly with additives such as fillers or reinforcing fibers to form a prefabricated material; then the prefabricated material is processed and formed by processes such as extrusion, injection molding, and calendering, and finally cooled and solidified to obtain the desired composite material product. Resin-based thermoplastic composites have high strength, stiffness and heat resistance, and are widely used in the field of lightweight and high-performance requirements for structural parts. They are plastic, can be softened and reprocessed by heating, can be recycled and reused, and meet the requirements of environmental protection and sustainable development. Common application areas include automotive parts, aerospace, electronics and electrical, etc.

[0003] The print head has always been an extremely important part of the design in the thermoplastic composite material laying process. The print head integrates the infiltration of resin and auxiliary materials, laying of printing auxiliary materials and other functions. The quality of the print head design has a direct impact on the printed product, and the integrated design of the print head is also an important part of the print head design. The roller in the nozzle is in direct contact with the laying platform, and the working state of the roller is the object that needs to be paid special attention to during the printing process. The processing temperature of thermoplastic composite materials is generally between 400-500℃. The silicone or rubber material wrapped on the roller of the laying device cannot work at this temperature for a long time. If it works at this temperature for a long time, the material will age, reducing the laying efficiency of the overall device.

[0004] The rollers in the existing thermoplastic composite material laying devices are mostly simple metal lining and rubber outer covering structures, which generally have poor heat dissipation and simple structure, poor material laying effect, and are difficult to work continuously for a long time. The low efficiency and precision are not conducive to the research of automatic laying and the production of resin-based composite materials on a certain scale. In addition, the pressure of the existing rollers is difficult to control, which affects the accuracy of laying.

[0005] The traditional thermoplastic composite prepreg tape laying device uses an air cooling device for cooling, which cannot accurately control the cooling speed. During the 3D printing process, the air cooling device occupies a large space, which is not conducive to printing special-shaped curved surfaces, and the overall device integration is relatively low.

[0006] Chinese patent CN219294806U discloses a roller for automatic wire laying on a small-taper conical surface, which is characterized by a metal tube lining and a rubber outer layer, and the rubber outer layer is wrapped around the outside of the metal tube lining. However, similar structures are prone to overheating when used for automatic laying of thermoplastic resins for a long time.

[0007] Chinese patent CN108819292A discloses an automatic tape laying device and method based on pressure rollers and laser heating, which is characterized in that the prepreg tape is transported to the top of the substrate by rollers, and the thermoplastic composite material is automatically laid by laser heating. However, the roller structure is roughly designed, and it is inevitable that it slides during laying, affecting the accuracy. Moreover, the roller is easily damaged under long-term high-temperature operation, affecting the laying accuracy and efficiency.

[0008] Chinese patent CN 116001316 A discloses an automatic placement device for thermoplastic composite prepreg tapes with adjustable laser angle, in which cooling devices are arranged on both sides of the bottom of a roller pressing module. However, in the process of laying the thermoplastic composite prepreg tapes layer by layer, as the number of prepreg tapes laid increases, the cooling device at the bottom no longer has a good cooling effect. Utility Model Content

[0009] In view of the defects of the prior art, the utility model provides a roller with active water-cooling temperature control and force control sensing functions. A water-cooling pipe is arranged inside the roller, a thick layer of heat-insulating glue is arranged outside the roller, and a force feedback system is arranged on the top, which effectively improves the working efficiency and laying accuracy of the roller in the laying device.

[0010] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0011] A roller with active water-cooling temperature control and force control sensing functions is used in an automatic placement device for thermoplastic composite materials. A spiral water-cooling pipe is arranged inside the roller. Both ends of the roller are respectively connected to a wheel shaft. The wheel shaft is connected to a wheel bracket through a bearing. A rotating quick joint is connected to the outside of the wheel shaft. A through hole is arranged in the center of the wheel shaft and a gap is left between the wheel shaft and the roller. The gap is connected to the water-cooling pipe inside the roller. A force feedback system is connected above the wheel bracket.

[0012] Furthermore, the roller is a solid structure, and the roller and the water-cooling pipe inside are formed by 3D printing.

[0013] Furthermore, in a roller with a width of 42 mm and a height of 70 mm, a water cooling pipe with a diameter of 4 mm and 7 turns is selected.

[0014] Furthermore, the wheel shaft includes a left wheel shaft and a right wheel shaft, the wheel bracket is spliced ​​by a left wheel bracket and a right wheel bracket, the left wheel shaft is connected to the left wheel bracket through an angular contact ball bearing, and the right wheel shaft is connected to the right wheel bracket through an angular contact ball bearing.

[0015] Furthermore, screw holes are respectively provided at both ends of the roller, and the roller and the left rotating shaft of the wheel and the left rotating shaft of the wheel are respectively fixedly connected by screws, and circumferential sealing is performed by a sealing ring.

[0016] Furthermore, both ends of the roller are recessed to form blind holes, the water cooling pipe is connected to the blind holes, a protrusion matching the blind hole is provided on the rotating shaft, the depth of the blind hole is greater than the height of the protrusion of the rotating shaft, so that a gap is formed between the rotating shaft and the roller for the coolant to flow.

[0017] Furthermore, the force feedback system includes a six-dimensional force sensor, a six-dimensional force sensor adapter, a linear bearing and a guide rod. The six-dimensional force sensor is installed above the wheel bracket, and a six-dimensional force sensor adapter is provided on the upper part. Guide rods are respectively provided on both sides of the six-dimensional force sensor. The upper end of the guide rod passes through the linear bearing, and the lower end of the guide rod is connected to the mounting hole on the wheel bracket through a nut. The linear bearing 102 is fixedly connected to both sides of the six-dimensional force sensor adapter by screws.

[0018] Furthermore, the outside of the roller is wrapped with a heat-insulating adhesive of a certain thickness.

[0019] Furthermore, the thermal insulation glue is silicone or rubber.

[0020] Furthermore, the roller with a width of 42 mm and a height of 70 mm is coated with a heat-insulating adhesive with a thickness of 5 mm.

[0021] Beneficial effects:

[0022] 1. The utility model is provided with a water cooling pipe inside the roller. When the prepreg tape is laid, the water cooling device takes away the heat absorbed by the roller when laying the prepreg tape, thereby achieving the effect of cooling the roller device. At the same time, it can reduce the temperature of the rubber or silicone material wrapped around the roller, slow down the aging of the rubber, and increase the service life of the roller. The roller can work at the target temperature for a long time, thereby improving the laying efficiency of the overall device.

[0023] 2. The utility model combines a laying device and a cooling device. While laying the prepreg, the prepreg is compacted and cooled, preventing the prepreg from being widened by the roller during the compaction process, thereby improving the laying accuracy of the device. The roller is combined with the cooling device, and the roller cools the new prepreg while laying it. Compared with the cooling device in the prior art that cools the prepreg from bottom to top, the utility model has a better cooling effect and improves the working efficiency of the overall device.

[0024] 3. The utility model adopts a water cooling device for cooling. Compared with the traditional air cooling device, it has a higher degree of integration at the laying end, and there is a larger space for printing during the printing process, especially the printing accuracy of special-shaped curved surfaces is higher.

[0025] 4. The utility model can print water-cooling pipes with different parameters inside the roller through the 3D printing method, change the number of turns of the water-cooling pipes inside the roller, and produce a roller suitable for the overall device. The cooling speed can also be further and more accurately controlled by changing the temperature and flow rate of the cooling water inside the pipe, so that the roller has an active water-cooling temperature control function.

[0026] 5. A force feedback system is arranged above the roller of the utility model. The mechanical feedback system can sense the force exerted on the roller, and the pressure of the roller is adjusted by the computer in real time to achieve precise placement. At the same time, it can also immediately detect possible errors in printing by adjusting the direction of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional line diagram of the roller;

[0028] Figure 2 It is a schematic diagram of the internal structure of the roller;

[0029] Figure 3 This is a cross-sectional view of the roller in actual use.

[0030] Figure 4 This is a three-dimensional schematic diagram of the actual use of the roller

[0031] Figure 5 This is the assembly diagram of the roller on the nozzle.

[0032] Figure numerals: 1 roller, 2 screw hole, 3 water-cooling pipe, 4 thermal insulation glue, 101 six-dimensional force sensor adapter, 102 linear bearing, 103 six-dimensional force sensor, 104 guide rod, 105 nut, 106 right wheel bracket, 107 left wheel bracket, 108 rotating quick connector, 109 bearing, 110 left wheel shaft, 111 right wheel shaft. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1-2As shown, a roller in an automatic placement device for thermoplastic composite prepreg tape with adjustable laser heating angle is provided. The roller 1 is provided with a water cooling pipe 3 inside, and the roller 1 is wrapped with a certain thickness of heat insulating glue 4 outside; the water cooling pipe 3 is located inside the roller and is spiral-shaped. When cold water (or coolant) passes through, it can fully take away the heat. The heat insulating glue 4 wrapped outside the roller 1 can isolate the heat of the prepreg tape and protect the roller 1. The roller 1 can be printed by 3D printing to print the thickness and number of turns of the water cooling pipe that meet actual needs, so as to produce a roller suitable for the overall device.

[0035] The present invention uses a spiral water-cooling pipe 3 disposed inside the roller, and controls the cooling speed of the device by changing the temperature, flow rate and thickness of the water in the water-cooling pipe 3 inside the roller, so as to achieve long-term, high-intensity operation of the device while always maintaining a stable temperature. The laying device and the cooling device are combined to make the overall laying device more compact, thus simplifying the device and improving the flexibility of the printing end. The roller with the water-cooling pipe can quickly cool the prepreg tape during the process of the roller compacting the prepreg tape, which is beneficial to prevent the prepreg tape from not being cooled during the compaction process, resulting in the prepreg tape becoming wider, thereby improving the accuracy of the laying device and being able to cope with a more complex printing environment.

[0036] The roller 1 is also wrapped with a thick layer of heat-insulating glue 4 on the outside. The heat-insulating glue 4 is silicone or rubber, which plays a role in protecting the roller. At the same time, it is combined with the internal water cooling system to prevent overheating after long-term printing.

[0037] As a preferred embodiment of this embodiment, Figure 2 As shown, the roller is 42 mm wide and 70 mm high. In the roller 1 of this size, a water-cooling pipe 3 with a diameter of 4 mm is spirally wound 7 times. The flow rate of the coolant can be adjusted to adapt to a wider range of printing temperatures and cooling requirements; the roller is coated with about 5 mm of thermal insulation glue, which can meet some printing requirements.

[0038] Furthermore, screw holes 2 are respectively provided on both sides of the roller 1, which are mainly used to connect other devices. Figure 3-4 As shown, the left and right sides of the roller 1 are respectively connected with wheel shafts, and the roller 1 is fixedly connected to the left wheel shaft 110 and the right wheel shaft 111 by screws, and circumferential sealing is performed by sealing rings; the wheel shaft is connected to the wheel bracket by bearings, and angular contact ball bearings 109 are respectively installed on the outside of the left wheel shaft 110 and the right wheel shaft 111, which are installed on the left wheel bracket 107 and the right wheel bracket 106 through the angular contact ball bearings 109, and the left wheel bracket 107 and the right wheel bracket 106 are fixedly connected by screws to form a complete wheel bracket, and the roller 1 is installed in the corresponding thermoplastic composite material prepreg tape laying device through the wheel bracket and can rotate freely.

[0039] A rotating quick connector 108 is provided on the outer side of the wheel shaft, and the rotating quick connector 108 is fixedly connected to the left wheel shaft 110 and the right wheel shaft 111 through threads. A center hole is provided in the center of the wheel shaft, and a gap is left between the wheel shaft and the two ends of the roller 1 to facilitate the passage of coolant. Specifically, Figure 3 As shown, the two ends of the roller 1 are sunken to form a blind hole of a certain depth, and a channel connected to the water-cooling pipe 3 is provided in the blind hole. The left rotating shaft 110 and the right rotating shaft 111 of the wheel are respectively provided with protrusions matching the blind holes, and the depth of the blind hole is greater than the height of the protrusion on the rotating shaft, so that the gap can be formed between the rotating shaft and the roller 1, so that the coolant can enter from the rotating quick joint 108 installed on the left, then enter the center hole of the left rotating shaft 110 of the wheel, then enter the gap between the left rotating shaft 110 of the wheel and the roller 1, and then enter the water-cooling pipe 3 in the roller 1, and then flow out from the water-cooling pipe 3 into the gap between the roller 1 and the right rotating shaft 111 of the wheel, then enter the center hole of the right rotating shaft 111 of the wheel, and then flow out from the rotating quick joint 108 installed on the right, so as to achieve cooling. The water-cooling pipe 3 inside the roller 1 can be 3D printed with the corresponding pipe diameter and number of turns according to the actual situation, and the flow rate of the coolant can also be adjusted according to the external numerical control system.

[0040] Furthermore, a force feedback system is arranged above the wheel bracket of the roller 1, and the force feedback system includes a six-dimensional force sensor 103, a six-dimensional force sensor adapter 101, a linear bearing 102 and a guide rod 104, wherein the six-dimensional force sensor 103 is fixedly mounted on the wheel bracket by screws, a six-dimensional force sensor adapter 101 is arranged on the upper part of the six-dimensional force sensor 103, guide rods 104 are respectively arranged on both sides of the six-dimensional force sensor 103, the upper end of the guide rod 104 passes through the linear bearing 102, the lower end of the guide rod 104 is connected to the mounting hole on the wheel bracket and is fixed by a nut 105, the linear bearing 102 is fixedly connected to both sides of the six-dimensional force sensor adapter 101 by screws, and the six-dimensional force sensor 103 is connected to the numerical control equipment, which can instantly feedback the mechanical data of the roller. When in use, the pressure of roller 1 is detected in real time through the six-dimensional force sensor 103 and the guide rod 104, and the pressure and angle of roller 1 during laying are adjusted in real time according to the feedback pressure, so that printing is more accurate and precise, and has excellent performance in printing complex workpieces.

[0041] like Figure 5 As shown, it is a schematic diagram of the roller 1 of the utility model installed on the printing nozzle. The roller plays the role of wire feeding, wire pressing, cooling, and mechanical sensing on the nozzle. The integrated design leaves flexible layout space for more sensors and lasers.

[0042] When the roller of the utility model is used in a composite material prepreg tape laying device, first select a suitable roller 1 according to the printing requirements, connect the equipment, circumferentially seal the two ends of the roller through a sealing ring and connect it to the wheel shaft; install angular contact ball bearings 109 on the wheel left shaft 110 and the wheel right shaft 112, and then install the wheel bracket. Then, the force feedback system is installed. The guide rod 104 is fixedly connected to the wheel bracket by a thread. In addition, a nut 105 is installed between the guide rod 104 and the wheel bracket for further fixing. The six-dimensional force sensor 103 is fixedly connected to the wheel bracket by screws. The linear bearing 102 is fixedly connected to the six-dimensional force sensor adapter 101 by screws. The guide rod 104 passes through the linear bearing 102. The coolant can enter from the rotating quick connector 108 installed on the left, then enter the center hole of the left rotating shaft 110 of the wheel, then enter the gap between the left rotating shaft 110 of the wheel and the roller 1, then enter the water cooling pipe 3 in the roller 1, and then enter the gap between the roller 1 and the right rotating shaft 111 of the wheel, then enter the center hole of the right rotating shaft 111 of the wheel, and finally flow out from the rotating quick connector 108 installed on the right to achieve cooling; then the resin is sent to wrap the roller, and the next step of laying can be carried out. Finally, select appropriate parameters according to the specific workpiece to be printed, and print the workpiece in combination with the CNC system.

[0043] The utility model aims at the automatic laying of composite material prepreg tapes for a long time. The cooling temperature can be adjusted in real time by combining sensors. Water-cooling pipes with different diameters and numbers of turns can also be designed to adjust the range of cooling rates. The printing pressure can also be accurately adjusted by the cooperation of six-dimensional force sensors and guide rods. The utility model has the advantages of convenience and a wide range of applications.

[0044] The process parameters of water cooling depend on the type of thermoplastic composite matrix resin. By adjusting the water flow rate, the real-time controllable cooling temperature of the thermoplastic resin can be achieved, and the precise control of the prepreg tape can be achieved.

[0045] The utility model has a roller with active water-cooling temperature control and force control sensing functions, and a water-cooling pipe wrapped around the roller is arranged inside the roller. The cooling speed of the device is controlled by changing the temperature and flow rate of water in the water-cooling pipe inside the roller. The mechanical information of the roller is fed back in real time through the force feedback system and the pressure is adjusted appropriately. The advantages are as follows: 1. The cooling effect of the roller device can reduce the temperature of the rubber material wrapped outside the roller, slow down the aging of the rubber, and increase the service life of the roller. It can work at the target temperature for a long time, thereby improving the laying efficiency of the overall device; 2. While laying the prepreg tape, the prepreg tape is compacted and cooled to prevent the prepreg tape from being widened by the roller during the compaction process, thereby improving the laying accuracy of the device; 3. The cooling device and the roller are integrated into a design, and the integration degree at the laying end is higher. There is more space for printing during the printing process, especially the printing accuracy of special-shaped curved surfaces is higher. 4. The roller is combined with a cooling device to cool the new prepreg tape while the roller is laying it. Compared with the traditional cooling device that cools the prepreg tape from bottom to top, it has a better cooling effect and improves the working efficiency of the overall device; 5. Rollers with different parameters can be manufactured through 3D printing to flexibly cope with various situations; the mechanical feedback system can adjust the roller pressure to achieve more precise printing.

[0046] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A roller with active water-cooling temperature control and force control sensing functions, used in an automatic placement device for thermoplastic composite materials, characterized in that: A spiral water-cooling pipe is arranged inside the roller, and both ends of the roller are respectively connected to the wheel shaft, and the wheel shaft is connected to the wheel bracket through a bearing. A rotating quick joint is connected to the outer side of the wheel shaft, a through hole is arranged in the center of the wheel shaft, and a gap is left between the wheel shaft and the roller, and the gap is connected to the water-cooling pipe inside the roller. A force feedback system is connected above the wheel bracket.

2. The roller with active water-cooling temperature control and force control sensing function according to claim 1, characterized in that: The roller is a solid structure, and the roller and the water-cooling pipe inside are formed by 3D printing.

3. The roller with active water-cooling temperature control and force control sensing function according to claim 2, characterized in that: For a roller with a width of 42mm and a height of 70mm, a water cooling pipe with a diameter of 4mm and 7 turns is selected.

4. The roller with active water-cooling temperature control and force control sensing function according to claim 1, characterized in that: The wheel shaft includes a left wheel shaft and a right wheel shaft, the wheel bracket is spliced ​​by a left wheel bracket and a right wheel bracket, the left wheel shaft is connected to the left wheel bracket through an angular contact ball bearing, and the right wheel shaft is connected to the right wheel bracket through an angular contact ball bearing.

5. The roller with active water-cooling temperature control and force control sensing function according to claim 4, characterized in that: Screw holes are respectively arranged at both ends of the roller, and the roller and the left rotating shaft of the wheel and the left rotating shaft of the wheel are respectively fixedly connected by screws, and circumferential sealing is performed by a sealing ring.

6. The roller with active water-cooling temperature control and force control sensing functions according to claim 4, characterized in that: The two ends of the roller are recessed to form blind holes, the water cooling pipe is connected to the blind holes, a protrusion matching the blind hole is provided on the rotating shaft, the depth of the blind hole is greater than the height of the protrusion of the rotating shaft, so that a gap for the circulation of coolant is formed between the rotating shaft and the roller.

7. The roller with active water-cooling temperature control and force control sensing functions according to claim 4, characterized in that: The force feedback system includes a six-dimensional force sensor, a six-dimensional force sensor adapter, a linear bearing and a guide rod. The six-dimensional force sensor is installed above the wheel bracket, and a six-dimensional force sensor adapter is provided on the upper part. Guide rods are respectively provided on both sides of the six-dimensional force sensor. The upper end of the guide rod passes through the linear bearing, and the lower end of the guide rod is connected to the mounting hole on the wheel bracket through a nut. The linear bearing is fixedly connected to both sides of the six-dimensional force sensor adapter by screws.

8. The roller with active water-cooling temperature control and force control sensing functions according to claim 1, characterized in that: The roller is wrapped with a certain thickness of heat-insulating glue on the outside.

9. The roller with active water-cooling temperature control and force control sensing functions according to claim 8, characterized in that: The heat-insulating adhesive is silica gel or rubber.

10. The roller with active water-cooling temperature control and force control sensing functions according to claim 9, characterized in that: The roller, which is 42mm wide and 70mm high, is covered with 5mm thick thermal insulation glue.

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