L-shaped stringer tool based on automatic roll forming

Abstract

The utility model belongs to the technical field of advanced composite material automatic process forming and manufacturing, and particularly relates to an L-shaped stringer tool based on automatic roll forming, which comprises an adjusting foot cup, a stringer mold, a target hole, an anti-interference cushion block, an L-shaped stringer roll forming mold and a positioning pin, wherein the adjusting foot cup is connected with the stringer die tire and located at the bottom of the stringer die tire, the anti-interference cushion blocks are arranged on the upper surface of the stringer die tire, the stringer die tire and the anti-interference cushion blocks are connected with the positioning pins through bolts, and the positioning pins are connected with the adjusting foot cup through bolts. The upper surface of the anti-interference cushion block is connected with the L-shaped stringer roll forming die; a heating part is arranged in the L-shaped stringer roll forming die; by means of the tool, an L-shaped stringer blank can be rolled on the basis of an automatic rolling forming process method, the requirement for automatic forming of the L-shaped stringer is met, and finally the purpose of automatic manufacturing of the composite material L-shaped stringer is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automated process molding and manufacturing of advanced composite materials, and in particular relates to an L-shaped long stringer tooling based on automated roll forming. Background Art

[0002] The existing L-shaped long stringer forming technology mainly relies on manual laying or molding. However, during the manual laying process, due to the difference in the operating level of the operators, various problems occur in the manufactured L-shaped long stringer parts. These problems include excessive material dispersion, pores caused by poor R-zone lamination, delamination, fiber buckling and wrinkles, and low material utilization. These defects seriously affect the product quality and production efficiency of the L-shaped long stringer.

[0003] In order to stabilize the product quality of L-shaped long stringers and improve production efficiency, the domestic method of automated roll forming has been adopted to replace the traditional manual forming method. Automated roll forming can significantly improve material utilization and stabilize product quality. However, the manually laid long stringer mold is not suitable for automated roll forming. During the rolling process, the L-shaped long stringer forming mold will offset, the long stringer mold will interfere with the L-shaped automated rolling tool head, and the mold cannot be heated evenly. These problems limit the application and promotion of automated rolling technology. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] The utility model mainly aims at the above problems and proposes an L-shaped long stringer tooling based on automated roll forming, the purpose of which is to solve the problem that the manually laid L-shaped long stringer mold is not suitable for the L-shaped automated roll forming tool head.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the utility model provides an L-shaped long stringer tooling based on automated roll forming, comprising an adjusting foot cup, a long stringer mold, an anti-interference pad, an L-shaped long stringer roll forming mold, and a positioning pin; wherein the adjusting foot cup is connected to the long stringer mold and is located at the bottom of the long stringer mold, and a plurality of anti-interference pads are arranged on the upper surface of the long stringer mold, the long stringer mold and the anti-interference pads are connected to the positioning pins through bolts, and the upper surface of the anti-interference pads is connected to the L-shaped long stringer roll forming mold; a heating component is arranged in the L-shaped long stringer roll forming mold.

[0008] Furthermore, the heating component includes an electric heating rod and a 220V power cord; wherein the electric heating rod is inserted into the L-shaped long stringer roll-forming mold along the axial direction thereof, and one end of the electric heating rod is connected to the 220V power cord.

[0009] Furthermore, a layer of heat insulating material is adhered to the bottom surface of the L-shaped long stringer roll forming mold.

[0010] Furthermore, the heating component also includes a temperature controller, and one end of the electric heating rod is also connected to the temperature controller.

[0011] Furthermore, the L-shaped long stringer roll forming mold is a long strip structure.

[0012] Furthermore, the anti-interference pad is processed into a step shape, and the step size is equal to or smaller than the width of the L-shaped long stringer roll-forming mold.

[0013] Furthermore, the long stringer mold is provided with target holes at four vertex positions thereof.

[0014] Furthermore, the adjusting foot cup comprises a screw rod and a chassis, one end of the screw rod is threadedly connected to the long stringer mold, and the other end is connected to the chassis.

[0015] A method for using the L-shaped long stringer tooling mold comprises the following steps:

[0016] The first step is to install a six-degree-of-freedom robotic arm on the ground track;

[0017] The second step is to transfer the L-shaped long stringer tooling into the working range of the robotic arm;

[0018] The third step is that the quick-change gun tray includes a sub-tray and a mother tray, which are installed on the robot side and the L-shaped automated rolling tool head side respectively. Through the quick connection between the sub-tray and the mother tray, the working mode of "robot + L-shaped automated rolling tool head" is realized;

[0019] The fourth step is to install the dial indicator on the lever indicator stand, and then adsorb the magnetic base of the lever indicator stand on the L-shaped automatic rolling tool head, and then adjust the dial indicator pointer to 0, adjust the spatial position and posture of the L-shaped automatic rolling tool head, so that the dial indicator pointer is pressed on the surface of the L-shaped long stringer roll forming mold, and by rotating the adjustment foot cup, each adjustment point of the L-shaped long stringer roll forming mold is at almost the same height position, so as to achieve the preliminary leveling of the L-shaped long stringer roll forming mold;

[0020] The fifth step is to remove the primary rolling unit of the L-shaped automated rolling tool head and replace it with the automated calibration tool head, insert the target ball into the target hole, and complete the automated spatial calibration of the L-shaped long stringer roll forming mold through NC instructions;

[0021] Step 6: Use trajectory generation software to calculate the actual spatial position of the L-shaped long stringer roll forming die and generate an automated roll forming program;

[0022] Step 7: Import the automated rolling program into the six-degree-of-freedom robot, test-run the automated rolling program instructions, and if there are ambiguous points or motion trajectory errors, repeat steps 5 and 65 until the L-shaped automated rolling tool head evenly fits the working surface of the L-shaped long-string rolling forming mold and does not interfere with the long-string mold tire;

[0023] Step 8: After the electric heating rod inside the L-shaped long stringer roll forming mold is connected to the power supply, a suitable temperature value is set, and the temperature of the L-shaped long stringer roll forming mold is detected in real time by a temperature controller;

[0024] Finally, after the L-shaped long stringer rolling forming mold reaches the appropriate temperature, the long stringer blank sheet is transferred to its surface, the automated rolling program is executed, and the long stringer blank sheet is compacted and shaped using the L-shaped automated rolling tool head, ultimately realizing the automated manufacturing of the composite L-shaped long stringer.

[0025] (III) Beneficial effects

[0026] Compared with the prior art, the utility model provides an L-shaped long stringer tooling based on automated roll forming, which solves the problems of mold offset, tool head interference and uneven heating that occur in the automated roll forming process of the manually laid L-shaped long stringer mold by designing a special tooling mold. Specifically, the mold height is precisely adjusted by adjusting the foot cup, and the anti-interference pad and the heating component located in the L-shaped long stringer roll forming mold ensure that the automated roll tool head fits tightly with the mold surface and is evenly heated, thereby stably producing high-quality L-shaped long stringer parts, and realizing efficient automated manufacturing of composite material L-shaped long stringers. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of an L-shaped long-beam rolling tool disclosed in this application.

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of an L-shaped long stringer roll forming mold disclosed in this application.

[0029] Figure 3 This is a schematic diagram of the structure of a six-degree-of-freedom manipulator robot disclosed in this application.

[0030] Figure 4 This is a schematic diagram of the three-dimensional structure of a quick gun-changing tray disclosed in this application.

[0031] Figure 5 This is a schematic diagram of the three-dimensional structure of an L-shaped automated rolling tool head disclosed in this application.

[0032] Figure 6 This is a schematic diagram of the structure of a target ball disclosed in this application.

[0033] Figure 7 This is a schematic diagram of the three-dimensional structure of an automatic calibration device disclosed in this application.

[0034] Figure 8 This is a schematic diagram of the three-dimensional structure of a composite material L-shaped long quilt disclosed in this application.

[0035] Reference numerals shown in the figures:

[0036] 100. L-shaped long stringer tooling; 10. Adjustment foot cup; 11. Long stringer mold; 12. Target hole; 13. Anti-interference pad; 14. L-shaped long stringer roll forming mold; 15. Positioning pin; 16. Electric heating rod; 17. 220V power cord; 18. Heat insulation material; 19. Temperature controller;

[0037] 200. Six-degree-of-freedom robotic arm;

[0038] 300, quick-change gun tray; 30, sub-tray; 31, mother tray;

[0039] 400, L-shaped automated rolling tool head; 40, heating device; 41, primary rolling unit; 42, secondary rolling unit; 43, tertiary rolling unit;

[0040] 500. Target ball; 600. Automated calibration tool head. DETAILED DESCRIPTION

[0041] The present invention will be described in detail below in conjunction with the accompanying drawings, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0044] See also Figure 1 , Figure 2 FIG. 1 is a schematic diagram of an L-shaped long stringer tool 100 based on automated roll forming provided by a preferred embodiment of the present application. Figure 1 , Figure 2 In the illustrated embodiment, the L-shaped long stringer tooling 100 includes an adjustment foot cup 10, a long stringer mold 11, a target hole 12, an anti-interference pad 13, an L-shaped long stringer roll-forming mold 14 and a positioning pin 15. The adjustment foot cup 10 is connected to the bottom of the long stringer mold 11 to adjust the mold height. A plurality of anti-interference pads 13 are installed on the upper surface of the long stringer mold 11, and the anti-interference pads 13 are firmly fixed to the long stringer mold 11 by bolts and positioning pins 15 to ensure that no displacement occurs during the forming process. The upper surface of the anti-interference pad 13 is connected to the L-shaped long stringer roll-forming mold 14 to provide stable support for the mold, and the elevated setting of the anti-interference pad 13 avoids interference between the L-shaped automated rolling tool head 400 and the long stringer mold 11 when it is attached to the working surface of the L-shaped long stringer roll-forming mold 14. A heating component is arranged inside the L-shaped long stringer roll-forming mold 14 to ensure that the mold can be evenly heated during the forming process, thereby improving the quality and production efficiency of the finished product.

[0045] like Figure 2 As shown, the heating component includes an electric heating rod 16 and a 220V power line 17. The electric heating rod 16 is embedded along the axial direction of the L-shaped long stringer roll forming mold 14, and one end of the electric heating rod 16 is connected to the 220V power line 17 to ensure stable power supply. This design ensures continuous heating of the mold during operation, making the mold temperature uniform, which helps to improve the quality of the finished product.

[0046] In this embodiment, a layer of heat insulating material 18 is attached to the bottom surface of the L-shaped long stringer roll forming mold 14. This additional layer is designed to reduce heat loss, prevent heat from being transferred to other non-working areas, and ensure equipment safety.

[0047] Please continue reading Figure 2 The heating component also includes a temperature controller 19, and one end of the electric heating rod 16 is also connected to the temperature controller 19. Through this configuration, the temperature of the mold can be monitored and adjusted in real time to ensure accurate temperature control during the production process.

[0048] In this embodiment, the L-shaped long stringer roll forming mold 14 is a long strip structure. The long strip design allows the mold to better adapt to the shape of the long stringer and improve the stability and consistency during the forming process.

[0049] Preferably, the anti-interference pad 13 is processed into a step shape, and the step size is equal to or slightly smaller than the width of the L-shaped long stringer roll forming mold 14. Through this design, the L-shaped automated rolling tool head 400 is prevented from interfering with the long stringer mold 11 during operation, ensuring the smooth progress of the forming process.

[0050] like Figure 1 As shown, the long stringer mold 11 is provided with target holes 12 at its four vertex positions. This design facilitates spatial positioning and calibration during use, greatly improving the accuracy and efficiency of the operation.

[0051] Preferably, the adjusting foot cup 10 includes a screw and a chassis, wherein one end of the screw is threadedly connected to the long stringer mold 11, and the other end is connected to the chassis, so that the adjusting foot cup 10 can flexibly adjust the height and inclination of the mold, thereby achieving precise horizontal adjustment and ensuring stability during the molding process.

[0052] This embodiment also provides a method for using the L-shaped long stringer tooling mold, comprising the following steps:

[0053] First step, see Figure 3 , a six-degree-of-freedom manipulator robot 200 is installed on the ground rail;

[0054] The second step is to transfer the L-shaped long stringer tooling 100 to the working range of the six-degree-of-freedom manipulator robot 200;

[0055] Step 3, see Figure 4 , Figure 5 The quick gun changing plate 300 includes a sub-plate 30 and a mother plate 31, which are respectively installed on the side of the six-degree-of-freedom mechanical arm robot 200 and the side of the L-shaped automated rolling tool head 400. Through the quick connection between the sub-plate and the mother plate, the working mode of "six-degree-of-freedom mechanical arm robot 200 + L-shaped automated rolling tool head 400" is realized;

[0056] The fourth step is to install the dial indicator on the lever indicator frame, and then adsorb the magnetic base of the lever indicator frame on the L-shaped automatic rolling tool head 400, and then adjust the dial indicator pointer to 0, adjust the spatial position and posture of the L-shaped automatic rolling tool head 400, so that the dial indicator pointer is pressed on the surface of the L-shaped long stringer rolling forming mold 14, and by rotating the adjustment foot cup 10, each adjustment point of the L-shaped long stringer rolling forming mold 14 is at almost the same height position, so as to achieve the preliminary leveling of the L-shaped long stringer rolling forming mold 14;

[0057] Step 5, see Figure 6 , Figure 7 , remove the primary rolling unit 41 of the L-shaped automated rolling tool head 400 and replace it with the automated calibration tool head 600, insert the target ball 500 into the target hole 12, and complete the automated spatial calibration of the L-shaped long stringer roll forming mold 14 through NC instructions;

[0058] Step 6: Calculate the actual spatial position of the L-shaped long stringer roll forming die 14 using trajectory generation software and generate an automated roll forming program;

[0059] Step 7: Import the automated rolling program into the six-degree-of-freedom manipulator robot 200, test-run the automated rolling program instructions, and if there are ambiguous points or motion trajectory errors, repeat steps 5 and 65 until the L-shaped automated rolling tool head 400 evenly fits the working surface of the L-shaped long-string rolling forming mold 14 and does not interfere with the long-string mold 11;

[0060] Step 8: After the electric heating rod 16 inside the L-shaped long stringer roll forming mold 14 is powered on, a suitable temperature value is set, and the temperature controller 19 is used to detect the temperature of the L-shaped long stringer roll forming mold 14 in real time;

[0061] Finally, after the L-shaped long stringer rolling forming mold 14 reaches a suitable temperature, the long stringer blank sheet is transferred to its surface, and the automated rolling procedure is performed. The long stringer blank sheet is compacted and formed using the L-shaped automated rolling tool head 400, and finally the automated manufacturing of the composite material L-shaped long stringer is realized.

[0062] like Figure 8 As shown, the composite long stringer refers to a composite long stringer with an L-shaped cross section. This embodiment uses a KUKA brand mechanical arm robot, model KR480 R3330 MT, which has a load capacity of 480kg and an arm span of 3326mm, and is very suitable for heavy and large-scale operation tasks.

[0063] The L-shaped automated rolling tool head 400 includes a heating device 40, a primary rolling unit 41, a secondary rolling unit 42 and a tertiary rolling unit 43, and ensures the precision and consistency of the material forming process through a step-by-step continuous rolling method. During the operation, a target ball 500 with a diameter of 6 mm is used for precise positioning, and the long stringer blank sheet is laid by an automatic wire laying machine to ensure uniform distribution and bonding of the material.

[0064] In order to realize automatic spatial calibration, the present embodiment also uses NC motion control instructions to drive the automatic calibration tool head 600. This instruction can calculate the spatial position of the L-shaped long stringer mold based on the world coordinate system, thereby ensuring the operation accuracy and consistency of the robot.

[0065] Overall, these designs and configurations not only improve production efficiency, but also ensure product quality and provide reliable technical support for complex manufacturing processes. Through these detailed configurations and steps, industrial manufacturing can complete the production of composite long stringers more efficiently and accurately.

[0066] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present application is limited by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim can also be implemented by the same unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0067] The above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person skilled in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. An L-shaped long stringer tooling based on automated roll forming, characterized in that: It includes an adjusting foot cup, a long stringer mold, an anti-interference pad, an L-shaped long stringer roll-forming mold, and a positioning pin; wherein the adjusting foot cup is connected to the long stringer mold and is located at the bottom of the long stringer mold, and a plurality of anti-interference pads are arranged on the upper surface of the long stringer mold, the long stringer mold and the anti-interference pads are connected to the positioning pins through bolts, and the upper surface of the anti-interference pads is connected to the L-shaped long stringer roll-forming mold; a heating component is arranged in the L-shaped long stringer roll-forming mold.

2. The L-shaped long stringer tooling based on automated roll forming according to claim 1 is characterized in that: The heating component includes an electric heating rod and a 220V power cord; wherein the electric heating rod penetrates into the L-shaped long stringer roll forming mold along the axial direction thereof, and one end of the electric heating rod is connected to the 220V power cord.

3. The L-shaped long stringer tooling based on automated roll forming according to claim 2 is characterized in that: A layer of heat insulation material is adhered to the bottom surface of the L-shaped long stringer roll forming mold.

4. The L-shaped long stringer tooling based on automated roll forming according to claim 2 is characterized in that: The heating component also includes a temperature controller, and one end of the electric heating rod is also connected to the temperature controller.

5. The L-shaped long stringer tooling based on automated roll forming according to claim 2 is characterized in that: The L-shaped long stringer roll forming mold is a long strip structure.

6. The L-shaped long stringer tooling based on automated roll forming according to claim 1 is characterized in that: The anti-interference pad is processed into a step shape, and the step size is equal to or smaller than the width of the L-shaped long stringer roll forming mold.

7. The L-shaped long stringer tooling based on automated roll forming according to claim 1 is characterized in that: The long stringer mold is provided with target holes at four vertex positions thereof.

8. The L-shaped long stringer tooling based on automated roll forming according to claim 1 is characterized in that: The adjusting foot cup comprises a screw rod and a chassis, one end of the screw rod is threadedly connected to the long stringer mold, and the other end is connected to the chassis.

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