End effector for paving prepreg

Abstract

The end effector comprises a frame body, a first suction cup is installed on the front portion of the frame body, a pressing rod assembly is installed on the portion, close to the first suction cup, of the frame body, and the pressing rod assembly comprises a plurality of pressing rods which are tightly arranged in the left-right direction; two groups of pinch roller clamping mechanisms are mounted on the frame body in a front-back moving manner and are symmetrically arranged left and right; the device further comprises a second suction cup located between the two sets of pressing wheel clamping mechanisms. The front portion of the material piece is pressed downwards on the table top through force applied by the pressing rod assembly, the rear portion of the material piece is clamped and supported above the table top through the pressing wheel clamping mechanisms on the two sides, the pressing rod assembly moves backwards relative to the material piece to gradually complete material piece laying, automatic laying and pressing are achieved, and the automatic laying and pressing device is particularly suitable for laying in the state of multiple torsion curved surfaces. The uniform, stable and continuous pressing force and the paving precision in the paving process are effectively guaranteed, the paving repeatability is good, and the paving efficiency and the paving quality are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of prepreg laying equipment, in particular to an end effector for prepreg laying. Background Art

[0002] In the manufacturing process of continuous fiber reinforced resin matrix composite components, the grasping and laying of prepregs are still mostly carried out manually, especially for workpieces with double curvature and large reverse characteristics on the surface.

[0003] In the prior art, when manually laying prepregs, although it can match different complex curved surfaces, it is difficult to ensure the accuracy of each laying, the pressing force is not uniform, continuous pressing during the laying process cannot be achieved, and the production efficiency and quality stability are relatively low, and the labor cost is relatively high. Summary of the Utility Model

[0004] To solve the above problems, the present application provides a structurally reasonable end effector for prepreg laying, so as to realize automatic laying and compaction, effectively ensure uniform, stable and continuous pressing force and laying accuracy during the laying process, with good laying repeatability, and help to improve the laying efficiency and laying quality.

[0005] The technical solution adopted by the utility model is as follows:

[0006] An end effector for prepreg laying includes a frame body. A suction cup one is installed at the front part of the frame body through a suction cup lifting mechanism one. A pressure bar assembly is installed on the frame body adjacent to the suction cup one. The pressure bar assembly includes a plurality of pressure bars closely arranged along the left-right direction. A pressure wheel clamping mechanism is installed on the frame body behind the pressure bar assembly for front-back movement. Two groups of the pressure wheel clamping mechanisms are symmetrically arranged left and right. A suction cup two is also included between the two groups of pressure wheel clamping mechanisms.

[0007] As a further improvement of the above technical solution:

[0008] Each pressure bar is driven separately by a corresponding single-acting cylinder. The single-acting cylinders are orderly installed on a pressure bar seat. The pressure bar assembly is installed on the inner side of the frame body through the pressure bar seat.

[0009] A guide seat is connected below the pressure bar seat. The upper end of a single pressure bar is installed at the output end of the corresponding single-acting cylinder. The lower end of the pressure bar passes through the guide seat downward and is installed with a pressure block. Each pressure block is closely arranged along the left-right direction.

[0010] The pressure blocks are all set to a downward convex arc structure; adjacent single-acting cylinders are arranged staggeredly in the front-back direction.

[0011] The sucker lifting mechanism 1 includes a sucker seat installed on the frame body. A lifting cylinder with its output end facing downward is installed on the sucker seat. A sucker 1 is installed at the output end of the lifting cylinder. It also includes a guide rod vertically and movably installed on the sucker seat. A support is installed between the bottom end of the guide rod and the output end of the lifting cylinder.

[0012] Horizontal moving mechanisms are installed on the opposite beams of the frame body. A horizontally moving seat is movably installed on the horizontal moving mechanism. The two side pressing wheel clamping mechanisms are installed on the bottom surface of the corresponding horizontally moving seats. An intermediate seat is jointly installed between the two horizontally moving seats. A sucker lifting mechanism 2 is installed on the intermediate seat. A sucker 2 is installed at the downward output end of the sucker lifting mechanism 2.

[0013] The structure of the horizontal moving mechanism is as follows: It includes a linear driving power and a slider guiding component installed on the opposite beams of the frame body. One side horizontally moving seat is installed at the output part of the linear driving power. The other side horizontally moving seat is installed on the slider of the slider guiding component. The two side horizontally moving seats are structurally connected by the intermediate seat.

[0014] In the pressing wheel clamping mechanism, there are a moving pressing wheel and a fixed pressing wheel with their axes arranged along the left - right direction. The moving pressing wheel approaches or moves away from the fixed pressing wheel in the height direction.

[0015] The structure of a single - group pressing wheel clamping mechanism is as follows: It includes a horizontally moving seat. A horizontally moving seat is installed on the bottom surface of the horizontally moving seat through a transverse moving power. A vertically moving clamping seat is installed on the side surface of the horizontally moving seat through a clamping power. A moving pressing wheel is installed on the clamping seat. A fixed pressing wheel is installed on the horizontally moving seat below the moving pressing wheel.

[0016] An adapter seat is installed on the frame body and is installed on the execution end of an external six - axis robot through the adapter seat.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] When the utility model is in use, the front part of the sheet material is pressed downward onto the tabletop by the force of the pressing rod assembly, and the rear part is clamped and supported above the tabletop by the two - side pressing wheel clamping mechanisms. The pressing rod assembly moves backward relative to the sheet material to gradually complete the laying of the sheet material, realizing automatic laying and compaction, effectively ensuring uniform, stable, and continuous pressing force and laying accuracy during the paving process, with good paving repeatability, and helping to improve the paving efficiency and paving quality.

[0019] The utility model also has the following advantages:

[0020] Each pressing rod in the pressing rod assembly is individually driven by a single - acting cylinder, enabling each pressing rod to adaptively move up and down for paving on a curved surface, effectively ensuring that the pressing rod can press the prepreg sheet material onto the curved surface of the tabletop during the paving process, especially suitable for paving prepreg under the state of multi - torsion curved surfaces.

[0021] The setting of the pressure wheel clamping mechanism can not only realize effective, stable and reliable clamping support for the sheet, prevent the sheet from falling, provide a certain tension for the sheet during the paving process, so that the sheet does not wrinkle, but also does not affect the relative forward movement of the sheet during the paving process to feed the material, effectively ensuring the smooth and smooth paving process;

[0022] During the process of laying the sheet, the backward movement of the pressure rod assembly not only realizes the laying of the sheet on the table, but also compacts the sheet on the table. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the utility model.

[0024] Figure 2 The utility model is a schematic diagram of the layout of the suction cup and the pressure rod assembly.

[0025] Figure 3 It is a structural schematic diagram of the pressure rod assembly of the utility model.

[0026] Figure 4 It is a schematic diagram of the layout of the horizontal moving mechanism, the second suction cup, and the pressure wheel clamping mechanism of the utility model.

[0027] Figure 5 It is a structural schematic diagram of the pressure wheel clamping mechanism of the utility model.

[0028] Figure 6 It is a schematic diagram of the state of the utility model during paving.

[0029] Among them: 1. table; 2. suction cup 1; 3. pressure rod assembly; 4. frame body; 5. horizontal movement mechanism; 6. suction cup 2; 7. pressure wheel clamping mechanism; 8. connecting seat; 10. sheet; 20. suction cup lifting mechanism 1; 30. single-acting cylinder; 60. suction cup lifting mechanism 2;

[0030] 21. Lifting cylinder; 22. Guide rod; 23. Suction cup seat; 24. Support;

[0031] 31. Pressure rod seat; 32. Guide seat;

[0032] 61. Middle seat;

[0033] 71. Horizontal moving seat; 72. Transverse moving power; 73. Transverse guiding assembly; 74. Clamping seat; 75. Clamping power; 76. Transverse moving seat; 77. Moving clamping wheel; 78. Fixed clamping wheel. DETAILED DESCRIPTION

[0034] The specific implementation of the present utility model is described below in conjunction with the accompanying drawings.

[0035] As Figure 1 shown, an end effector for prepreg laying in this embodiment includes a frame body 4. A first sucker lifting mechanism 20 is installed at the front of the frame body 4 to mount a first sucker 2. A pressure bar assembly 3 is installed on the frame body 4 adjacent to the first sucker 2. The pressure bar assembly 3 includes a plurality of pressure bars closely arranged in the left-right direction. A pressure wheel clamping mechanism 7 is installed on the frame body 4 behind the pressure bar assembly 3 for front-back movement. Two sets of the pressure wheel clamping mechanisms 7 are arranged symmetrically left and right. A second sucker 6 is also included between the two sets of pressure wheel clamping mechanisms 7.

[0036] During laying, the front part of the prepreg sheet 10 is pressed downward onto the table 1 by the force of the pressure bar assembly 3, and the rear part is clamped and supported above the table 1 by the two-side pressure wheel clamping mechanisms 7. The pressure bar assembly 3 moves backward relative to the sheet 10 to gradually complete the laying of the sheet 10, realizing automatic laying and compaction.

[0037] In actual operation, the first suckers 2 at the front and rear and the second sucker 6 can cooperate to suck the sheet 10 from the carrier table on which the sheet 10 is horizontally placed, and lift the sheet 10 upward by a certain preset distance to facilitate the pressure wheel clamping mechanism 7 to clamp the sheet 10 from both sides of the sheet 10 in an up-down clamping manner.

[0038] In this embodiment, through the setting of the pressure wheel clamping mechanism 7, not only can the sheet 10 be effectively, stably and reliably clamped and supported to prevent the sheet 10 from falling, providing a certain tension for the sheet 10 during the laying process so that the sheet 10 does not wrinkle, but also it does not affect the forward relative movement of the sheet 10 during the laying process for feeding, effectively ensuring the smoothness of the laying process.

[0039] During the laying process of the sheet 10, the backward movement of the pressure bar assembly 3 not only realizes the laying action of the sheet 10 on the table 1, but also compacts the sheet 10 on the table 1.

[0040] As Figure 2 shown, each pressure bar is individually driven by a corresponding single-acting cylinder 30. The single-acting cylinders 30 are orderly installed on the pressure bar seat 31. The pressure bar assembly 3 is installed on the inner side of the frame body 4 through the pressure bar seat 31.

[0041] In this embodiment, each pressure bar in the pressure bar assembly 3 is individually driven by a single-acting cylinder 30, so that each pressure bar can adaptively move up and down for laying on a curved surface respectively and keep the pressure of the pressure bar constant and consistent, effectively ensuring that the pressure bar can press the prepreg sheet 10 onto the curved surface of the table 1 during the laying process, especially suitable for the laying of prepregs in a multi-twisted curved surface state with a curve in the width direction.

[0042] A guide seat 32 is connected below the pressure rod seat 31. The upper end of a single pressure rod is installed at the output end of the corresponding single-acting cylinder 30. The lower end of the pressure rod passes downward through the guide seat 32 and is then installed with a pressure block. Each pressure block is closely arranged in the left-right direction.

[0043] In this embodiment, the reliability of the up-and-down movement of the pressure rod is ensured by the setting of the guide seat 32. By closely arranging the pressure blocks, the effective compaction of the sheet 10 is ensured.

[0044] As Figure 3 shown, the pressure blocks are all set to a downward convex arc structure. The downward convex arc structure is attached to and pressed against the top surface of the sheet 10, effectively ensuring the stable and reliable contact and force application of the bottom end of the pressure rod to the sheet 10. The adjacent single-acting cylinders 30 are arranged staggeredly in the front-rear direction. While ensuring the reliable installation of the single-acting cylinders 30 on the pressure rod seat 31, it effectively ensures the tight arrangement of the lower pressure rods and pressure blocks below, and effectively guarantees the downward compaction effect on the sheet 10.

[0045] The suction cup lifting mechanism 20 includes a suction cup seat 23 assembled on the frame body 4. An up-and-down cylinder 21 with its output end facing downward is installed on the suction cup seat 23. A suction cup 2 is installed at the output end of the up-and-down cylinder 21. It also includes a guide rod 22 vertically and movably installed on the suction cup seat 23. A support 24 is installed between the bottom end of the guide rod 22 and the output end of the up-and-down cylinder 21.

[0046] During use, the up-and-down cylinder 21 works to drive the suction cup 2 to move up and down, and the suction action of the suction cup 2 is realized by combining the actions of an external air source. During the up-and-down movement of the suction cup 2, the synchronous up-and-down movement of the guide rod 22 through the support 24 provides a guiding function, effectively preventing the suction cup 2 from rotating.

[0047] As Figure 4 shown, horizontal movement mechanisms 5 are installed on the opposite beams of the frame body 4. A horizontal movement seat 71 is movably installed on the horizontal movement mechanisms 5. The two-side pressure wheel clamping mechanisms 7 are installed on the bottom surface of the corresponding horizontal movement seats 71. An intermediate seat 61 is jointly installed between the two horizontal movement seats 71. A suction cup lifting mechanism 60 is installed on the intermediate seat 61. A suction cup 6 is installed at the downward output end of the suction cup lifting mechanism 60.

[0048] In this embodiment, the suction cup 6, the suction cup lifting mechanism 60 can be set similarly to the suction cup 2 and the suction cup lifting mechanism 20 to effectively ensure the reliable and smooth up-and-down movement of the suction cup 6.

[0049] In this embodiment, the work of the horizontal movement mechanism 5 drives the pressure wheel clamping mechanism 7 to move relative to the frame body 4 in the front-rear direction.

[0050] The structure of the horizontal moving mechanism 5 is as follows: It includes a linear driving power and a slider guiding component installed on the opposite beams of the frame body 4. One side of the horizontal moving seat 71 is installed on the output part of the linear driving power, and the other side of the horizontal moving seat 71 is installed on the slider of the slider guiding component. The two sides of the horizontal moving seat 71 are structurally connected by the middle seat 61. As the linear driving power works, it drives the two-side pressure wheel clamping mechanism 7 to move in the front-rear direction, and the second suction cup 6 and the second suction cup lifting mechanism 60 can move along with the pressure wheel clamping mechanism 7.

[0051] As Figure 5 shown, the pressure wheel clamping mechanism 7 includes a moving clamping wheel 77 and a fixed clamping wheel 78 whose axes are arranged along the left-right direction. The moving clamping wheel 77 approaches or moves away from the fixed clamping wheel 78 in the height direction. By the movement of the moving clamping wheel 77 towards the fixed clamping wheel 78, the workpiece 10 is clamped between the moving clamping wheel 77 and the fixed clamping wheel 78. As the workpiece 10 is laid and moved forward, the moving clamping wheel 77 and the fixed clamping wheel 78 that clamp the workpiece 10 rotate passively around their respective axes.

[0052] The structure of a single set of pressure wheel clamping mechanism 7 is as follows: It includes a horizontal moving seat 71. The bottom surface of the horizontal moving seat 71 is installed with a transverse moving seat 76 through a transverse moving power 72. The front and rear sides of the transverse moving seat 76 can be slidably installed on the horizontal moving seat 71 via a transverse guiding component 73 to ensure the stable transverse movement of the transverse moving seat 76. The side surface of the transverse moving seat 76 is installed with a vertically moving clamping seat 74 through a clamping power 75. The moving clamping wheel 77 is installed on the clamping seat 74. The fixed clamping wheel 78 is installed on the transverse moving seat 76 below the moving clamping wheel 77.

[0053] During use, through the operation of the transverse moving power 72, the transverse moving seat 76 is driven to move in the left-right direction. As the transverse moving seats 76 of the two-side pressure wheel clamping mechanism 7 move towards each other, the clamping wheels approach the workpiece 10 from both sides, and the workpiece 10 is located between the moving clamping wheel 77 and the fixed clamping wheel 78. Then the clamping power 75 works, driving the clamping seat 74 to move in the up-down direction. As the upper moving clamping wheel 77 moves downward towards the fixed clamping wheel 78, the upper and lower clamping wheels clamp the workpiece 10 up and down.

[0054] In this embodiment, the transverse moving power 72 and the clamping power 75 can select existing conventional linear power mechanisms, such as air cylinders, as long as they can achieve linear driving.

[0055] In this embodiment, a Teflon coating can be sprayed on the bottom end of the pressure rod and the surface of the clamping wheel to prevent adhesion to the prepreg workpiece 10.

[0056] A connecting seat 8 is installed on the frame body 4 and is installed on the end effector of an external six-axis robot through the connecting seat 8. The six-axis robot is used as an external moving mechanism to drive the end effector to move in space.

[0057] In this embodiment, during the paving process, the pressing rod assembly 3 can be driven by the frame body 4 to move backward relative to the sheet 10 for paving and compaction through the change of the posture of the six-axis robot. Of course, the change of the posture of the six-axis robot can also be combined to match the curved surface change of the table 1 in the front-back direction of paving.

[0058] The usage mode of the utility model is as follows:

[0059] As Figure 6 shown, the sheet 10 is jointly sucked by the suction cup one 2 and the suction cup two 6 arranged at intervals in the front and back, and the sheet 10 is sucked upward away from the bearing table; the pressing wheel clamping mechanisms 7 on the left and right sides of the suction cup two 6 move towards each other, and the sheet 10 is clamped by the moving clamping wheel 77 and the fixed clamping wheel 78, and the suction cup two 6 moves upward to disengage from the sheet 10; the six-axis robot works to drive the sheet 10 to move to a preset laying position above the table 1; the suction cup one 2 moves downward to press the end of the sheet 10 on the starting point of the table 1 for laying, and the pressing rod assembly 3 adjacent to the rear of the suction cup one 2 moves downward to press on the sheet 10, and the suction cup one 2 moves upward to disengage from the sheet 10; the pressing rod assembly 3 pressing on the surface of the sheet 10 moves towards the pressing wheel clamping mechanism 7, and the sheet 10 is gradually laid and compacted downward by the pressing rod assembly 3 until a preset distance is reached between the pressing rod assembly 3 and the pressing wheel clamping mechanism 7; the preset distance is maintained between the pressing rod assembly 3 and the pressing wheel clamping mechanism 7, and they move backward relative to the sheet 10 synchronously until the rear end of the sheet 10 gradually disengages from the pressing wheel clamping mechanism 7 and the pressing rod assembly 3, and the paving of the sheet 10 is completed.

[0060] The utility model realizes automatic laying and compaction, effectively ensures uniform, stable and continuous pressing force and laying accuracy during the paving process, has good paving repeatability, and helps to improve the paving efficiency and paving quality.

[0061] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0062] The above description is an explanation of the utility model, not a limitation of the utility model. The scope defined by the utility model can be seen in the claims. Any form of modification can be made within the protection scope of the utility model.

Claims

1. An end effector for prepreg laying, characterized in that: The invention comprises a frame body (4), a suction cup (2) being installed at the front of the frame body (4) via a suction cup lifting mechanism (20), a pressure rod assembly (3) being installed on the frame body (4) adjacent to the suction cup (2), the pressure rod assembly (3) comprising a plurality of pressure rods closely arranged along the left-right direction; a pressure wheel clamping mechanism (7) being installed on the frame body (4) behind the pressure rod assembly (3) so as to be movable forward and backward, the pressure wheel clamping mechanism (7) being symmetrically arranged in two groups; and a suction cup (6) being located between the two groups of pressure wheel clamping mechanisms (7).

2. The end effector for prepreg laying according to claim 1, characterized in that: Each compression rod is driven individually by a corresponding single-acting cylinder (30), the single-acting cylinder (30) is mounted on a compression rod seat (31) in order, and the compression rod assembly (3) is mounted on the inner side of the frame body (4) via the compression rod seat (31).

3. The end effector for prepreg laying according to claim 2, characterized in that: A guide seat (32) is connected below the pressure rod seat (31); the upper end of a single pressure rod is mounted on the output end of a corresponding single-acting cylinder (30); and a pressure block is mounted on the lower end of the pressure rod after passing through the guide seat (32) downward. The pressure blocks are closely arranged in the left-right direction.

4. The end effector for prepreg laying according to claim 3, characterized in that: The pressing blocks are all arranged in a downward convex arc-shaped structure; and adjacent single-acting cylinders (30) are arranged staggered in the front-to-back direction.

5. The end effector for prepreg laying according to claim 1, characterized in that: The suction cup lifting mechanism (20) comprises a suction cup seat (23) mounted on a frame body (4), a lifting cylinder (21) with an output end facing downwards mounted on the suction cup seat (23), a suction cup (2) mounted on the output end of the lifting cylinder (21), and a guide rod (22) mounted vertically and movably on the suction cup seat (23), a support (24) mounted between the bottom end of the guide rod (22) and the output end of the lifting cylinder (21).

6. The end effector for prepreg laying according to claim 1, characterized in that: A horizontal moving mechanism (5) is installed on the beams facing each other of the frame body (4), a horizontal moving seat (71) is movably installed on the horizontal moving mechanism (5), and the pressure wheel clamping mechanisms (7) on both sides are installed on the bottom surfaces of the corresponding horizontal moving seats (71); an intermediate seat (61) is installed between the two horizontal moving seats (71), a second suction cup lifting mechanism (60) is installed on the intermediate seat (61), and a second suction cup (6) is installed at the output end of the second suction cup lifting mechanism (60) facing downward.

7. An end effector for prepreg laying as claimed in claim 6, characterized in that: The structure of the horizontal moving mechanism (5) is as follows: it comprises a linear driving power and a slider guide assembly installed on the relative beam of the frame body (4); a horizontal moving seat (71) on one side is installed on the linear driving power output part; a horizontal moving seat (71) on the other side is installed on the slider of the slider guide assembly; and the horizontal moving seats (71) on both sides are structurally connected by an intermediate seat (61).

8. The end effector for prepreg laying according to claim 1, characterized in that: The pressure wheel clamping mechanism (7) comprises a movable clamping wheel (77) and a fixed clamping wheel (78) which are arranged axially along the left-right direction, and the movable clamping wheel (77) approaches or moves away from the fixed clamping wheel (78) in the height direction.

9. The end effector for prepreg laying according to claim 1, characterized in that: The structure of the single-group pressure wheel clamping mechanism (7) is as follows: it comprises a horizontal movable seat (71), a horizontal movable seat (76) is installed on the bottom surface of the horizontal movable seat (71) via a horizontal movable power (72), a clamping seat (74) which moves up and down is installed on the side surface of the horizontal movable seat (76) via a clamping power (75), and a movable clamping wheel (77) is installed on the clamping seat (74); and a fixed clamping wheel (78) is installed on the horizontal movable seat (76) located below the movable clamping wheel (77).

10. The end effector for prepreg laying according to claim 1, characterized in that: The frame body (4) is provided with a connection seat (8), and is installed on an external six-axis robot execution end via the connection seat (8).

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