Automatic laying device for composite aircraft stringer

Abstract

The utility model provides an automatic laying device for a composite aircraft stringer, which relates to the field of composite manufacturing and comprises a frame formed by splicing profiles, a base is fixedly mounted in the middle of the bottom end of the frame, a mold is fixedly mounted above the base, and a carbon fiber cloth winding drum is arranged on one side, far away from the mold, of the middle of the bottom end of the frame. And a limiting clamping plate for limiting the movement of the carbon fiber cloth is arranged on the frame between the carbon fiber cloth winding drum and the mold. According to the automatic laying device for the composite aircraft stringer, prepreg carbon fiber cloth is coiled on the outer surface of a carbon fiber cloth coiling block and placed between a support cover and a support base, the carbon fiber cloth passes through a limiting clamping plate to be parallel, and a mechanical arm pulls the carbon fiber cloth to move to a mold; the pressing disc capable of moving up and down, left and right and front and back is used for pressing the carbon fiber cloth along the shape of the mold, so that the carbon fiber cloth can be formed, and the problem that a device for automatically laying the carbon fiber cloth is lacked in the prior art is solved.

Description

Technical Field

[0001] This utility model relates to the field of composite material processing technology, specifically to an automated laying device for composite material aircraft stringers. Background Technology

[0002] As a reinforcing rib of the wing skin, the stringer bears the axial force caused by the wing bending moment and is one of the important load-bearing components in the longitudinal frame. The traditional method of manufacturing stringers is to manually lay prepreg, which is not only inefficient but also results in inconsistent laying quality and low process precision.

[0003] Existing technologies utilize large-scale tape layers to lay prepreg into flat sheets, followed by thermal insulation film preforming, thus developing automated layup technology for the aerospace manufacturing field. Domestic research on automated stringer production is still in the laboratory stage, and the thermal insulation film preforming technology is not mature. Automated stringer forming equipment is lacking in production applications. Therefore, an automated device for laying prepreg carbon fiber cloth is needed. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an automated laying device for composite material aircraft stringers, solving the problem of the lack of automated laying of prepreg carbon fiber cloth in the prior art.

[0005] Technical solution

[0006] To achieve the above objectives, this utility model provides the following technical solution: an automated fabrication device for aircraft stringers, comprising a frame assembled from profiles, a base fixedly installed at the bottom center of the frame, a mold fixedly installed above the base, a carbon fiber cloth roll disposed at the bottom center of the frame away from the mold, a limiting clamp for limiting the movement of the carbon fiber cloth disposed between the frame and the mold, the limiting clamp being fixedly connected to the frame, upper robotic arm synchronous belts symmetrically installed on both sides of the upper part of the frame, and lower robotic arm synchronous belts symmetrically installed on both sides of the lower part of the frame, both of which are connected to robotic arms at their moving ends, wherein the robotic arm connected to the upper robotic arm synchronous belt is inverted, x-axis synchronous belts symmetrically installed at the top center of the frame, y-axis synchronous belts slidably connected above the two x-axis synchronous belts, z-axis synchronous belts fixedly installed at the sliding end of the y-axis synchronous belts, and a vertically downward Y-shaped support column fixedly installed at the sliding end of the z-axis synchronous belt, with pressing plates for fitting the mold hinged to the bottom ends of the support column by bolts.

[0007] Furthermore, a lead screw slide is provided above the limiting clamp, the lead screw slide is fixedly connected to the frame, and a laser emitter for cutting carbon fiber cloth is fixedly installed at the sliding end of the lead screw slide.

[0008] Furthermore, the carbon fiber cloth roll is provided with support bases on both sides below, the support bases are connected to the frame, and a semi-circular arched support cover is connected to the top of the support bases by screws. The carbon fiber cloth roll is rotatably connected between the support bases and the support cover.

[0009] Furthermore, the threaded end of the bolt is threaded with a nut, and a rubber ring is provided between the nut and the support column, with the rubber ring fitted onto the outer surface of the bolt.

[0010] Furthermore, the robotic arm is divided into two groups, one moving to a horizontal position and the other moving to a vertical position, with no interference between the two movements.

[0011] The beneficial effects of this utility model are as follows:

[0012] 1. This automated fabric laying device for aircraft stringers of composite materials rolls prepreg carbon fiber cloth onto the outer surface of a carbon fiber cloth roll and places it between a support cover and a support base. The carbon fiber cloth is then paralleled by a limiting clamp. A robotic arm pulls the carbon fiber cloth onto a mold, and a pressing plate that can move up, down, left, right, and back and forth presses the carbon fiber cloth along the shape of the mold, thereby forming the carbon fiber cloth. This solves the problem of the lack of automated fabric laying devices in the existing technology.

[0013] 2. The automated laying device for aircraft stringers of composite materials is equipped with a nut connected to the threaded end of a bolt. A rubber ring is placed between the nut and the support column. The rubber ring is fitted onto the outer surface of the bolt and acts as a washer for the nut corresponding to the limit bolt. It provides a buffering effect and, by virtue of its elasticity, the tightness of the limit bolt can be adjusted. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the lead screw slide connection of this utility model;

[0016] Figure 3 This is a schematic diagram of the synchronous belt connection of this utility model;

[0017] Figure 4 This is a schematic diagram of the support column connection of this utility model;

[0018] Figure 5 This is a schematic diagram of the robotic arm connection of this utility model;

[0019] Figure 6 This is a schematic diagram of the framework of this utility model.

[0020] Among them, 5. Y-axis synchronous belt; 6. Z-axis synchronous belt; 7. X-axis synchronous belt; 13. Upper robotic arm synchronous belt; 14. Frame; 16. Support column; 17. Rubber ring; 18. Bolt; 19. Pressing plate; 20. Mold; 21. Base; 24. Robotic arm; 25. Screw slide; 26. Laser emitter; 27. Carbon fiber cloth roll; 28. Bracket cover; 29. ​​Bracket base; 30. Lower robotic arm synchronous belt; 33. Limiting clamp. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] See Figures 1-6 The automated fabrication device for aircraft stringers using composite materials includes a frame 14 assembled from profiles. The frame 14 is made of standard aluminum alloy profiles with inverted trapezoidal connecting grooves on the sides to reduce structural weight while ensuring structural strength, and to provide installation and fixing positions for various mechanisms and electrical wires. A base 21 is fixedly installed at the bottom center of the frame 14, and a mold 20 is fixedly installed on top of the base 21. The mold 20 rests on the base 21, which is composed of high-quality structural steel plates. The steel plates are connected to the frame 14 via angle brackets, ensuring the load-bearing capacity at the upper end while creating a power supply space at the lower end to store the drive battery. The drive battery is connected to external drive motors through multiple holes in the side steel plates of the base 21, providing power for the entire mechanism.

[0023] A carbon fiber cloth roll 27 is provided at the bottom center of frame 14, away from mold 20. A limiting clamp 33 is provided between the carbon fiber cloth roll 27 and mold 20 to limit the movement of the carbon fiber cloth. The limiting clamp 33 is fixedly connected to frame 14. Upper robotic arm timing belts 13 are symmetrically installed on both sides of the upper part of frame 14, and lower robotic arm timing belts 30 are symmetrically installed on both sides of the lower part of frame 14. Robotic arms 24 are connected to the moving ends of both upper and lower robotic arm timing belts 13 and 30. A gripping device is provided at the end of 24. The robotic arm 24 connected to the upper robotic arm synchronous belt 13 is inverted. The x-axis synchronous belt 7 is symmetrically installed in the upper middle part of the frame 14. The y-axis synchronous belt 5 is slidably connected above the two x-axis synchronous belts 7. The sliding end of the y-axis synchronous belt 5 is fixedly installed with the z-axis synchronous belt 6. The synchronous belts are all KNK brand and driven by a 200W servo motor. They can withstand loads of 200N, 370N and 429N on the X, Y and Z axes respectively, and can effectively support the model pressing structure. The electric actuator is controlled by the same controller. A vertically downward Y-shaped support column 16 is fixedly installed at the sliding end of the Z-axis synchronous belt 6. The support column 16 has three parts: a rectangular section with holes for matching the support block, which can be connected by bolts 18; a middle section is a Y-shaped cylindrical bracket, with rounded corners at the transition between the cylinder and the rectangle to ensure connection stability; the Y-shaped bracket is hollow inside, effectively reducing weight and ensuring structural strength; the end of the Y-shaped bracket connects to orthogonally intersecting cylinders of the same radius, with the end face of the intersecting cylinder facing the parallel end face of the intersecting cylinder, the middle section of which is cut off, a threaded hole drilled in the center, and the remaining sharp parts rounded. The bottom ends of the support column 16 are hinged with bolts 18 to pressing plates 19 for fitting the mold 20. The top of the pressing plate 19 is a cylindrical structure with a radius slightly smaller than the radius of the support column 16 and a thickness equal to the cut-off thickness of the bracket, with a centrally drilled hole, and is connected to the plate surface through a cylindrical structure. Sharp connecting parts are rounded, and ribs are made at the connection between the pressing plate 19 and the cylinder to prevent stress concentration at the connection point.

[0024] A lead screw slide 25 is provided above the limiting clamp 33. The lead screw slide 25 is fixedly connected to the frame 14. A laser emitter 26 for cutting carbon fiber cloth is fixedly installed at the sliding end of the lead screw slide 25.

[0025] The carbon fiber fabric roll 27 has support bases 29 on both sides below it. The support bases 29 are connected to the frame 14. A semi-circular arched support cover 28 is connected to the top of the support bases 29 by screws. The carbon fiber fabric roll 27 is rotatably connected between the support bases 29 and the support cover 28. The carbon fiber fabric roll 27 can be replaced by removing the screws. A portion of the carbon fiber fabric passes through the limiting clamp 33, making the front end of the carbon fabric as horizontal as possible for easy gripping by the robotic arm 24. The limiting clamp 33 consists of two structural steel plates with holes drilled at both ends, fixed to the frame 14 by angle brackets.

[0026] The threaded end of bolt 18 is threaded with a nut, and a rubber ring 17 is provided between the nut and the support column 16. The rubber ring 17 is fitted onto the outer surface of bolt 18. The rubber ring 17 acts as a washer for the nut corresponding to the limiting bolt 18, providing a buffering effect. In addition, the elasticity of the rubber ring 17 allows for adjustment of the tightness of the limiting bolt 18.

[0027] The robotic arm 24 is divided into two groups, one moving to a horizontal position and the other moving to a vertical position. The two movements do not interfere with each other. This arrangement ensures that the robotic arm 24 can move its position by adjusting its posture.

[0028] In use, the prepreg carbon fiber cloth is rolled onto the outer surface of the carbon fiber cloth roll 27 and placed between the support cover 28 and the support base 29. The carbon fiber cloth is paralleled by the limiting clamp 33. The carbon fiber cloth is pulled and moved onto the mold 20 by the robotic arm 24. The pressing plate 19, which can move up, down, left, right, and back and forth, presses the carbon fiber cloth along the shape of the mold 20, thereby shaping the carbon fiber cloth. This solves the problem of the lack of automated carbon fiber cloth laying devices in the existing technology. With the addition of a camera, a device that achieves high-precision laying is realized through vision system recognition and digital twin system correction.

[0029] It should be noted that in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0030] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An automated laying device for composite aircraft stringers, comprising a frame (14) made up of sections, characterized in that: A base (21) is fixedly installed at the middle of the bottom end of the frame (14), and a mold (20) is fixedly installed above the base (21). A carbon fiber cloth roll (27) is provided on the side of the bottom end of the frame (14) away from the mold (20). A limiting clamp (33) for limiting the movement of the carbon fiber cloth is provided between the carbon fiber cloth roll (27) and the mold (20) of the frame (14). The limiting clamp (33) is fixedly connected to the frame (14). The upper robotic arm timing belt (13) is symmetrically installed on both sides of the upper part of the frame (14), and the lower robotic arm timing belt (30) is symmetrically installed on both sides of the lower part of the frame (14). The moving ends of the upper robotic arm timing belt (13) and the lower robotic arm timing belt (30) are connected to robotic arms (24), wherein the robotic arm (24) connected to the upper robotic arm timing belt (13) is inverted. The frame (14) is symmetrically equipped with x-axis synchronous belts (7) at the upper center. The two x-axis synchronous belts (7) are slidably connected to the upper part of the y-axis synchronous belts (5). The sliding end of the y-axis synchronous belt (5) is fixedly installed with a z-axis synchronous belt (6). The sliding end of the z-axis synchronous belt (6) is fixedly installed with a vertically downward Y-shaped support column (16). The bottom ends of the support column (16) are hinged with pressing plates (19) for fitting the mold (20) by bolts (18).

2. The composite aircraft stringer automated layup apparatus of Claim 1, wherein: A lead screw slide (25) is provided above the limiting clamp (33). The lead screw slide (25) is fixedly connected to the frame (14). A laser emitter (26) for cutting carbon fiber cloth is fixedly installed at the sliding end of the lead screw slide (25).

3. The automated layup apparatus for composite aircraft stringers of claim 1 or 2, wherein: The carbon fiber cloth roll (27) is provided with support bases (29) on both sides below. The support bases (29) are connected to the frame (14). A semi-circular arched support cover (28) is connected to the top of the support bases (29) by screws. The carbon fiber cloth roll (27) is rotatably connected between the support bases (29) and the support cover (28).

4. The composite aircraft stringer automated layup apparatus of Claim 3, wherein: The threaded end of the bolt (18) is threaded with a nut, and a rubber ring (17) is provided between the nut and the support column (16). The rubber ring (17) is sleeved on the outer surface of the bolt (18).

5. The composite aircraft stringer automated layup apparatus of Claim 4, wherein: The robotic arm (24) is divided into two groups, one upper and one lower. One robotic arm (24) moves to a horizontal state, and the other robotic arm (24) moves to a vertical state. The two movements do not interfere with each other.

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