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CN-122008591-A - Automatic paving system and method for composite prepreg

CN122008591ACN 122008591 ACN122008591 ACN 122008591ACN-122008591-A

Abstract

The invention belongs to the technical field of mechanical manufacturing and processing, and particularly discloses an automatic paving system and method for a composite material prepreg. The device comprises a main tail end and a secondary tail end which are mutually independent and cooperated, wherein the main tail end comprises a main tail end frame, a first prepreg tray is used for winding prepreg tapes with release moulds/papers attached to two sides, a squeeze roll is used for stripping the prepreg tapes conveyed by the first prepreg tray from the release moulds/papers close to one side of a second prepreg tray, a main squeeze roll is used for pressing and laying the prepreg tapes on the stripping side with a mould, the secondary tail end comprises a secondary tail end frame, a rolling mechanism and a film tearing mechanism are arranged on the secondary tail end frame, the rolling mechanism is used for compacting the prepreg tapes laid on the surface of the mould, and the film tearing mechanism is used for stripping the release films/papers on the other side of the prepreg tapes. The invention obviously improves the efficiency of the composite material paving task and is suitable for the batch production task of complex components.

Inventors

  • LI XIANGFEI
  • LIN WENXIANG
  • CHEN YANJIA
  • ZHAO HUAN
  • DING HAN

Assignees

  • 华中科技大学

Dates

Publication Date
20260512
Application Date
20260129

Claims (10)

  1. 1. An automated lay-up system for composite prepregs comprising a master end (110) and a slave end (210) that cooperate independently of each other, wherein, The main tail end (110) comprises a main tail end frame, a first prepreg tray, a second prepreg tray, a shearing mechanism, two extrusion rollers (1116) and a main pressing roller (1112), wherein the first prepreg tray is arranged on the main tail end frame, the first prepreg tray is used for winding prepreg tapes with release moulds/papers attached to two sides, the two extrusion rollers (1116) are arranged in parallel at small intervals and are used for stripping the prepreg tapes conveyed by the first prepreg tray close to one side of the second prepreg tray, the main pressing roller (1112) is used for pressing and laying the prepreg tapes on the stripping side with a mould, the stripped release moulds/papers are transferred to the second prepreg tray for recovery, and the shearing mechanism is used for shearing the prepreg tapes between the extrusion rollers (1116) and the main pressing roller (1112) according to requirements; The secondary end (210) comprises a secondary end frame, a rolling mechanism and a film tearing mechanism, wherein the rolling mechanism and the film tearing mechanism are arranged on the secondary end frame, the rolling mechanism is used for compacting a prepreg tape laid on the surface of a die (500), and the film tearing mechanism is used for stripping a release film/paper (700) on the other side of the prepreg tape.
  2. 2. An automated composite prepreg layup system according to claim 1, wherein the main end frame comprises an upper panel (1104) and a front panel (1119) provided in front of the upper panel (1104) and a rear panel (1103) provided behind the upper panel (1104), the front panel (1119), upper panel (1104) and rear panel (1103) forming a frame structure; preferably, the upper baffle (1104) is also provided with a first connecting piece (1101) connected with the host robot.
  3. 3. An automated composite prepreg laying system according to claim 1, wherein the first prepreg tray comprises a first cylinder (1106), first acrylic side plates (1107) arranged at two axial ends of the first cylinder (1106), the first cylinder (1106) and two first acrylic side plates (1107) form an i-shaped structure, a first motor flange seat (1108) is further arranged on the inner wall of the first cylinder (1106), and the first motor flange seat (1108) is connected with a first servo motor (1105) arranged on the main end frame and rotates under the driving action of the first servo motor (1105) to drive the first cylinder (1106) to rotate; Preferably, the second prepreg tray comprises a second cylinder (1121), and second acrylic side plates (1122) arranged at two axial ends of the second cylinder (1121), wherein the second cylinder (1121) and the two second acrylic side plates (1122) form an I-shaped structure, a second motor flange seat (1123) is further arranged on the inner wall of the second cylinder (1121), and the second motor flange seat (1123) is connected with a second servo motor (1120) arranged on the main tail end frame and rotates under the driving action of the second servo motor (1120) to drive the second cylinder (1121) to rotate.
  4. 4. An automated composite prepreg layup system according to claim 1, wherein the shearing mechanism comprises a blade holder (1114), a blade (1115) arranged in correspondence with the blade holder (1114), a blade swing arm (1117) driving the blade (1115) to move, and a steering engine (1118) driving the blade swing arm (1117) to move, the steering engine (1118) being fixedly arranged on the main end frame, the blade swing arm (1117) being arranged around the lower part of the squeeze roll (1116), the steering engine (1118) driving the blade (1115) to move to the blade holder (1114) through the swing arm (1117), the blade (1115) and the prepreg tape being at an angle; Preferably, the main end frame is further provided with a plurality of first guide rollers (1109) for guiding the prepreg tape between the first prepreg tray and the squeeze rollers (1116); preferably, a plurality of second guide rollers (1124) are also provided on the main end frame for guiding the release liner/paper between the squeeze roller (1116) and the second prepreg tray; Preferably, the main end frame is further provided with a linear fine adjustment mechanism (1110), and the linear fine adjustment mechanism (1110) is rigidly connected with one extrusion roller (1116) through a connecting piece (1111) and is used for accurately adjusting extrusion force of the two extrusion rollers (1116) on the prepreg tape.
  5. 5. An automated composite prepreg layup system according to any one of claims 1-4 wherein the secondary end frame comprises a second upper barrier (2102), a second front barrier (2101) disposed forward of the second upper barrier (2102) and a second rear barrier (2105) disposed rearward of the second upper barrier (2102), the second front barrier (2101), second upper barrier (2102) and second rear barrier (2105) collectively forming a frame structure; preferably, a second connecting piece (2103) connected with the slave robot is further arranged on the second upper baffle (2102).
  6. 6. An automated composite prepreg layup system according to claim 5, wherein the roll-in mechanism comprises a roll-in drive motor (2112), a linear die set, and a driven press roll (2115) provided on the second tailgate (2105), The linear module comprises a synchronous belt (2109) and a sliding block (2111) sliding along a linear guide rail, the driven pressing roller (2115) is connected with the sliding block (2111), and the rolling driving motor (2112) drives the driven pressing roller (2115) to move along the direction vertical to the surface of the die by controlling the linear module, and applies a compliant pressing force.
  7. 7. An automated composite prepreg layup system according to claim 5 wherein the dyestripping mechanism comprises a multiple degree of freedom moving assembly, a contact wheel (2127) and a gripping assembly, the contact wheel (2127) surface being provided with adhesive medium for adhering a release film, the gripping assembly for gripping a release film separated by the contact wheel (2127), the multiple degree of freedom moving assembly for driving the contact wheel (2127) and the gripping assembly relative to movement from an end frame.
  8. 8. An automated composite prepreg layup system according to claim 7 wherein the clamping assembly comprises a motorized jaw (2120) and a jaw tip (2121), the contact wheel (2127) is mounted to the horizontal movement module by a contact wheel mount (2126), the motorized jaw (2120) is mounted to the vertical movement module, and the motorized jaw (2120) is configured to move under the contact wheel (2127) to interface with a release film during a film tearing process.
  9. 9. An automated composite prepreg layup system according to claim 1, wherein the master end (110) and slave end (210) are mounted on end flanges of a master robot (100) and slave robot (200), respectively, the master robot (100) and slave robot (200) common rail are arranged on one moving rail (300), and the moving rail (300) is arranged parallel to a table (400) on which the mould (500) is placed.
  10. 10. An automated lay-up method for a composite prepreg, comprising the steps of: s1, initializing a system, namely winding a prepreg tape to a feeding assembly of a main tail end (110), passing through a prepreg extrusion mechanism and fixing the prepreg tape to a material receiving assembly, and adjusting the pressure of the prepreg extrusion mechanism; S2, laying operation, namely controlling the movement of a main tail end (110) along with a main robot, attaching the prepreg tape to the surface of a die by utilizing a main press roll (1112), controlling tension cooperatively by a feeding assembly and a receiving assembly, and cutting the prepreg tape at a designated position by a cutting mechanism; S3, performing compliant rolling, namely controlling a slave robot at the slave end (210) to move, and rolling the laid prepreg tape by using a slave pressing roller (2115) of a rolling mechanism to eliminate interlayer gaps; S4, film tearing operation, namely controlling a film tearing mechanism from the tail end (210) to work, firstly controlling a contact wheel (2127) to contact and roll with a release film on the surface of the prepreg tape, separating the release film from the prepreg tape by using a viscous medium, then controlling a clamping assembly to move to the position of the contact wheel (2127) to clamp the release film, and finally controlling a slave robot to drive the slave tail end (210) to be far away from a die, so as to complete stripping and recovery of the release film.

Description

Automatic paving system and method for composite prepreg Technical Field The invention belongs to the technical field of mechanical manufacturing, and particularly relates to an automatic paving system and method for a composite material prepreg. Background In the current aerospace manufacturing field, carbon fiber composite parts are widely used for further optimizing structure and weight. The stringers as the load bearing members are often formed by laying, pasting and curing carbon fiber prepreg sheets, wherein the carbon fiber prepreg is a high-performance semi-finished product material formed by pre-impregnating and compounding a carbon fiber reinforcement and a resin matrix, and has the advantages of high strength, high modulus, low density, better heat resistance/corrosion resistance, good fatigue performance and the like. The paving process is to tear off the prepreg and the release paper, then lay the prepreg and attach the prepreg to the surface of the tool, and the manufacturing process involves various operations of prepreg laying, rolling, film tearing and the like which are difficult to finish through traditional machinery, and the operation is mainly finished through manpower at present. In the manual production line, a paving mould is designed and manufactured according to the geometric characteristics of the components, carbon fiber prepreg sheets with different lengths and fiber direction angles are paved and stacked on the mould layer by layer according to a certain sequence by a manual cutting method, and interlayer gaps and bubbles generated in the paving process are removed by rolling after each layer of prepreg sheets are paved. In the current manufacturing flow, paving parameters are adjusted by field workers through experience, and the problems of low manufacturing efficiency, high manufacturing cost, difficulty in ensuring product consistency and the like exist. Based on the above-mentioned drawbacks and shortcomings, there is a need in the art to propose a robot end device for automated laying of composite material prepregs, which constructs a modular design of a robot composite material prepreg tape collaborative laying task, and avoids the problems of high manufacturing and maintenance costs, and difficult guarantee of precision and quality of the device itself in the laying process. Disclosure of Invention Aiming at the above defects or improvement demands of the prior art, the invention provides an automatic paving system and method for a composite material prepreg, wherein the modular end execution system based on a master-slave cooperation framework is correspondingly designed by combining the material characteristics of the composite material prepreg tape requiring precise tension control and multilayer continuous paving and the process characteristics thereof in the forming of large complex curved surface components, and the structures and specific setting modes of key components such as a constant tension feeding mechanism, a prepreg extrusion separation mechanism, a flexible floating rolling module and a multidimensional automatic film tearing mechanism are researched and designed, so that the problems of low paving efficiency, poor interlayer bonding quality and weak adaptability to the complex curved surface in the prior art can be effectively solved, and the invention also has the advantages of compact and light structure, quick action response and small damage to the material, thereby being particularly suitable for high-precision automatic manufacturing application occasions of the large composite material components in the aerospace field. To achieve the above object, according to one aspect of the present invention, an automated lay-up system for composite prepregs is provided, comprising a master end 110 and a slave end 210 cooperating independently of each other, wherein, The main tail end 110 comprises a main tail end frame, a first prepreg tray, a second prepreg tray, a shearing mechanism, two squeeze rollers 1116 and a main pressing roller 1112, wherein the first prepreg tray is arranged on the main tail end frame, the first prepreg tray is used for winding prepreg tapes with release moulds/papers attached to two sides, the two squeeze rollers 1116 are arranged in parallel at small intervals and are used for stripping the release moulds/papers on one side, close to the second prepreg tray, of the prepreg tapes conveyed by the first prepreg tray, the main pressing roller 1112 is used for pressing and laying the prepreg tapes on the stripping side with a mould, the stripped release moulds/papers are transferred to the second prepreg tray for recovery, and the shearing mechanism is used for shearing the prepreg tapes between the squeeze rollers 1116 and the main pressing roller 1112 according to requirements; the secondary end 210 comprises a secondary end frame, a rolling mechanism and a film tearing mechanism, wherein the rolling mechanism and the film tearing