阅读说明：本技术 一种模具自动选取系统及其控制方法 (Automatic mold selection system and control method thereof ) 是由 谈源 张俭 唐海波 陈云 于 2020-04-26 设计创作，主要内容包括：本发明涉及复材加工技术领域,尤其涉及一种模具自动选取系统,包括：预成型装置,长度方向与待加工长桁的长度方向相同；支架,与所述预成型装置平行设置；模具,所述模具设置有多套,多套所述模具放置在所述支架上,并且可拆卸地固定在所述预成型装置上,用于长桁的成型；模具抓取装置,可相对移动地设置在所述支架上,并且移动方向与所述预成型装置的长度方向平行,用于将所述模具在所述预成型装置和支架上转移；本发明通过模具抓取装置将放置在支架上的模具取下并移动至预成型装置上,通过预成型装置上的顶升件的设置自动将模具抓取装置上的模具放置在预成型装置上,实现了模具的自动更换。本发明还请求保护一种模具自动选取系统的控制方法。(The invention relates to the technical field of composite material processing, in particular to an automatic mold selection system, which comprises: the length direction of the preforming device is the same as that of the stringer to be processed; the bracket is arranged in parallel with the preforming device; a plurality of sets of molds are arranged on the bracket and are detachably fixed on the preforming device for forming the stringers; the mould gripping device is arranged on the bracket in a relatively movable mode, and the moving direction of the mould gripping device is parallel to the length direction of the preforming device, so that the mould can be transferred on the preforming device and the bracket; according to the invention, the mold placed on the support is taken down and moved to the preforming device through the mold gripping device, and the mold on the mold gripping device is automatically placed on the preforming device through the arrangement of the jacking piece on the preforming device, so that the automatic replacement of the mold is realized. The invention also requests to protect a control method of the automatic mold selection system.)

1. An automatic mold selection system, comprising:

a preforming device (100) having a length direction identical to that of the stringer to be processed;

a support (200) arranged parallel to the preforming device (100);

a mould (300), said mould (300) being provided with a plurality of sets, said plurality of sets of moulds (300) being placed on said support (200) and being removably fixed on said preforming device (100) for stringer forming;

a mold gripping device (400) relatively movably disposed on the support (200) and moving in a direction parallel to a length direction of the preforming device (100) for transferring the mold (300) on the preforming device (100) and the support (200);

the preforming device (100) is provided with a jacking piece (101) used for receiving the mold (300), and the mold gripping device (400) is provided with a lifting mechanism (401) and a transverse moving mechanism (402) fixed on the lifting mechanism (401) and used for gripping the mold (300).

2. The automated mold selection system according to claim 1, wherein the molds (300) are arranged in segments, and each segment of the molds (300) is arranged on the support (200) in a height direction in a pre-stack manner.

3. The automatic mold selection system according to claim 1, wherein the support (200) comprises a plurality of transverse supports (201) and a plurality of longitudinal supports (202), the transverse supports (201) are arranged in parallel at intervals, the longitudinal supports (202) are vertically arranged at one ends of the plurality of transverse supports (201), a transfer device (500) for transferring the mold (300) is arranged on the longitudinal supports (202), the transfer device (500) is arranged on the longitudinal supports (202) in a relatively movable manner, the mold gripping device (400) is arranged in a plurality and is arranged corresponding to the plurality of transverse supports (201), and the interior of each longitudinal support (202) is communicated with the corresponding transverse support (201) for transferring between the transfer device (500) and the plurality of mold gripping devices (400).

4. The automatic mold selection system according to claim 3, wherein the bottom of the mold (300) is provided with a plurality of positioning grooves (301), and the mold is positioned by the plurality of positioning grooves (301).

5. The automatic mold selection system according to claim 4, wherein the traverse mechanism (402) has positioning pins (4021) corresponding to the positioning grooves (301), and the traverse mechanism (402) is provided to move bidirectionally in the traverse direction.

6. The automatic mold selection system according to claim 4, wherein the transfer device (500) has two fixing clamping plates (501), the two fixing clamping plates (501) have positioning pins (5011) corresponding to the positioning slots (301), and the two fixing clamping plates (501) have spaces for the molds (300) to ascend and descend.

7. The automatic mold selection system according to claim 6, wherein the transfer device (500) further comprises a lateral driving device (502), the lateral driving device (502) is connected to the fixed clamping plates (501) for driving the two fixed clamping plates (501) to move toward or away from each other.

8. The automated mold-picking system according to any one of claims 1 to 7, wherein the mold-grasping device (400) further comprises a visual inspection mechanism (403), and the visual inspection mechanism (403) is used for inspecting whether the mold (300) is fixed in place.

9. A control method of an automatic mold selection system is characterized by comprising the following steps:

s10: selecting the model of the mould;

s20: detecting whether a mold exists at a corresponding position on the support, if so, continuously detecting whether the mold exists on the preforming device, and if not, continuously performing the next step;

s30: moving the mold gripping device to a first position corresponding to the mold of the selected model on the support;

s40: transferring the mold at the first location to a preforming device mold installation location;

s50: the preforming device receives the die;

s60: repeating the steps S30 to S50, wherein the first position is changed to the second position to the Nth position in turn until all the selected molds are placed on the preforming device, and N is an integer greater than 1;

s70: the moving mold gripping device resets, the preforming device fixes the mold, and the replacement is completed.

10. The method for controlling an automatic mold selection system according to claim 9, wherein in step S20, the method further includes:

detecting whether a mold exists at a corresponding position on the support, if so, continuously detecting whether the mold exists on the preforming device, if so, detecting the rest positions on the support, driving the movable mold gripping device to move the mold on the preforming device to the vacant position, and then performing step S30;

detecting whether a mold exists at a corresponding position on the support, if not, continuously detecting whether the mold exists on the preforming device, and if so, determining the mold on the preforming device as the selected mold; if the mold does not exist on the preforming device, an error is reported.

Technical Field

The invention relates to the technical field of composite material processing, in particular to an automatic mold selection system and a control method thereof.

Background

The carbon fiber composite material is mainly used for preparing parts such as wing stringers, fuselage stringers, frames and the like. Because the size of part is not of the same size, all need change the mould when using the mould to process the combined material part among the prior art to improve the utilization ratio that combined material part preparation set up.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the automatic mold selecting system and the control method thereof are provided to realize the automatic replacement of the mold.

In order to achieve the above object, an aspect of the present invention provides an automatic mold selection system, including:

the length direction of the preforming device is the same as that of the stringer to be processed;

the bracket is arranged in parallel with the preforming device;

a plurality of sets of molds are arranged on the bracket and are detachably fixed on the preforming device for forming the stringers;

the mould gripping device is arranged on the bracket in a relatively movable mode, and the moving direction of the mould gripping device is parallel to the length direction of the preforming device, so that the mould can be transferred on the preforming device and the bracket;

the preforming device is provided with a jacking piece used for receiving the die, and the die grabbing device is provided with a lifting mechanism and a transverse moving mechanism which is fixed on the lifting mechanism and used for grabbing the die.

Preferably, the molds are arranged in sections, and each section of the molds is arranged on the support in a height direction in a pre-overlapped manner.

Preferably, the support includes horizontal support and vertical support, horizontal support interval parallel arrangement has a plurality ofly, vertical support sets up perpendicularly in a plurality of the one end of horizontal support, be provided with the transfer device that is used for transporting the mould on the vertical support, the transfer device is in but the relative movement setting on the vertical support, mould grabbing device is provided with a plurality ofly, and corresponds the setting with a plurality of horizontal support, vertical support inside with horizontal support intercommunication is used for the transfer device with a plurality of the transmission between the mould grabbing device.

Preferably, the bottom of the mold is provided with a plurality of positioning grooves, and the positioning grooves are used for positioning.

Preferably, the transverse moving mechanism is provided with a positioning nail corresponding to the positioning groove, and the transverse moving mechanism is arranged in a bidirectional moving mode in the transverse moving direction.

Preferably, the transfer device is provided with two fixing clamping plates, the two fixing clamping plates are provided with positioning pins corresponding to the positioning grooves, and the two fixing clamping plates are provided with spaces for lifting the mold.

Preferably, the transfer device is further provided with a transverse driving device, and the transverse driving device is connected with the fixed clamping plates and is used for driving the two fixed clamping plates to move close to or away from each other.

Preferably, the mold gripping device is further provided with a visual detection mechanism, and the visual detection mechanism is used for detecting whether the mold is fixed in place or not.

The invention also provides a control method of the automatic mold selection system, which is characterized by comprising the following steps:

s10: selecting the model of the mould;

s20: detecting whether a mold exists at a corresponding position on the support, if so, continuously detecting whether the mold exists on the preforming device, and if not, continuously performing the next step;

s30: moving the mold gripping device to a first position corresponding to the mold of the selected model on the support;

s40: transferring the mold at the first location to a preforming device mold installation location;

s50: the preforming device receives the die;

s60: repeating the steps S30 to S50, wherein the first position is changed to the second position to the Nth position in turn until all the selected molds are placed on the preforming device, and N is an integer greater than 1;

s70: the moving mold gripping device resets, the preforming device fixes the mold, and the replacement is completed.

Further, in step S20, the following cases are also included:

detecting whether a mold exists at a corresponding position on the support, if so, continuously detecting whether the mold exists on the preforming device, if so, detecting the rest positions on the support, driving the movable mold gripping device to move the mold on the preforming device to the vacant position, and then performing step S30;

detecting whether a mold exists at a corresponding position on the support, if not, continuously detecting whether the mold exists on the preforming device, and if so, determining the mold on the preforming device as the selected mold; if the mold does not exist on the preforming device, an error is reported.

The invention has the beneficial effects that: according to the invention, the mold placed on the support is taken down and moved to the preforming device through the mold gripping device, and the mold on the mold gripping device is automatically placed on the preforming device through the arrangement of the jacking piece on the preforming device, so that the automatic replacement of the mold is realized; through placing the support of placing the mould together with forming device in advance, shortened the removal route of mould, compared with prior art, utilize the gathering effect to reduce the mould and remove required time, need not artifical the participation moreover, improved removal efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an automatic mold selection system according to an embodiment of the present invention (middle part omitted);

FIG. 2 is a top view of an automated mold selection system in an embodiment of the present invention;

FIG. 3 is a schematic diagram of the construction of a preforming tool according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a mold gripping device according to an embodiment of the present invention;

FIG. 6 is a schematic view of a mold placement configuration in an embodiment of the present invention;

FIG. 7 is a schematic structural view of a stent in an embodiment of the present invention;

fig. 8 to 10 are schematic structural views of a transfer device according to an embodiment of the present invention.

Reference numerals: 100-a preforming device; 101-a jacking piece; 200-a scaffold; 201-transverse support; 202-longitudinal support; 300-a mold; 301-positioning grooves; 400-a mold gripper; 401-a lifting mechanism; 402-a traversing mechanism; 403-visual inspection means; 500-a transfer device; 501-fixed clamping plate; 502-lateral drive means; 4021-a locating nail; 5011-locating pin.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

The automatic mold selection system shown in fig. 1 to 10 includes:

a preforming device 100 having a length direction identical to that of the stringer to be processed; as shown in fig. 3, the preforming device 100 is used for forming a stringer, and forms a laminate placed on a lower mold by driving the upper mold to be lifted and lowered by a worm screw lifter on a frame.

A support 200 disposed parallel to the preforming device 100; as shown in fig. 2, the rack 200 serves as a mold magazine for storing molds, on the one hand, and also for supporting the mold gripper 400 for movement thereon, on the other hand.

A mold 300, the mold 300 being provided with a plurality of sets, the plurality of sets of molds 300 being placed on the support 200 and detachably fixed to the preforming device 100 for forming the stringers; as shown in fig. 6, the mold 300 is overlapped on the support 200 for easy access.

A mold grasping device 400 relatively movably disposed on the support 200 and moving in a direction parallel to a longitudinal direction of the preforming device 100, for transferring the mold 300 on the preforming device 100 and the support 200; as shown in fig. 5, the mold gripping device 400 may be moved in the longitudinal direction of the support frame 200, and driven by the slide rail under it and the action of the rack motor and the gear.

Wherein the preforming device 100 has a lifter 101 for taking in the mold 300, as shown in fig. 4, the lifter 101 functions to take in the mold put down from the mold grasping device 400; the mold gripping device 400 has an elevating mechanism 401 and a traverse mechanism 402 fixed to the elevating mechanism 401 for gripping the mold 300. When the mold is specifically replaced, firstly, the transverse moving mechanism 402 is moved to a preset position of the support 200, the lifting mechanism 401 is driven, and the transverse moving mechanism 402 is moved towards the mold 300, so that the transverse moving mechanism 402 extends into the lower part of the mold, and then the outer support 200 of the mold is taken down through jacking of the lifting mechanism 401; then the mold is moved to a preset position of the preforming device 100 by the mold gripping device 400, the mold 300 is finally placed on the preforming device 100 by the descending of the jacking piece 101 and the receiving of the jacking piece 101 arranged on the preforming device 100, and the preforming device fixes the mold 300 by the vacuumizing mode.

In the above embodiment, the mold 300 placed on the support 200 is removed and moved to the preforming device 100 by the mold grasping device 400, and the mold 300 on the mold grasping device 400 is automatically placed on the preforming device 100 by the setting of the jacking piece 101 on the preforming device 100, so that the automatic replacement of the mold is realized; by placing the support 200 on which the mold 300 is placed together with the preforming device 100, the moving path of the mold is shortened, the time required for the movement of the mold is reduced by using the gathering effect, and the moving efficiency is improved without manual intervention.

In the embodiment of the present invention, the molds 300 are provided in stages, and each stage of the molds 300 is pre-stacked in the height direction on the support 200. As shown in FIG. 2, the mold 300 is divided into three sections in the length direction, so that the transportation is convenient, and on the other hand, the mold 300 is divided into a plurality of sections in the length direction due to the expansion and contraction effect of the mold in the heating process, so that the deformation of the mold caused by the expansion and contraction of the mold can be reduced. The pre-overlapping in the height direction means that the upper mold is clamped on the lower mold and the whole is moved. Through coincide in the direction of height, integral removal has improved the removal efficiency of mould. It should be noted here that the preforming tool fixes the mold by means of evacuation, and after the mold is entirely placed on the frame of the preforming device, the upper mold driving mechanism moves down to contact the upper mold surface, and fixes the upper mold by means of evacuation.

With reference to fig. 2 and fig. 7, the support 200 includes a plurality of transverse supports 201 and a plurality of longitudinal supports 202, the plurality of transverse supports 201 are arranged in parallel at intervals, the longitudinal supports 202 are vertically arranged at one end of the plurality of transverse supports 201, a transfer device 500 for transferring the mold 300 is arranged on the longitudinal supports 202, the transfer device 500 is arranged on the longitudinal supports 202 in a relatively movable manner, the plurality of mold gripping devices 400 are arranged corresponding to the plurality of transverse supports 201, and the interior of the longitudinal supports 202 is communicated with the transverse supports 201 for transferring the transfer device 500 and the plurality of mold gripping devices 400. Through the setting of many horizontal supports 201, increased the volume of placing of mould, through the setting of vertical support 202 moreover to and the setting of the transfer device 500 that moves on vertical support 202, realized all moving the mould 300 of different positions department to on preforming device 100, can enlarge the width of support according to the demand through this kind of mode, thereby improved the adaptability of system. Specifically, as shown in fig. 8, the transfer device 300 is relatively slidable on the longitudinal support 202 by means of a slide and a slide rail, and is also driven by means of a motor, a gear and a rack.

As shown in fig. 6, in order to improve the fixing accuracy of the mold 300, a plurality of positioning grooves 301 are disposed at the bottom of the mold 300 and are positioned by the plurality of positioning grooves 301. When moving at every turn, all fix a position through constant head tank 301, improved the reliability of mould 300 removal in-process.

Specifically, as shown in fig. 5, the traverse mechanism 402 has positioning pins 4021 corresponding to the positioning grooves 301, and the traverse mechanism 402 is provided to move bidirectionally in the traverse direction. By the arrangement of the positioning pins 4021, the reliability of the movement of the mold 300 is improved. Here, the bidirectional movement of the traverse mechanism 402 means movement toward the lateral supports 201 on both sides so as to take and place the molds 300 on both sides thereof, and one mold gripping device 400 grips the molds 300 in both directions, thereby improving the use efficiency of the mold gripping device 400. In addition, a visual inspection mechanism 403 is provided on the mold gripper 400, and the visual inspection mechanism 403 is used to inspect whether the mold 300 is fixed in place. The visual inspection mechanism 403 may be an industrial high-definition camera, and whether the traverse mechanism 402 reaches a predetermined position is determined through analysis of a camera shooting and control system, so that the reliability of fixing the mold 300 is improved.

As shown in fig. 9 and 10, the transfer device 500 has two fixing plates 501, the two fixing plates 501 have positioning pins 5011 corresponding to the positioning grooves 301, and the two fixing plates 501 have a space for the mold 300 to be lifted. The shape cross-section of fixed cardboard 501 is the C type, bears mould 300 through the bottom plate, and locating pin 5011 sets up on the bottom plate, when specifically placing, moves mould 300 to the space that two fixed cardboard 501's relative settings formed through sideslip mechanism 402 in, makes mould 300 fixed on locating pin 5011 through the below of elevating system 401, and is same, and visual detection mechanism 403 this moment has also played the positioning action, guarantees the accuracy of location.

Preferably, the transfer device 500 further comprises a transverse driving device 502, and the transverse driving device 502 is connected to the fixed clamping plates 501 and is used for driving the two fixed clamping plates 501 to move towards or away from each other. Through setting up fixed cardboard 501 to the mode of activity, simplified the transportation degree of difficulty of mould 300, only need mould grabbing device 400 lateral shifting, then the fixed reliability of fixing has just been improved to mould 300 to the mode of readjusting fixed cardboard 501.

The embodiment of the invention also provides a control method of the automatic mold selection system, which comprises the following steps:

s10: selecting the model of the mould;

s20: detecting whether a mold exists at a corresponding position on the bracket 200, if so, continuously detecting whether the mold exists on the preforming device 100, and if not, continuing the next step;

s30: moving the mold gripper 4000 to a first position corresponding to a mold of a selected type on the support 200; it should be noted that, when there is only one row of racks 200, it is considered that if there are several rows of racks 200, the transfer device 500 is also used for transferring.

S40: transferring the mold at the first location to a preforming device mold installation location;

s50: the preforming device receives the die;

s60: repeating the steps S30 to S50, wherein the first position is changed to the second position to the Nth position in turn until all the selected molds are placed on the preforming device, and N is an integer greater than 1; in the embodiment of the invention, N is 3.

S70: the moving mold gripping device resets, the preforming device fixes the mold, and the replacement is completed.

Further, in step S20, the following cases are also included:

detecting whether a mold exists at a corresponding position on the support, if so, continuously detecting whether the mold exists on the preforming device, if so, detecting the rest positions on the support, driving the movable mold gripping device to move the mold on the preforming device to the vacant position, and then performing step S30;

detecting whether a mold exists at a corresponding position on the support, if not, continuously detecting whether the mold exists on the preforming device, and if so, determining the mold on the preforming device as the selected mold; if the mold does not exist on the preforming device, an error is reported.

It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.