阅读说明：本技术 桌面式小型化自动铺丝设备及控制系统 (Desktop type miniaturized automatic wire laying equipment and control system ) 是由 张武翔 张家瑞 王莘儒 熊君陵 丁希仑 于 2021-10-09 设计创作，主要内容包括：本发明公开了一种桌面式小型化自动铺丝设备及其控制系统,其由外支撑架(1)、三轴平动平台(2)、送丝机构组件(3)、桌面铺放台(4)、铺丝头机构组件(5)和摇篮机构组件(6)组成。送丝机构可以维持纤维的张力,使得纤维不会从卷轴上散开。在铺丝过程中,送丝机构可以保证纤维进给速度与铺丝速度的匹配。铺丝头机构集成有剪切、加热和压辊的恒压,能够针对不同材料的性能调节合适的加热温度和铺放压力。本发明控制系统包括有多轴运动控制系统、控温系统和控压系统。本发明设备能够对中小型零件进行自动铺放成型。(The invention discloses a desktop type small-sized automatic wire laying device and a control system thereof, which are composed of an outer support frame (1), a three-axis translation platform (2), a wire feeding mechanism component (3), a desktop laying platform (4), a wire laying head mechanism component (5) and a cradle mechanism component (6). The wire feeder may maintain the tension of the fiber so that the fiber does not unravel from the spool. In the process of laying the fibers, the wire feeding mechanism can ensure that the fiber feeding speed is matched with the fiber laying speed. The filament paving head mechanism is integrated with constant pressure of shearing, heating and pressing rollers, and can adjust proper heating temperature and paving pressure according to the performances of different materials. The control system comprises a multi-axis motion control system, a temperature control system and a pressure control system. The equipment can automatically lay and form small and medium parts.)

1. The utility model provides a small-size automatic shop silk equipment of desktop formula which characterized in that: the device comprises an outer support frame (1), a three-axis translation platform (2), a wire feeding mechanism component (3), a desktop laying platform (4), a wire laying head mechanism component (5) and a cradle mechanism component (6);

the outer support frame (1) is a rectangular frame structure formed by overlapping aluminum profiles;

a Y-axis B supporting rod (1P2) of the outer supporting frame (1) is provided with a wire feeding motor connecting plate (3B2), and the wire feeding motor connecting plate (3B2) is provided with a wire feeding motor (3B);

a Y-axis B supporting rod (1P3) of the outer supporting frame (1) is provided with a guide wheel bracket (3A1), and a guide wheel (3A) is arranged on the guide wheel bracket (3A 1);

a Y-axis D support rod (1P4) of the outer support frame (1) is provided with an A-reel support seat (3J) and a B-reel support seat (3K);

an AA connecting piece (1R1) and an AB connecting piece (1R2) are arranged on an X-axis A supporting rod (1Q1) of the outer supporting frame (1); an X-axis B support rod (1Q2) of the outer support frame (1) is provided with an AC connector (1R3) and an AD connector (1R 4); the X-axis A supporting rod (1Q1) and the X-axis B supporting rod (1Q2) are kept parallel; an X-axis A guide rail (2A) and an X-axis B guide rail (2B) of the three-axis translation platform (2) are fixedly arranged above the outer support frame (1) through four connecting pieces;

an A synchronous belt (2B1) and a B synchronous belt (2B2) are arranged in the X-axis direction of the three-axis translation platform (2); the A synchronous belt (2B1) is installed in an A synchronous belt shell (2B11), the lower part of the A synchronous belt shell (2B11) is fixed on an AA connecting piece (1R1) and an AB connecting piece (1R2), and the AA connecting piece (1R1) and the AB connecting piece (1R2) are installed on an X-axis A supporting rod (1Q1) of the outer supporting frame (1); the B synchronous belt (2B2) is arranged in a B synchronous belt shell (2B21), and the lower part of the B synchronous belt shell (2B21) is fixed on an AC connecting piece (1R3) and an AD connecting piece (1R 4); the AC connector (1R3) and the AD connector (1R4) are arranged on an X-axis B supporting rod (1Q2) of the outer supporting frame (1); the A synchronous belt (2B1) and the B synchronous belt (2B2) are synchronously driven by an X-axis driving motor (2B); the X-axis driving motor (2B) is a 42-step motor; an output shaft of the X-axis driving motor (2B) is connected to one end of a connecting rod (2B3) through a coupler, the other end of the connecting rod (2B3) penetrates through a B synchronous belt transmission gear (2B5) and an A synchronous belt transmission gear (2B4), a B synchronous belt (2B2) is meshed on the B synchronous belt transmission gear (2B5), and an A synchronous belt (2B1) is meshed on the A synchronous belt transmission gear (2B 4); under the drive of an X-axis drive motor (2B), a connecting rod (2B3) is driven to move, and further an A synchronous belt (2B1) and a B synchronous belt (2B2) are driven to move, so that devices in the Y-axis direction and the Z-axis direction of a three-axis translation platform (2) realize the movement in the X-axis direction;

a Y-axis driving motor (2C), a Y-axis lead screw (2C1), a Y-axis lead screw slider (2C2), a Y-axis lead screw frame (2C3), a synchronous belt A moving piece (2C4) and a synchronous belt B moving piece (2C5) are arranged in the Y-axis direction of the three-axis translation platform (2); the lower part of a Y-axis lead screw frame (2C3) is arranged on a synchronous belt A moving piece (2C4) and a synchronous belt B moving piece (2C5), the synchronous belt A moving piece (2C4) is sleeved on a B synchronous belt (2B2), a synchronous belt B moving piece (2C5) is sleeved on an A synchronous belt (2B1), a Y-axis lead screw (2C1) is arranged on the Y-axis lead screw frame (2C3), a Y-axis lead screw slider (2C2) is sleeved on a Y-axis lead screw (2C1), and the shell of the Y-axis lead screw slider (2C2) is fixed on one side of the Z-axis lead screw frame (2D 3); one end of a Y-axis lead screw (2C1) is connected to an output shaft of a Y-axis driving motor (2C) through a coupler, and the Y-axis lead screw (2C1) is driven by the Y-axis driving motor (2C) to rotate so as to drive a Z-axis lead screw frame (2D3) to move in the Y-axis direction; the Y-axis driving motor (2C) is a 42-step motor;

a Z-axis driving motor (2D), a Z-axis lead screw (2D1), a Z-axis lead screw slider (2D2), a Z-axis lead screw frame (2D3) and a Z-axis connecting piece (2A) are arranged in the Z-axis direction of the three-axis translation platform (2); the Z-axis lead screw (2D1) is sleeved on the Z-axis lead screw slider (2D 2); the Z-axis connecting piece (2A) is arranged on a shell of the Z-axis lead screw sliding block (2D 2); the Z-axis driving motor (2D) is installed at one end of the Z-axis lead screw frame (2D3), one end of the Z-axis lead screw (2D1) is connected to an output shaft of the Z-axis driving motor (2D) through a coupler, and the Z-axis lead screw (2D1) is driven by the Z-axis driving motor (2D) to rotate so as to drive the Z-axis connecting piece (2A) to move in the Z-axis direction; the Z-axis driving motor (2D) is a 42-step motor; the Z-axis connecting piece (2A) is fixed with a shell of a Y-axis rotating motor (5A) of the filament spreading head mechanism assembly (5);

the wire feeding mechanism component (3) comprises a wire feeding unit, a fiber guiding unit and a fiber winding drum unit;

the wire feeding unit consists of a wire feeding motor (3B), a pressing wheel (3C), an H-shaped bearing (3D) and a wire feeding motor connecting plate (3B 2);

the wire feeding motor connecting plate (3B2) is of a T-shaped structure, one panel of the wire feeding motor connecting plate (3B2) is fixed on the Y-axis B supporting rod (1P2), and the other panel of the wire feeding motor connecting plate (3B2) is fixed with the wire feeding motor (3B); a CA through hole (3B2A) and a CB through hole (3B2B) are formed in the wire feeding motor connecting plate (3B 2); the CA through hole (3B2A) is used for the output shaft (3B1) of the wire feeding motor to pass through, the output shaft (3B1) of the wire feeding motor (3B) is sleeved with a pressing wheel sleeve (3C2), the pressing wheel sleeve (3C2) is fixed on the output shaft (3B1) of the wire feeding motor (3B) through a top nail (3C1), and the outside of the pressing wheel sleeve (3C2) is connected with a pressing wheel (3C); the center of a CA fiber passing lug (3B21) arranged on a wire feeding motor connecting plate (3B2) is a CA fiber passing hole (3B22), the CA fiber passing hole (3B22) is used for pre-impregnated fiber to pass through, and one end of a silica gel guide pipe is inserted into the CA fiber passing hole (3B 22); the center of a CB fiber passing lug (3B23) arranged on a wire feeding motor connecting plate (3B2) is a CB fiber passing hole (3B24), and the CB fiber passing hole (3B24) is used for allowing the prepreg fiber to pass through;

the H-shaped bearing column (3D1) is installed in the CB through hole (3B2B) of the wire feeding motor connecting plate (3B2) after passing through the central through hole of the H-shaped bearing (3D); an outer wheel surface for placing the pressing wheel (3C) in the H space of the H-shaped bearing (3D); when the pressing wheel (3C) rotates under the drive of the wire feeding motor (3B), fibers pass through a gap between the H-shaped bearing (3D) and the pressing wheel (3C), and ironing and pre-finishing of the pressing wheel (3C) on the fibers are realized;

the fiber guide unit consists of a guide wheel (3A) and a guide wheel bracket (3A 1); a guide wheel bracket (3A1) is fixedly arranged on a Y-axis C supporting rod (1P3), and a guide wheel (3A) is arranged on the guide wheel bracket (3A 1); the guide wheel (3A) is used for controlling the direction of the fiber;

the fiber reel unit comprises a fiber reel (3E), an A conical wedge block (3G), a B conical wedge block (3F), a damper (3H), an A reel supporting seat (3J) and a B reel supporting seat (3K);

the fiber reel (3E) is of a through hole circular ring structure, an A conical wedge block (3G) is installed in one end of the fiber reel (3E), and a B conical wedge block (3F) is installed in the other end of the fiber reel (3E);

one end of the conical wedge block (3F) of the B is a conical cylinder, and the other end is a cylindrical shaft (3F 1); the cylindrical shaft (3F1) is sleeved with a ball bearing (3K2), and the ball bearing (3K2) is arranged in a CD through hole (3K1) of the B reel supporting seat (3K); the conical cylinder of the conical wedge (3F) B is arranged at the other end of the fiber reel (3E);

the A reel supporting seat (3J) and the B reel supporting seat (3K) have the same structure; one end of the A reel supporting seat (3J) is fixed at one end of the Y-axis D supporting rod (1P4), and one end of the B reel supporting seat (3K) is fixed at the other end of the Y-axis D supporting rod (1P 4); the other end of the A reel supporting seat (3J) is provided with a CC through hole (3J1), a shaft lever of a damper (3H) is arranged in the CC through hole (3J1), and the circular end face of the damper (3H) is fixed on the circular panel of the A conical wedge block (3G); the other end of the B reel supporting seat (3K) is provided with a CD through hole (3K1), and a ball bearing (3K2) is arranged in the CD through hole (3K 1);

a CA fiber passing lug (3B21) is arranged above the position between the pressing wheel (3C) and the H-shaped bearing (3D), one end of a silica gel guide pipe is inserted into a CA fiber passing hole (3B22) of the CA fiber passing lug (3B21), and the other end of the silica gel guide pipe is arranged in a through hole of a heating head longitudinal mounting plate (5N2) of the heating head mounting seat (5N); during operation, prepreg fibers pass through an H-shaped hole between a fiber reel (3E), a guide wheel (3A), an H-shaped bearing (3D) and a pressing wheel (3C), a silica gel guide pipe, and a hole between an A heating head (5E) and a B heating head (5F), and then are paved on a desktop paving table (4) from a gap between the lower part of a pressing roller (5J) and the desktop paving table (4); the prepreg fiber is fed to the desktop laying table (4) under the extrusion of the pinch roller (3C) and the H-shaped bearing (3D) under the rotation of the pinch roller (3C) driven by the wire feeding motor, and the function of fiber feeding of the prepreg fiber is realized in the silica gel guide pipe;

the movable end of the damper (3H) is arranged in a CC through hole (3J1) of the A reel supporting seat (3J), a disc of the damper (3H) is fixed on the A conical wedge block (3G) through screws, and the pre-impregnated fiber wound on the fiber reel (3E) can be effectively prevented from being scattered through the damping effect of the damper (3H); the fiber reel (3E) is of a cylindrical structure, the transverse swing of the fiber is large in the process of fiber output, and the fiber needs to be transferred by the guide wheel (3A) and then is fed into the wire feeding mechanism; the guide wheel (3A) can play a role in limiting the transverse displacement of the fiber and prolonging the fiber stroke from the fiber reel to the fiber feeding mechanism;

the table top laying table (4) is of a circular disc structure and is used for flatly laying the prepreg fiber yarns; the desktop laying table (4) can move along with the cradle mechanism component (6) to realize the adjustment of the laying position when the prepreg fiber is laid;

the wire laying head mechanism component (5) comprises a Y-axis rotating motor (5A), an EA connecting piece (5B), a speed reducer (5C), an EB connecting piece (5D), an A heating head (5E), a B heating head (5F), a heating rod (5G), a fan (5H), a compression roller (5J), a compression roller connecting piece (5K), a spring (5L), a linear steering gear (5M), a heating head mounting seat (5N), a wire cutting motor mounting seat (5P), a steering gear shell (5Q), a wire cutting motor (5R), a blade mounting seat (5S), an upper blade (5T) and a lower blade (5U);

the structure of the heating head A (5E) is the same as that of the heating head B (5F), and the heating heads A and B are relatively and fixedly arranged together; an EA protruding round hole (5E3) is formed in the heating head (5E) A, an EA fiber passing groove (5E1) is formed in the middle of the heating head (5E), an EA fiber outlet nozzle (5E2) is arranged at the lower end of the heating head (5E), and the nozzle of the EA fiber outlet nozzle (5E2) is a beveled surface and is tightly matched with the round surface of the round pressing roller (5J); an EB (Epstein-Barr) convex round hole (5F3) is arranged on the heating head (5F) B, an EB fiber passing groove (5F1) is arranged in the middle of the heating head (5F) B, an EB fiber outlet nozzle (5F2) is arranged at the lower end of the heating head (5F), and the nozzle of the EB fiber outlet nozzle (5F2) is a beveled surface and is tightly matched with the round surface of the round pressing roller (5J); heating rods (5G) are placed in the EA protruding round holes (5E3) and the EB protruding round holes (5F3), and the heating rods (5G) are used for heating the pre-impregnated fiber yarns at the fiber outlet position; the EA fiber passing groove (5E1) and the EB fiber passing groove (5F1) are conformal to form a circular fiber groove, and one end of the prepreg fiber yarn penetrates through the circular fiber groove; the EA fiber outlet nozzle (5E2) and the EB fiber outlet nozzle (5F2) are used for discharging fibers from one end of the pre-impregnated fiber yarn after passing through the circular fiber groove;

a heating head transverse mounting seat (5N1) and a heating head longitudinal mounting seat (5N2) are arranged on the heating head mounting seat (5N); an EA through hole (5N3) is formed in the heating head longitudinal installation seat (5N2), a silica gel guide pipe is inserted into an upper interface of the EA through hole (5N3), and one end of a prepreg fiber wire penetrates through the silica gel guide pipe and then penetrates through the EA through hole (5N3) to reach the heating head A (5E) and the heating head B (5F); a lower blade (5U) is fixed on the heating head longitudinal mounting seat (5N 2); a heating head transverse mounting seat (5N1) is fixed on the wire cutting motor mounting seat (5P), and the upper end of a heating head A (5E) and the upper end of a heating head B (5F) are fixed below the heating head transverse mounting seat (5N 1); fans (5H) are fixed on the outer side surfaces of the heating head A (5E) and the heating head B (5F);

the upper end of the press roll connecting piece (5K) is provided with a cylindrical section (5K1), the cylindrical section (5K1) is provided with an EA blind hole, and a spring (5L) and an output shaft of a linear steering engine (5M) are placed in the EA blind hole; the lower end of the compression roller connecting piece (5K) is provided with an EB through hole (5K2), and one end of a compression roller shaft (5J1) penetrates through the central hole of the compression roller (5J) and then is fixed in the EB through hole (5K 2);

the linear steering engine (5M) is placed in a steering engine shell (5Q) and is fixed after being tightly covered by a wire cutting motor mounting seat (5P); an output shaft of the linear steering engine (5M) is arranged in a cylindrical section (5K1) of the compression roller connecting piece (5K); the upper end of the wire cutting motor mounting seat (5P) is provided with a wire cutting motor (5R), and the side panel of the steering engine shell (5Q) is provided with the lower end of an EB connecting piece (5D);

the Z-axis connecting piece (2A) is provided with an A panel (2A1) and a B panel (2A2), the A panel (2A1) is provided with a BA through hole (2A3), and the BA through hole (2A3) is used for the speed reducer (5C) to pass through; the speed reducer (5C) is connected to an output shaft of the rotating motor (5A) around the Y axis, and an EA connecting piece (5B) with an opening is arranged between the speed reducer (5C) and the rotating motor (5A) around the Y axis; the machine shell of the speed reducer (5C), the EA connecting piece (5B) and the machine shell of the rotating motor (5A) around the Y axis are fixed on an A panel (2A1) of the Z axis connecting piece (2A) through screws; a Z-axis lead screw slider (2D2) is fixed on a B panel (2A2) of the Z-axis connecting piece (2A); the other end of the speed reducer (5C) is fixed at the upper end of the EB connecting piece (5D);

the blade mounting seat (5S) is of a T-shaped structure, the upper end of the blade mounting seat (5S) is provided with an EC through hole for the output shaft of the wire cutting motor (5R) to pass through, and the lower end of the blade mounting seat (5S) is fixedly provided with an upper blade (5T); the lower blade (5U) is fixed on a heating head longitudinal mounting seat (5N2) of the heating head mounting seat (5N); the shell of the wire cutting motor (5R) is fixed at the upper end of the wire cutting motor mounting seat (5P); the upper blade (5T) and the lower blade (5U) have an upper-lower distance of 0.2 cm-0.5 cm at the initial position; the upper blade (5T) and the lower blade (5U) realize the cutting of fibers under the action of the wire cutting motor (5R);

a pressure spring (5L) is arranged between the linear steering engine (5M) and the compression roller connecting piece (5K); the linear steering engine (5M) controls the compression amount of the pressure spring (5L) by controlling the elongation of the output shaft, so as to control the output pressure of the fiber output of the fiber laying head;

the wire cutting motor (5R), the blade mounting seat (5S), the upper blade (5T), the lower blade (5U) and the heating head mounting seat (5N) form a cutting part; when fibers need to be cut off, the wire cutting motor (5R) drives the upper blade (5T) to move towards the lower blade (5U), and the cutting edges of the upper blade (5T) and the lower blade (5U) cut off, so that the function of cutting off the fibers is realized;

the cradle mechanism component (6) comprises a triangular connecting piece (6A), a swing driving motor (6B), an FA reducer (6B1), a connecting disc (6C), an FA ball bearing (6D), an FA bearing end cover (6E), an FB ball bearing (6F), an FB bearing end cover (6G), an FB reducer (6H), a rotating motor (6J) around a Z axis, a cradle mounting seat (6K), a cradle supporting seat (6L) and a cradle shell (6M);

an FA support arm (6L1) of the cradle support seat (6L) is provided with an FA through hole (6L2), an FA ball bearing (6D) is arranged in the FA through hole (6L2), and the FA ball bearing (6D) is sleeved on an FA bearing section (6E1) of an FA bearing end cover (6E); an FB support arm (6L3) of the cradle support seat (6L) is provided with an FB through hole (6L4), an FB bearing end cover (6G) is installed in the FB through hole (6L4), and a FB bearing section (6G1) of the FB bearing end cover (6G) is sleeved with a B ball bearing (6F); an FA transverse plate (6L5) of the cradle supporting seat (6L) is fixed between a Y-axis E supporting rod (1P5) and a Y-axis F supporting rod (1P6) at the bottom of the outer supporting frame (1); the cradle supporting seat (6L) is arranged along the X-axis direction of the outer supporting frame (1);

an FC through hole (6K2) is formed in an FC supporting arm (6K1) of the cradle mounting seat (6K), an FA bearing end cover (6E) is installed in the FC through hole (6K2), an FA ball bearing (6D) is sleeved on an FA bearing section (6E1) of the FA bearing end cover (6E), and the output end of an FA reducer (6B1) is installed in a central through hole (6E2) of the FA bearing end cover (6E); an FD support arm (6K3) of the cradle mounting seat (6K) is provided with an FD through hole (6K4), and a B ball bearing (6F) is arranged in the FD through hole (6K 4); an FB transverse plate (6K5) of the cradle mounting seat (6K) is provided with an FE through hole (6K6), an FB reducer (6H) is installed in the FE through hole (6K6), and the output end of the FB reducer (6H) is provided with a triangular connecting piece (6A); a cradle shell (6M) is arranged on the FC supporting arm (6K1) and the FD supporting arm (6K3) of the cradle mounting seat (6K);

an output shaft of the rotating motor (6J) around the Z shaft is fixedly connected with a connecting end of the FB reducer (6H);

the output shaft of the swing driving motor (6B) is fixedly connected with the connecting end of the FA reducer (6B 1); the output end of the FA reducer (6B1) is fixedly arranged in a central through hole (6E2) of an FA bearing end cover (6E) through the matching of a key and a key groove.

2. The desktop miniaturized automated fiber placement machine of claim 1, wherein: used for laying thermoplastic composite material.

3. The desktop miniaturized automated fiber placement machine of claim 1, wherein: when the laid fiber is the preimpregnation filament of high temperature materials such as PEEK and the like, in order to achieve the heating effect, aluminum silicate fireproof cotton needs to be wound on the heating head for heat preservation.

4. The desktop miniaturized automated fiber placement machine of claim 1, wherein: realizing the laying of one strip of sequential fibers.

5. Control system for the desktop miniaturized automatic filament-laying equipment according to claim 1, characterized in that: the control system realizes the movement of six axes of the desktop type miniaturized automatic silk laying equipment, which are respectively as follows: the first axis motion refers to the motion of the three-axis motion platform (2) in the X-axis direction; the second axis motion refers to the motion of the three-axis motion platform (2) in the Y-axis direction; the third axis motion refers to the motion of the three-axis motion platform (2) in the Z-axis direction; the fourth axis movement is provided by a swinging drive motor (6B) of the cradle mechanism component (6) to rotate around the X axis; the fifth axis movement refers to the rotation around the Z axis provided by the rotating motor (6J) around the Z axis of the cradle mechanism assembly (6); the sixth axis movement refers to the rotation around the Y axis provided by the rotating motor (5A) around the Y axis of the wire laying head mechanism component (5).

Technical Field

The invention relates to a mechanism for laying thermoplastic composite materials, in particular to a tabletop type miniaturized automatic laying device and a control system for controlling the cooperative motion of a plurality of motors, the heating temperature and the laying pressure in the tabletop type miniaturized automatic laying device.

Background

The composite material has light weight, high strength, fatigue resistance and corrosion resistance, is convenient for the integral manufacture of large-scale complex components, has comprehensive mechanical properties generally superior to those of metal materials, is widely applied to the fields of aerospace, energy, traffic, national defense and the like, and has more and more important status in the manufacturing industry. The continuous fiber reinforced thermoplastic composite material has the characteristics of high strength, modulus and the like of continuous fibers, and has the advantages of high toughness, high impact resistance, damage tolerance, unlimited prepreg storage period, short molding period, high production efficiency, easiness in repair, recyclability of waste products and the like of thermoplastic materials. Therefore, the automatic laying processing technology of the thermoplastic composite material has good development prospect.

In pages 120-127 of composite material manufacturability techniques, automatic wire laying techniques are used to manufacture fuselages, fuselage sidewall plates, main lift hatch doors, oil storage tanks, rotor fairings, etc. of aircraft. The author guo gold tree, version 1 of 6 months 2009.

At present, automatic laying equipment for thermoplastic composite materials is carried out aiming at large-sized parts, the equipment has higher integration level at a filament laying head, but has the problems of large volume and heavy weight, and meanwhile, the equipment is driven by a large mechanical arm or a large machine tool and is mainly used for laying requirements of large-sized parts. However, the method is not suitable for processing small parts and structural members of thermoplastic composite materials, especially miniaturized thin-wall sheet thermoplastic composite plates.

Disclosure of Invention

In order to realize laying processing of a miniaturized thermoplastic composite board, the invention designs a desktop type automatic laying device for thermoplastic composite materials. The automatic laying equipment releases the fiber reel and the wire feeding unit from the wire laying head mechanism, thereby effectively reducing the volume of the automatic laying equipment, lowering the cost and meeting the wire laying requirements of small and medium-sized thin-wall sheet parts.

The principle of the invention is as follows: the fiber is initially wound on the reel, and when the fiber feeding device is used, the fiber is led out from the reel and transited to enter the wire feeding mechanism through the guide wheel. When the device works, the wire feeding mechanism sends the fiber into the silica gel guide pipe, and the fiber enters the wire laying head under the guidance of the silica gel guide pipe.

The invention discloses desktop type small-sized automatic wire laying equipment which comprises an outer support frame (1), a three-axis translation platform (2), a wire feeding mechanism component (3), a desktop laying platform (4), a wire laying head mechanism component (5) and a cradle mechanism component (6). When each fiber track is laid, other axes except the Z axis are moved to coordinates at the starting point, if the Z-direction coordinate at the starting point before the movement is higher than the current position, the Z axis is moved upwards to be 3mm higher than the starting point before the movement, and then the other axes are moved. And after the other axes move to the coordinates at the starting point, reducing the Z axis to the coordinates at the starting point, and compacting the compression roller on the laying surface. The wire feeding mechanism feeds the fibers to the bottom of the compression roller, then the wire feeding mechanism and each shaft move synchronously, and the rolling of the compression roller on the laying surface firstly rolls and rolls on the laying surface to realize the laying of the fibers. When the remaining distance from the terminal point of the track is the minimum stroke (the distance from the wire cutting position to the position below the press roller), the wire cutting mechanism works to cut the fibers, the wire feeding mechanism stops running, the wire laying machine continues laying until the track is finished, and then the press roller is lifted up to prepare for laying of the next track.

The desktop type miniaturized automatic fiber laying equipment has the advantages that:

firstly, the automatic laying equipment designed by the invention arranges the fiber laying head at the lower end part of the Z axis of the three-axis translation platform (2), and simultaneously liberates the fiber reel (3E) and the wire feeding mechanism from the fiber laying head, so that the fibers can be quickly laid on the desktop laying platform (4), the speed of producing miniaturized thin-wall sheet thermoplastic composite plates is improved, and the production time cost is reduced.

Secondly, the outer support frame (1) is built by adopting the sectional materials, so that proper assembly is facilitated on one hand, and the automatic laying equipment is convenient to combine; on the other hand, the three-axis translation platform (2) arranged above the outer support frame (1) does not need to provide high-precision position adjustment for the fiber spreading head mechanism assembly (5), but can be matched with the cradle mechanism assembly (6) at the bottom in the fiber spreading process to finish high-technology thermoplastic composite board spreading, so that the production cost is also reduced.

The automatic laying equipment designed by the invention combines the filament head laying mechanism component (5) with the cradle mechanism component (6) through the desktop laying platform (4), and achieves laying position adjustment through the movement of the cradle mechanism component (6) in the process of compacting the laid pre-impregnated fiber filaments by the compression roller (5J).

Because the fibers have certain elasticity, the automatic laying equipment designed by the invention adopts two-stage stretching to carry out micro-extension on the pre-impregnated fiber yarns in the fiber length direction, thereby achieving the purpose of flattening the fiber yarns. The first stage of drawing refers to winding on a fiber reel (3E). The second-stage stretching is straightening under the matching of the guide wheel (3A), the pressing wheel (3C) and the H-shaped bearing (3D).

The automatic laying equipment designed by the invention utilizes the outer support frame (1) to fixedly install the motor, the motor driver, the steering engine, the upper computer, the computer and the like, and also achieves the purpose of miniaturization and integration. Meanwhile, the fiber laying work can be conveniently, quickly and intuitively carried out.

Drawings

FIG. 1 is a flow chart of the forming of a thermoplastic composite sheet.

FIG. 1A is a schematic view of the fiber orientation in the processing of thermoplastic composite panels using the table top type miniaturized automated fiber placement apparatus of the present invention.

FIG. 1B is a photograph of a thermoplastic composite sheet made using the desktop miniaturized automated filament placement apparatus of the present invention.

Fig. 2 is a block diagram of the table top type miniaturized automatic filament laying device of the present invention.

Fig. 2A is a photograph of the structure of the table top type miniaturized automatic filament laying device of the present invention.

Fig. 2B is a photograph showing another perspective structure of the table top type miniaturized automatic filament-laying apparatus of the present invention.

Fig. 2C is a structural diagram of a fiber laying and swinging mechanism in the desktop type miniaturized automatic fiber laying apparatus of the present invention.

Fig. 3 is a structural diagram of an outer support frame and a wire feeding mechanism assembly in the desktop type miniaturized automatic wire laying device.

Fig. 3A is another view structural diagram of the outer support frame and the wire feeder assembly of the desktop-type miniaturized automatic wire laying apparatus of the present invention.

Fig. 3B is a photograph of a profile used in the outer support frame of the present invention.

Fig. 4 is a structural diagram of the three-axis translation platform of the present invention.

FIG. 5 is a block diagram of a wire feeder assembly of the present invention.

FIG. 5A is a cross-sectional block diagram of a fiber spool unit in the wire feeder assembly of the present invention.

FIG. 5B is an exploded view of the fiber spool unit in the wire feeder assembly of the present invention.

FIG. 5C is a block diagram of the wire feed unit of the wire feeder assembly of the present invention.

FIG. 5D is an exploded view of the wire feed unit of the wire feeder assembly of the present invention.

Fig. 6 is a structural view of the laying head mechanism assembly of the present invention.

Fig. 6A is an exploded view of the filament laying head mechanism assembly of the present invention.

Fig. 6B is a view showing the structure of the blade in the laying head mechanism assembly of the present invention.

Fig. 7 is a block diagram of the cradle mechanism assembly of the present invention.

Fig. 7A is a cross-sectional structural view of the cradle mechanism assembly of the present invention.

Fig. 7B is an exploded view of the cradle mechanism assembly of the present invention.

Fig. 8 is a driving structure diagram of the table top type miniaturized automatic silk laying device.

FIG. 9 is a flow chart of the present invention when used in machining with a desktop miniaturized automated filament placement machine.

1. Outer supporting frame	1A.24V DC power supply	1B. temperature control plate
			1C. multi-axis motion control panel	1D. first stepping motor controller	1E. second step motor controller
1F. third step motor controller	Controller for fourth step motor	1H, fifth stepping motor controller
			1J. sixth stepping motor controller	1K. seventh step motor controller	1L. eighth stepping motor controller
1M solid state relay	1N1.Z axis A support rod	1N2.Z axis B support rod
			1N3.Z axis C support rod	1P1.Y axis A support rod	1P2.Y axis B support rod
1P3.Y axis C support rod	1P4. Y-axis D support rod	1P5.Y axis E supporting rod
			1P6.Y axis F support rod	1Q1.X axis A support rod	1Q2.X axis B support bar
1R1.AA connecting piece	1R2.AB connector	1R3.AC connector
			1R4.AD connecting piece	2. Three-axis translation platform	2A.Z shaft connector
2A1.A Panel	2A2.B Panel	2A3.BA Via
			2B.X shaft driving motor	2B1. X-axis A synchronous belt	2B11.A synchronous belt shell
2B2. X-axis B synchronous belt	2B21.B synchronous belt shell	2B3. connecting rod
			2C.Y shaft driving motor	2C1. Y-axis screw rod	2C2. Y-axis screw rod slide block
2C3. Y-axis lead screw frame	2C4. moving part of synchronous belt A	2C5. synchronous belt B moving piece
			2D.Z shaft driving motor	2D1.Z shaft screw rod	2D2.Z axis lead screw slide block
2D3.Z axis lead screw slide block	3. Wire feeder assembly	3A. guide wheel
			3A1. guide wheel bracket	3B. wire feeding motor	3B1. wire feeding motor output shaft
3B2. wire feeding motor connecting plate	3B2A. CA Via	3B2B.CB through hole
			3B21.CA fiber passing ear	3B22.CA fiber passing hole	3B23.CB fiber passing ear
3B24.CB fiber passing hole	3C pressure wheel	3C1. top nail
			3C2. pinch roller sleeve	3D.H type bearing	3D1.H type bearing column
3E. fiber reel	3F.B taper wedge	3F1. cylindrical shaft
			3G.A taper wedge	3H damper	3J.A reel supporting seat
3J1.CC Via hole	3K.B reel supporting seat	3K1.CD through hole
			3K2. ball bearing	4. Table top laying table	5. Spread first mechanism subassembly of silk
5A. rotating the motor around the Y axis	5B.EA connector	5C. speed reducer
			EB connecting piece	5E.A heating head	5E1.EA fiber passing groove
5E2.EA fiber outlet nozzle	5E3.EA protruding round hole	5F.B heating head
			5F1.EB fiber passing groove	EB (Electron Beam) fiber outlet nozzle	EB protruding round hole of 5F3
5G heating rod	5H. fan	5J. press roll
			5J1. Press roll shaft	5K. compression roller connecting piece	5K1. cylindrical section
EB through hole of 5K2	5L. spring	5M linear steering engine
			5N heating head mounting base	5N1. transverse mounting plate for heating head	5N2 heating head longitudinal installation plate
5N3.EA via hole	5P. wire cutting motor mounting base	5Q steering engine shell
			5R. wire cutting motor	5S. blade mounting seat	5T. upper blade
5U. lower blade	6. Cradle mechanism assembly	6A. triangular connecting piece
			6B. swinging drive motor	6B1.FA speed reducer	6C connecting plate
FA ball bearing	FA bearing end cover	6E1.FA bearing segment
			6E2. central through hole	6F.FB ball bearing	FB bearing end cover
6G1.FB bearing section	6H.FB reducer	6J rotating motor around Z axis
			6K cradle mounting seat	6K1.FC mounting arm	6K2.FC through hole
6K3.FD arm	FD through hole of 6K4	6K5.FB transverse plate
			6K6.FE through hole	6L cradle support seat	6L1.FA mounting arms
6L2.FA via	6L3.FB arm	6L4.FB through hole
			6L5.FA transverse plate	6M cradle shell

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, fig. 1A, fig. 1B, fig. 2A, fig. 2B, fig. 2C, and fig. 8, the desktop type miniaturized automatic wire laying apparatus designed by the present invention includes an outer support frame 1, a three-axis translation platform 2, a wire feeding mechanism component 3, a desktop laying table 4, a wire laying head mechanism component 5, and a cradle mechanism component 6.

Outer support frame 1

In the present invention, the coordinate system is defined by the outer support frame 1, and as shown in fig. 2, the length direction of the outer support frame 1 is defined as the X-axis direction, the width direction of the outer support frame 1 is defined as the Y-axis direction, and the height direction of the outer support frame 1 is defined as the Z-axis direction. Because the automatic wire laying mechanism designed by the invention is a desktop type miniaturized device, in order to research a carbon fiber reinforced material system (as shown in fig. 1B), carbon fibers in fig. 1B are laid along the X-axis direction.

Referring to fig. 2, 3 and 3A, the outer support frame 1 designed by the invention is a rectangular frame structure formed by overlapping aluminum profiles (the shapes of the profiles are shown in fig. 3B). Because the automatic fiber-laying equipment is used for processing desktop type miniaturized thermoplastic composite board materials, the precision requirement of the external support frame 1 is not high. The shape of the aluminum section can be selected from MJ-8-4040C model manufactured by Shanghai Minjian Jianai industry Limited company.

A temperature control board 1B and a solid-state relay 1M are arranged on a Z-axis A supporting rod 1N1 of the outer supporting frame 1.

A 24V direct-current power supply 1A is arranged on one side surface of a Z-axis B supporting rod 1N2 of the outer supporting frame 1; the other side surface of the Z-axis B supporting rod 1N2 is provided with a sixth stepping motor controller 1J, a seventh stepping motor controller 1K and an eighth stepping motor controller 1L.

A third stepping motor controller 1F, a fourth stepping motor controller 1G and a fifth stepping motor controller 1H are arranged on a Z-axis C supporting rod 1N3 of the outer supporting frame 1.

A first stepping motor controller 1D and a second stepping motor controller 1E are arranged on a Y-axis A supporting rod 1P1 of the outer supporting frame 1.

Referring to fig. 5 and 5C, a wire feeding motor connecting plate 3B2 is mounted on the Y-axis B support rod 1P2 of the outer support frame 1, and a wire feeding motor 3B is mounted on the wire feeding motor connecting plate 3B2.

A guide wheel bracket 3A1 is arranged on a Y-axis B supporting rod 1P3 of the outer supporting frame 1, and a guide wheel 3A is arranged on the guide wheel bracket 3A1.

A reel A supporting seat 3J and a reel B supporting seat 3K are arranged on a Y-axis D supporting rod 1P4 of the outer supporting frame 1.

An AA connecting piece 1R1 and an AB connecting piece 1R2 are arranged on an X-axis A supporting rod 1Q1 of the outer supporting frame 1. An X-axis B supporting rod 1Q2 of the outer supporting frame 1 is provided with an AC connector 1R3 and an AD connector 1R4. The X-axis a support bar 1Q1 remains parallel to the X-axis B support bar 1Q2. The X-axis A guide rail 2A, X and the axis B guide rail 2B of the three-axis translation platform 2 are fixedly arranged above the outer support frame 1 through four connecting pieces.

In the invention, the specific placement positions of the power supply, the motor and the controller which are arranged on the outer support frame 1 are determined for convenient installation and disassembly and convenient matching operation.

Three-axis translation platform 2

In the invention, the three-axis translation platform 2 is a belt linear transmission three-axis sliding table of an AMB45 model manufactured by Olympic electromechanical equipment Limited company in Dongguan of Guangdong province.

Referring to fig. 2 and 4, the three-axis translation platform 2 of the present invention is a gantry structure.

An A synchronous belt 2B1 and a B synchronous belt 2B2 are arranged in the X-axis direction of the three-axis translation platform 2; the A synchronous belt 2B1 is installed in an A synchronous belt shell 2B11, the lower part of the A synchronous belt shell 2B11 is fixed on an AA connecting piece 1R1 and an AB connecting piece 1R2, and the AA connecting piece 1R1 and the AB connecting piece 1R2 are installed on an X-axis A supporting rod 1Q1 of the outer supporting frame 1; the B synchronous belt 2B2 is installed in a B synchronous belt shell 2B21, and the lower part of the B synchronous belt shell 2B21 is fixed on an AC connecting piece 1R3 and an AD connecting piece 1R 4; the AC connector 1R3 and the AD connector 1R4 are mounted on the X-axis B support bar 1Q2 of the outer support bracket 1. The a timing belt 2B1 and the B timing belt 2B2 are synchronously driven by an X-axis drive motor 2B. The X-axis drive motor 2B is a 42-step motor. An output shaft of the X-axis driving motor 2B is connected to one end of a connecting rod 2B3 through a coupler, the other end of the connecting rod 2B3 penetrates through a B synchronous belt transmission gear 2B5 and an A synchronous belt transmission gear 2B4, a B synchronous belt 2B2 is meshed on the B synchronous belt transmission gear 2B5, and an A synchronous belt 2B1 is meshed on the A synchronous belt transmission gear 2B 4. Under the drive of an X-axis drive motor 2B, a connecting rod 2B3 is driven to move, and further an A synchronous belt 2B1 and a B synchronous belt 2B2 are driven to move, so that devices in the Y-axis direction and the Z-axis direction of the three-axis translation platform 2 move in the X-axis direction.

A Y-axis driving motor 2C, Y, an axis screw 2C1, an axis screw slider 2C2, an axis screw frame 2C3, a synchronous belt A moving piece 2C4 and a synchronous belt B moving piece 2C5 are arranged in the Y-axis direction of the three-axis translation platform 2; the lower part of Y-axis lead screw frame 2C3 is installed on hold-in range A motion piece 2C4 and hold-in range B motion piece 2C5, hold-in range A motion piece 2C4 cup joints on B hold-in range 2B2, hold-in range B motion piece 2C5 cup joints on A hold-in range 2B1, install Y-axis lead screw 2C1 on Y-axis lead screw frame 2C3, Y-axis lead screw slider 2C2 cup joints on Y-axis lead screw 2C1, the shell of Y-axis lead screw slider 2C2 is fixed in one side of Z-axis lead screw frame 2D3. One end of the Y-axis lead screw 2C1 is connected to an output shaft of the Y-axis driving motor 2C through a coupler, and the Y-axis lead screw 2C1 is driven by the Y-axis driving motor 2C to rotate, so that the Z-axis lead screw frame 2D3 is driven to move in the Y-axis direction. The Y-axis drive motor 2C is a 42-step motor.

A Z-axis driving motor 2D, Z, an axis screw 2D1, a Z-axis screw slider 2D2, a Z-axis screw frame 2D3 and a Z-axis connecting piece 2A are arranged in the Z-axis direction of the three-axis translation platform 2; the Z-axis lead screw 2D1 is sleeved on the Z-axis lead screw slider 2D 2; the Z-axis connecting piece 2A is arranged on a shell of the Z-axis lead screw sliding block 2D 2; z axle driving motor 2D installs the one end at Z axle lead screw frame 2D3, and the one end of Z axle lead screw 2D1 passes through the coupling joint on Z axle driving motor 2D's output shaft, and Z axle lead screw 2D1 rotates after the drive of Z axle driving motor 2D, and then drives Z axle connecting piece 2A and moves in Z axle direction. The Z-axis drive motor 2D is a 42-step motor. The Z-axis connecting piece 2A is fixed with a machine shell of a Y-axis rotating motor 5A of the filament spreading head mechanism assembly 5.

In the present invention, as shown in fig. 2C, the three-axis translation platform 2 is used to realize the adjustment of the filament-laying head mechanism assembly 5 in the X-axis, Y-axis and Z-axis.

Wire feeder assembly 3

Referring to fig. 2, 5A, 5B, 5C, and 5D, the wire feeder assembly 3 includes a wire feeding unit, a fiber guiding unit, and a fiber winding drum unit.

Referring to fig. 5C and 5D, the wire feeding unit is composed of a wire feeding motor 3B, a pressure roller 3C, H type bearing 3D and a wire feeding motor connecting plate 3B2.

The wire feeding motor connecting plate 3B2 is of a T-shaped structure, one panel of the wire feeding motor connecting plate 3B2 is fixed on the Y-axis B supporting rod 1P2, and the other panel of the wire feeding motor connecting plate 3B2 is fixed with a wire feeding motor 3B; the wire feeding motor connecting plate 3B2 is provided with a CA through hole 3B2A and a CB through hole 3B 2B; the CA through hole 3B2A is used for the wire feeding motor output shaft 3B1 to pass through, the output shaft 3B1 of the wire feeding motor 3B is sleeved with a pinch roller sleeve 3C2, the pinch roller sleeve 3C2 is fixed on the output shaft 3B1 of the wire feeding motor 3B through a top nail 3C1, and the pinch roller 3C is connected to the outside of the pinch roller sleeve 3C2. The center of a CA fiber passing lug 3B21 arranged on the wire feeding motor connecting plate 3B2 is a CA fiber passing hole 3B22, the CA fiber passing hole 3B22 is used for pre-impregnated fiber to pass through, and one end of a silica gel guide pipe is inserted into the CA fiber passing hole 3B 22; the center of the CB fiber passing lug 3B23 arranged on the wire feeding motor connecting plate 3B2 is a CB fiber passing hole 3B24, and the CB fiber passing hole 3B24 is used for the penetration of the prepreg fiber.

The H-shaped bearing column 3D1 is installed in the CB through hole 3B2B of the wire feeding motor connecting plate 3B2 after passing through the central through hole of the H-shaped bearing 3D. And an outer wheel surface for placing the pressing wheel 3C is arranged in an H space of the H-shaped bearing 3D. When the pressing wheel 3C is driven by the wire feeding motor 3B to rotate, the fibers pass through a gap between the H-shaped bearing 3D and the pressing wheel 3C, and ironing and pre-finishing of the fibers by the pressing wheel 3C is realized, as shown in fig. 1A.

Referring to fig. 5, the fiber guide unit is composed of a guide wheel 3A and a guide wheel holder 3A1. The guide wheel bracket 3A1 is fixedly arranged on the Y-axis C supporting rod 1P3, and the guide wheel 3A is arranged on the guide wheel bracket 3A1. The guide wheel 3A is used to effect control of the direction of the fibers, as shown in fig. 1A.

Referring to fig. 5, 5A, 5B, the fiber reel unit includes a fiber reel 3E, A tapered wedge 3G, B tapered wedge 3F, damper 3H, A reel support seat 3J, and B reel support seat 3K.

The fiber reel 3E has a through hole circular structure, an a-tapered wedge 3G is installed in one end of the fiber reel 3E, and a B-tapered wedge 3F is installed in the other end of the fiber reel 3E, as shown in fig. 5A and 5B.

One end of the B tapered wedge 3F is a tapered cylinder, and the other end is a cylindrical shaft 3F1. The cylindrical shaft 3F1 is sleeved with a ball bearing 3K2, and the ball bearing 3K2 is installed in a CD through hole 3K1 of a B reel supporting seat 3K, as shown in FIGS. 5A and 5B. The tapered cylinder of the B tapered wedge 3F is mounted on the other end of the fiber reel 3E.

The A scroll supporting seat 3J and the B scroll supporting seat 3K have the same structure. One end of the A-reel supporting seat 3J is fixed at one end of the Y-axis D supporting rod 1P4, and one end of the B-reel supporting seat 3K is fixed at the other end of the Y-axis D supporting rod 1P4. The other end of the A reel supporting seat 3J is provided with a CC through hole 3J1, a shaft rod of a damper 3H is arranged in the CC through hole 3J1, and the circular end face of the damper 3H is fixed on the circular panel of the A conical wedge block 3G. The other end of the B reel supporting seat 3K is provided with a CD through hole 3K1, and a ball bearing 3K2 is arranged in the CD through hole 3K1.

In the invention, a CA fiber passing lug 3B21 is arranged above the pinch roller 3C and the H-shaped bearing 3D, one end of a silica gel guide pipe is inserted and installed in a CA fiber passing hole 3B22 of the CA fiber passing lug 3B21, as shown in fig. 5A, and the other end of the silica gel guide pipe is installed in a through hole of a heating head longitudinal installation plate 5N2 of a heating head installation seat 5N, as shown in fig. 5A and 7. During operation, prepreg fibers pass through an H-shaped hole between the fiber reel 3E, the guide wheel 3A, H type bearing 3D and the pressing wheel 3C, a silica gel guide pipe, and a hole between the A heating head 5E and the B heating head 5F, and then are paved on the tabletop paving table 4 from a gap between the lower part of the pressing roller 5J and the tabletop paving table 4. The presoaked fibers are fed to the desktop laying table 4 under the extrusion of the pressing wheel 3C and the H-shaped bearing 3D under the rotation of the pressing wheel 3C driven by the wire feeding motor, and the presoaked fibers realize the fiber feeding function in the silica gel guide pipe.

In the invention, the movable end of the damper 3H is arranged in the CC through hole 3J1 of the A reel supporting seat 3J, the disc of the damper 3H is fixed on the A conical wedge block 3G through a screw, and the dispersion of the pre-impregnated fiber wound on the fiber reel 3E can be effectively prevented through the damping action of the damper 3H; the fiber reel 3E is of a cylindrical structure, and the fiber swings greatly in the transverse direction (the Y-axis direction shown in fig. 2) in the process of discharging the fiber, and needs to be conveyed to the wire feeding mechanism after being transited by the guide wheel 3A; the guide wheel 3A can play a role in limiting the transverse displacement of the fiber and prolonging the fiber stroke from the fiber reel to the wire feeding mechanism.

Table top laying table 4

Referring to fig. 2, 2A, 2B, and 2C, the table top laying table 4 is a circular, disc-like structure for laying down prepreg filaments. The table top laying table 4 can move along with the cradle mechanism component 6, and the adjustment of the placement position when the prepreg fiber filaments are laid flatly is realized.

Spread first mechanism subassembly 5 of silk

Referring to fig. 2, 2C, 6 and 6A, the filament spreading head mechanism assembly 5 includes a Y-axis rotating motor 5A, EA connecting piece 5B, a speed reducer 5C, EB connecting piece 5D, A heating head 5E, B heating head 5F, a heating rod 5G, a fan 5H, a pressure roller 5J, a pressure roller connecting piece 5K, a spring 5L, a linear steering gear 5M, a heating head mounting seat 5N, a filament cutting motor mounting seat 5P, a steering gear housing 5Q, a filament cutting motor 5R, a blade mounting seat 5S, an upper blade 5T and a lower blade 5U.

The heating head 5E of the A heating head and the heating head 5F of the B heating head have the same structure and are relatively and fixedly arranged together; an EA protruding round hole 5E3 is arranged on the heating head 5E, an EA fiber passing groove 5E1 is arranged in the middle of the heating head 5E, an EA fiber outlet nozzle 5E2 is arranged at the lower end of the heating head 5E, and a nozzle of the EA fiber outlet nozzle 5E2 is a beveled surface and is tightly matched with a round surface of a round pressing roller 5J; an EB (Electron beam) convex round hole 5F3 is formed in the heating head 5F of the B, an EB fiber passing groove 5F1 is formed in the middle of the heating head 5F of the B, an EB fiber outlet nozzle 5F2 is formed in the lower end of the heating head 5F of the B, and a nozzle of the EB fiber outlet nozzle 5F2 is a beveled surface and is tightly matched with a round surface of a round pressing roller 5J; heating rods 5G are placed in the EA protruding round holes 5E3 and the EB protruding round holes 5F3, and the heating rods 5G are used for heating the prepreg fibers at the fiber outlet position; the EA fiber passing groove 5E1 and the EB fiber passing groove 5F1 are conformal to form a circular fiber groove, and the circular fiber groove is used for one end of the prepreg fiber to pass through; the EA fiber outlet mouth 5E2 and the EB fiber outlet mouth 5F2 are used for discharging fibers from one end of the prepreg fiber filaments after passing through the circular fiber groove.

The heating head mounting seat 5N is provided with a heating head transverse mounting seat 5N1 and a heating head longitudinal mounting seat 5N 2; an EA through hole 5N3 is formed in the heating head longitudinal installation seat 5N2, a silica gel guide pipe is inserted into an upper interface of the EA through hole 5N3, and one end of the prepreg fiber penetrates through the silica gel guide pipe and then penetrates through the EA through hole 5N3 to reach the A heating head 5E and the B heating head 5F; a lower blade 5U is fixed on the heating head longitudinal installation seat 5N 2; heating head transverse installation seat 5N1 is fixed on wire cutting motor installation seat 5P, and the upper end of heating head A5E and the upper end of heating head B5F are fixed below heating head transverse installation seat 5N1. Fans 5H are fixed to the outer side surfaces of the heating heads a 5E and B5F.

The upper end of the press roll connecting piece 5K is provided with a cylindrical section 5K1, an EA blind hole is arranged on the cylindrical section 5K1, and a spring 5L and an output shaft of a linear steering engine 5M are placed in the EA blind hole; the lower end of the compression roller connecting piece 5K is provided with an EB through hole 5K2, and one end of a compression roller shaft 5J1 penetrates through the central hole of the compression roller 5J and then is fixed in the EB through hole 5K2.

The linear steering engine 5M is placed in a steering engine shell 5Q and is fixed after being tightly covered by a wire cutting motor mounting seat 5P; an output shaft of the linear steering engine 5M is arranged in a cylindrical section 5K1 of the compression roller connecting piece 5K; the upper end of the wire cutting motor mounting seat 5P is provided with a wire cutting motor 5R, and the side panel of the steering engine shell 5Q is provided with the lower end of an EB connecting piece 5D.

The Z-axis connecting piece 2A is provided with an A panel 2A1 and a B panel 2A2, the A panel 2A1 is provided with a BA through hole 2A3, and the BA through hole 2A3 is used for the speed reducer 5C to pass through. The speed reducer 5C is connected to an output shaft of the Y-axis rotating motor 5A, and an EA connecting piece 5B with an opening is arranged between the speed reducer 5C and the Y-axis rotating motor 5A; the casing of the reduction gear 5C, the EA link 5B, and the casing of the Y-axis rotating motor 5A are fixed to the a-plate 2A1 of the Z-axis link 2A by screws. A Z-axis lead screw slider 2D2 is fixed to the B-plate 2A2 of the Z-axis connector 2A. The other end of the reducer 5C is fixed to the upper end of the EB connecting piece 5D.

The blade mounting seat 5S is of a T-shaped structure, an EC through hole for the output shaft of the wire cutting motor 5R to penetrate through is formed in the upper end of the blade mounting seat 5S, and an upper blade 5T is fixed at the lower end of the blade mounting seat 5S; the lower blade 5U is fixed to the heating tip longitudinal mount 5N2 of the heating tip mount 5N. The casing of the wire cutting motor 5R is fixed at the upper end of the wire cutting motor mounting seat 5P. Referring to fig. 6B, the upper blade 5T and the lower blade 5U have an upper and lower distance of 0.2cm to 0.5cm at the initial position. The upper blade 5T and the lower blade 5U realize the cutting of the fibers under the action of the wire cutting motor 5R.

In the invention, the linear steering engine 5M adopts a LASF10 model, has the functions of detecting pressure and controlling elongation, and the pressure spring 5L is arranged between the linear steering engine 5M and the compression roller connecting piece 5K. The linear steering engine 5M controls the compression amount of the compression spring 5L by controlling the elongation of the output shaft, and further controls the output pressure of the fiber output of the fiber laying heads (the heating heads a 5E and B5F). In the laying process, the linear steering engine 5M can detect real-time pressure, and the extension amount of the output shaft is finely adjusted through a PID algorithm to keep the pressure constant, so that the automatic pressure adjusting function is realized. The casing 5Q of straight line steering wheel plays fixed straight line steering wheel 5M to and the spacing effect in compression roller connecting piece 5K downside.

In the present invention, the wire cutting motor 5R, the blade mount 5S, the upper blade 5T, the lower blade 5U, and the heating tip mount 5N form a cutting portion. When fibers need to be cut off, the wire cutting motor 5R drives the upper blade 5T to move towards the lower blade 5U, and the blades of the upper blade 5T and the lower blade 5U cut off, so that the function of cutting off the fibers is achieved.

In the present invention, a heating head 5E, B, heating head 5F, heating rod 5G, and fan 5H form a fiber heating portion. The upper ends of the heating heads 5E and 5F are connected to the lower end of the heating head mounting seat 5N, the circular fiber grooves in the middle of the heating heads 5E and 5F are used for enabling fibers to pass through, and the heating heads are designed in a split mode for being convenient to clean when the heating heads are blocked by the fiber pre-impregnated filaments. The heating rod 5G is provided with a thermocouple, is controlled at constant temperature through a high-precision PID temperature controller, and has a high-temperature alarm function. When the laid fiber is a prepreg filament made of high-temperature materials such as PEEK and the like, in order to achieve a heating effect, aluminum silicate fireproof cotton needs to be wound on the heating head A5E and the heating head B5F for heat preservation.

Cradle mechanism assembly 6

Referring to fig. 2, 2C, 7A and 7B, the cradle mechanism assembly 6 includes a triangular connector 6A, a swing driving motor 6B, FA reducer 6B1, a connecting plate 6C, FA ball bearing 6D, FA bearing cap 6E, FB ball bearing cap 6F, FB bearing cap 6G, FB reducer 6H, a rotating motor 6J around the Z-axis, a cradle mount 6K, a cradle support base 6L and a cradle housing 6M.

An FA support arm 6L1 of the cradle support seat 6L is provided with an FA through hole 6L2, an FA ball bearing 6D is arranged in the FA through hole 6L2, and an outer panel of an FA support arm 6L1 of the cradle support seat 6L is provided with a connecting disc 6C; the FA ball bearing 6D is sleeved on an FA bearing section 6E1 of the FA bearing end cover 6E and then is tightly pressed by the connecting disc 6C; an FB support arm 6L3 of the cradle support seat 6L is provided with an FB through hole 6L4, an FB bearing end cover 6G is arranged in the FB through hole 6L4, and a FB bearing section 6G1 of the FB bearing end cover 6G is sleeved with a B ball bearing 6F; the FA cross plate 6L5 of the cradle support seat 6L is fixed between the Y-axis E support bar 1P5 and the Y-axis F support bar 1P6 at the bottom of the outer support frame 1, as shown in FIG. 2B. The cradle support seat 6L is installed along the X-axis direction of the outer support frame 1 as shown in fig. 2B. One end panel of the connecting disc 6C and an outer panel of an FA arm 6L1 of the cradle supporting seat 6L are fixedly installed through screws, and an FA reducer 6B1 is fixed on the other end panel of the connecting disc 6C.

An FC through hole 6K2 is formed in an FC support arm 6K1 of the cradle mounting seat 6K, an FA bearing end cover 6E is installed in the FC through hole 6K2, an FA ball bearing 6D is sleeved on an FA bearing section 6E1 of the FA bearing end cover 6E, and an output end of an FA reducer 6B1 is installed in a center through hole 6E2 of the FA bearing end cover 6E; an FD support arm 6K3 of the cradle mounting seat 6K is provided with an FD through hole 6K4, and a B ball bearing 6F is arranged in the FD through hole 6K 4; an FE through hole 6K6 is arranged on an FB transverse plate 6K5 of the cradle mounting seat 6K, an FB reducer 6H is arranged in the FE through hole 6K6, and a triangular connecting piece 6A is arranged on the output end of the FB reducer 6H. The FC arm 6K1 and the FD arm 6K3 of the cradle mount 6K are provided with a cradle housing 6M.

An output shaft of the rotating motor 6J around the Z axis is fixedly connected with a connecting end of the FB speed reducer 6H.

The output shaft of the swing driving motor 6B is fixedly connected with the connecting end of the FA reducer 6B1. The output end of the FA speed reducer 6B1 is fixedly arranged in a central through hole 6E2 of an FA bearing end cover 6E through matching of a key and a key groove.

Motion control

In the present invention, the motion control is performed by the control system shown in fig. 8. The motion control has the motion of six axles, respectively: the first axis motion refers to the motion of the three-axis motion platform 2 in the X-axis direction; the second axis motion is the motion of the three-axis motion platform 2 in the Y-axis direction; the third axis motion is the motion of the three-axis motion platform 2 in the Z-axis direction; the fourth axis motion is the swinging motion provided by the swinging drive motor 6B of the cradle mechanism assembly 6 (referred to simply as rotation about the X-axis); the fifth axis motion is the motion provided by the cradle mechanism assembly 6 rotating the motor 6J about the Z axis (referred to simply as rotation about the Z axis); the sixth axis movement refers to the movement provided by the Y-axis rotation motor 5A of the laying head mechanism assembly 5 (simply referred to as rotation about the Y-axis).

Fig. 8 is a schematic diagram of a control system for a table top thermoplastic composite filament placement apparatus according to the present invention. The desktop type thermoplastic composite material filament spreading equipment can realize six-degree-of-freedom movement and is suitable for fiber laying of curved surface parts, wherein: the XYZ translational freedom degree is provided by a three-axis motion platform 2, the rotational freedom degree around the Y axis is provided by a motor reducer on a wire laying head, the rotational freedom degrees of the other two axes are provided by a cradle mechanism assembly 6, and all motion control (including translational motion, rotational motion, wire cutting and wire feeding) is controlled by an MK2-9 nine-axis motion control card.

Wherein, constant voltage control adopts the straight line steering wheel to realize, and the straight line steering wheel adopts LASF10 model, has the function of detection pressure and control elongation. During constant pressure control, the linear steering engine feeds the pressure value at the moment back to the linear steering engine control panel, and the linear steering engine control panel sends the elongation to the linear steering engine through a PID algorithm, so that the pressure is corrected to a set value, and constant pressure control is realized.

The temperature control device comprises a high-precision PID temperature controller, a solid-state relay and a heating rod, wherein the heating rod is integrated with a K-type thermocouple and has a temperature measuring function. The K-type thermocouple sends the temperature at the moment to the high-precision PID temperature controller, and the high-precision PID temperature controller controls the on-off of the solid-state relay through a PID algorithm so as to control the on-off and heating power of the heating rod, so that the temperature approaches a set value, and constant temperature control is realized.

The zero setting scheme of the desktop type thermoplastic composite material fiber-laying equipment designed by the invention is that the zero setting scheme of the desktop type thermoplastic composite material fiber-laying equipment is that the desktop type thermoplastic composite material fiber-laying equipment rotates around the Y axis (namely the swinging driving motor 6B drives the FA speed reducer 6B1 to move and is transmitted to the cradle mounting seat 6K through the FA ball bearing 6D): the cradle mechanism component 6 is reset to zero to enable the desktop laying platform 4 to reach the level, the pressure automatic adjustment function is closed, the Z axis is reduced to the pressing roller 5J to be compacted on the desktop laying platform 4 supported by the cradle mechanism component 6, the cradle mounting seat 6K is slowly rotated, the current pressure is read in real time by the linear steering engine 5M, and the maximum pressure position is set as the zero point.

The Z-axis zeroing scheme of the desktop type thermoplastic composite material fiber-spreading equipment designed by the invention comprises the following steps: and (3) resetting the cradle mechanism component 6 to zero to enable the tabletop laying platform 4 to reach the level, closing the pressure automatic adjustment function, rotating around the Y axis to zero, reducing the Z axis, reading the current pressure in real time by using a linear steering engine 5M, and setting the pressure as a zero point when the pressure is increased.

Referring to fig. 1, 1A, 1B, and 9, the table top type thermoplastic composite material filament laying equipment designed by the present invention has a processing flow when laying each track:

step A, forming presoaked fibers by fiber bundles after passing through a fiber presoaking unit;

after the fiber bundles pass through the fiber pre-soaking unit and are adhered with thermoplastic resin, pre-soaking fiber yarns are formed;

step B, adjusting the initial position;

(B1) firstly, other axis motions except the Z axis are adjusted to coordinates at a starting point;

(B2) if the Z-direction seat height at the starting point before the movement is higher than the current position, the Z shaft is moved upwards to be 3mm higher than the starting point before the movement, and then the other shafts are moved;

(B3) and after the other axes move to the coordinates at the starting point, reducing the Z axis to the coordinates at the starting point, and compacting the compression roller on the laying surface.

C, carrying out plane laying on the pre-impregnated filaments by a miniaturized automatic filament laying unit;

the prepreg fiber is wound on the fiber reel 3E, when in use, the prepreg fiber is led out from the fiber reel 3E, one end of the prepreg fiber is transited into a gap between the pressing wheel 3C and the H-shaped bearing 3D through the guide wheel 3A, then one end of the prepreg fiber is sent into the silica gel guide tube, and under the guide of the silica gel guide tube, one end of the prepreg fiber enters a circular fiber groove (formed by combining the A heating head 5E and the B heating head 5F) of the fiber laying head mechanism component 5. The heating rod 5G is responsible for heating the pre-impregnated fiber filaments to a proper temperature, the pre-impregnated fiber filaments are compacted on the table top laying table 4 by the pressing roller 5J, and after one pre-impregnated fiber filament is laid, the pre-impregnated fiber filaments are cut off by the cutting mechanism.

The wire feeding mechanism feeds the fibers to the bottom of the compression roller, then the wire feeding mechanism and each shaft move synchronously, and the rolling of the compression roller on the laying surface firstly rolls and rolls on the laying surface to realize the laying of the fibers. When the remaining distance from the terminal point of the track is the minimum stroke (the distance from the wire cutting position to the position below the press roller), the wire cutting mechanism works to cut the fibers, the wire feeding mechanism stops running, the wire laying machine continues laying until the track is finished, and then the press roller is lifted up to prepare for laying of the next track.

Step D, a normal temperature curing unit;

and (3) laying the prepreg fiber yarns on the table top laying table 4 in sequence, standing for a period of time at normal temperature (25-40 ℃), and curing to obtain the thermoplastic composite board, as shown in figure 1B. The standing time is determined according to different resins, and is generally 0.5 to 60 hours.

The invention relates to a desktop type thermoplastic composite material filament spreading device for processing small thin-wall sheet parts, which is used for solving the technical problems of long working time and high cost caused by the production of small parts under a factory production line.