阅读说明：本技术 纤维增强金属层板结构件自动化铺层装置及方法 (Automatic layering device and method for fiber reinforced metal laminate structural member ) 是由 张泉达 孙福臻 吉日格勒 刘子知 李蕙宇 于 2021-07-07 设计创作，主要内容包括：本发明公开了一种纤维增强金属层板结构件自动化铺层装置及方法,其中铺层装置包括压轮组件和机械手。压轮组件包括压轮座和转动安装于压轮座上的压轮,压轮包括内凹压轮、外凸压轮和平压轮。内凹压轮用于对外凸缘施压,内凹压轮的轮缘上设有用于接触外凸缘的环形凹槽。外凸压轮用于对内凹缘施压,外凸压轮的轮缘上设有用于接触内凹缘的环形凸起。环形凹槽和环形凸起均与压轮同轴。平压轮的施压面为圆柱面,平压轮用于对过渡面施压。机械手与压轮座可拆卸式连接。相比于现有技术,本发明使压轮在纤维增强金属层板结构件的待施压面上滚动施压,能够提高纤维增强金属层板结构件的粘接质量和粘接效率。(The invention discloses an automatic layering device and method for a fiber reinforced metal laminate structural part, wherein the layering device comprises a pressing wheel assembly and a manipulator. The pinch roller subassembly includes pinch roller seat and rotates the pinch roller of installing on the pinch roller seat, and the pinch roller includes indent pinch roller, evagination pinch roller and flat pinch roller. The concave pinch roller is used for pressing the outer flange, and an annular groove used for contacting the outer flange is arranged on the rim of the concave pinch roller. The outer convex pressing wheel is used for pressing the inner concave edge, and the rim of the outer convex pressing wheel is provided with an annular bulge used for contacting the inner concave edge. The annular groove and the annular bulge are coaxial with the pinch roller. The pressing surface of the flat pressing wheel is a cylindrical surface, and the flat pressing wheel is used for pressing the transition surface. The manipulator is detachably connected with the pinch roller seat. Compared with the prior art, the invention enables the pressing wheel to roll and press on the surface to be pressed of the fiber reinforced metal laminate structure, and can improve the bonding quality and bonding efficiency of the fiber reinforced metal laminate structure.)

1. An automated fiber reinforced metal laminate structure layup apparatus for applying bonding pressure to a fiber reinforced metal laminate structure having a male portion and a female portion, the male portion having an outer flange, the female portion having an inner flange, a transition surface for connecting adjacent two of the female flanges or adjacent two of the outer flanges or adjacent one of the female flanges and one of the outer flanges, comprising:

the pressing wheel assembly comprises a pressing wheel seat and a pressing wheel rotatably mounted on the pressing wheel seat, the pressing wheel is used for rolling and pressing the fiber reinforced metal laminate structural member, and the pressing wheel comprises a concave pressing wheel, a convex pressing wheel and a flat pressing wheel; the concave pinch roller is used for pressing the outer flange, and an annular groove used for contacting the outer flange is arranged on the rim of the concave pinch roller; the outer convex pinch roller is used for pressing the inner concave edge, and the rim of the outer convex pinch roller is provided with an annular bulge used for contacting the inner concave edge; the pressing surface of the flat pressing wheel is a cylindrical surface, and the flat pressing wheel is used for pressing the transition surface;

and the manipulator is used for moving the pinch roller and is detachably connected with the pinch roller seat.

2. The automated fiber reinforced metal laminate structure layering device of claim 1, wherein the robot comprises a base, a first arm, a second arm, a third arm, a fourth arm, and a controller; the base is rotatably connected with the first end of the first support arm, the second end of the first support arm is rotatably connected with the first end of the second support arm, the second end of the second support arm is rotatably connected with the first end of the third support arm, the second end of the third support arm is rotatably connected with the first end of the fourth support arm, and the second end of the fourth support arm is used for being rotatably connected with the pinch roller; a first motor is arranged on the base and controls the rotation of the first support arm; a second motor is installed at the second end of the first support arm, and the second motor controls the rotation of the second support arm; a third motor is installed at the second end of the second support arm and controls the rotation of the third support arm; a fourth motor is installed at the second end of the third support arm and controls the rotation of the fourth support arm; the first motor, the second motor, the third motor and the fourth motor are all electrically connected with the controller.

3. The automated fiber reinforced metal laminate structure layering device of claim 1, further comprising a pinch roller holder for holding the pinch rollers to be used.

4. The automatic layering device for fiber reinforced metal laminate structural members according to claim 1, further comprising a press wheel quick-change device, wherein the press wheel quick-change device is mounted on the manipulator, and the manipulator is detachably connected with the press wheel seat through the press wheel quick-change device.

5. The automated layering device of claim 1, wherein the fiber reinforced metal laminate structure is fixed on a mold and comprises a first aluminum alloy plate, a fiber plate and a second aluminum alloy plate which are arranged from top to bottom in sequence.

6. The automated fiber reinforced metal laminate structure layering device of claim 5, wherein the fiber reinforced metal laminate structure is secured to the mold by an electromagnet.

7. An automated layering method for fiber reinforced metal laminate structures using the automated layering apparatus for fiber reinforced metal laminate structures of any one of claims 1-4, comprising the steps of:

s1, selecting the use sequence of the concave pressing wheel, the convex pressing wheel and the flat pressing wheel according to the distribution condition of the convex part and the concave part on the fiber reinforced metal laminate structural member;

s2, selecting the type of the corresponding convex pinch roller according to the size of each inner concave edge, and enabling the annular bulge to be in contact with the inner concave edge; selecting the model of the corresponding concave pinch roller according to the size of each outer flange, so that the annular groove can be in contact with the outer flange;

and S3, inputting the press wheels required to be used in the whole paving process into a controller of the manipulator according to the using sequence, and using and replacing the press wheels by the manipulator according to the sequence.

8. The automated fiber reinforced metal laminate structure layering method of claim 7, wherein the usage sequence in step S3 includes a forward sequence and a reverse sequence.

Technical Field

The invention relates to the technical field of lightweight material forming, in particular to an automatic layering device and method for a fiber reinforced metal laminate structural member.

Background

The fiber reinforced metal laminate has high bonding quality between the fiber layer and the metal layer due to the requirements of use environment and performance. The small-size fiber reinforced metal laminate structure can meet the use requirements by using a manual laying and bonding method, but parts with complex large-size structures are easy to bulge and fold when fiber artificial laying is caused due to the fact that structural features are unevenly distributed on the parts, so that the phenomenon of gaps between a metal layer and a fiber layer is caused, the connection quality is influenced, and the use performance of the parts is finally influenced. Meanwhile, the efficiency of manual operation is also low.

Therefore, how to improve the bonding quality and bonding efficiency of the fiber reinforced metal laminate structure is a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

The invention aims to provide an automatic layering device and method for a fiber reinforced metal laminate structural member, which are used for improving the bonding quality and bonding efficiency of the fiber reinforced metal laminate structural member.

In order to achieve the purpose, the invention provides the following scheme:

the invention discloses an automatic layering device for a fiber reinforced metal laminate structure, which is used for applying bonding pressure to the fiber reinforced metal laminate structure, wherein the fiber reinforced metal laminate structure is provided with a convex part and a concave part, the convex part is provided with an outer flange, the concave part is provided with an inner flange, and a transition surface is used for connecting two adjacent inner flanges or two adjacent outer flanges or one adjacent inner flange and one adjacent outer flange, and comprises:

the pressing wheel assembly comprises a pressing wheel seat and a pressing wheel rotatably mounted on the pressing wheel seat, the pressing wheel is used for rolling and pressing the fiber reinforced metal laminate structural member, and the pressing wheel comprises a concave pressing wheel, a convex pressing wheel and a flat pressing wheel; the concave pinch roller is used for pressing the outer flange, and an annular groove used for contacting the outer flange is arranged on the rim of the concave pinch roller; the outer convex pinch roller is used for pressing the inner concave edge, and the rim of the outer convex pinch roller is provided with an annular bulge used for contacting the inner concave edge; the pressing surface of the flat pressing wheel is a cylindrical surface, and the flat pressing wheel is used for pressing the transition surface;

and the manipulator is used for moving the pinch roller and is detachably connected with the pinch roller seat.

Preferably, the manipulator comprises a base, a first support arm, a second support arm, a third support arm, a fourth support arm and a controller; the base is rotatably connected with the first end of the first support arm, the second end of the first support arm is rotatably connected with the first end of the second support arm, the second end of the second support arm is rotatably connected with the first end of the third support arm, the second end of the third support arm is rotatably connected with the first end of the fourth support arm, and the second end of the fourth support arm is used for being rotatably connected with the pinch roller; a first motor is arranged on the base and controls the rotation of the first support arm; a second motor is installed at the second end of the first support arm, and the second motor controls the rotation of the second support arm; a third motor is installed at the second end of the second support arm and controls the rotation of the third support arm; a fourth motor is installed at the second end of the third support arm and controls the rotation of the fourth support arm; the first motor, the second motor, the third motor and the fourth motor are all electrically connected with the controller.

Preferably, the device also comprises a pinch roller bracket used for placing the pinch roller to be used.

Preferably, the manipulator is detachably connected with the pinch roller seat through the pinch roller quick-change device.

Preferably, the fiber reinforced metal laminate structure is fixed on the mold and comprises a first aluminum alloy plate, a fiber plate and a second aluminum alloy plate which are sequentially arranged from top to bottom.

Preferably, the fiber reinforced metal laminate structure is fixed to the mold by an electromagnet.

The invention also discloses an automatic layering method of the fiber reinforced metal laminate structural member, and the automatic layering device of the fiber reinforced metal laminate structural member comprises the following steps:

s1, selecting the use sequence of the concave pressing wheel, the convex pressing wheel and the flat pressing wheel according to the distribution condition of the convex part and the concave part on the fiber reinforced metal laminate structural member;

s2, selecting the type of the corresponding convex pinch roller according to the size of each inner concave edge, and enabling the annular bulge to be in contact with the inner concave edge; selecting the model of the corresponding concave pinch roller according to the size of each outer flange, so that the annular groove can be in contact with the outer flange;

and S3, inputting the press wheels required to be used in the whole paving process into a controller of the manipulator according to the using sequence, and using and replacing the press wheels by the manipulator according to the sequence.

Preferably, the usage order in step S3 includes a forward order and a reverse order.

Compared with the prior art, the invention has the following technical effects:

the invention installs the pinch roller component on the manipulator, and the pinch roller component can be driven by the manipulator to lead the pinch roller to roll and press on the surface to be pressed of the fiber reinforced metal laminate structural member, thereby improving the bonding quality and the bonding efficiency of the fiber reinforced metal laminate structural member.

Drawings

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

FIG. 1 is a front view of an automated layering device for fiber reinforced metal laminate structural members according to this embodiment;

FIG. 2 is a perspective view of an automated layering apparatus for fiber reinforced metal laminate structures according to this embodiment;

FIG. 3 is a schematic view of a fiber reinforced metal laminate structure;

description of reference numerals: 100-an automatic layering device for a fiber reinforced metal laminate structural member; 1-a first aluminum alloy sheet; 2-a fiberboard; 3-a second aluminum alloy plate; 4-molding; 5-an electromagnet; 6-a first pinch roller; 7-a second pinch roller; 8-a third pinch roller; 9-a fourth pinch roller; 10-fifth pinch roller; 11-sixth pinch roller; 12-a fourth motor; 13-a third motor; 14-a second joint; 15-a first electric machine; 16-fourth joint; 17-third joint; 18-a second electric machine; 19-a first joint; 20-a fourth support arm; 21-a third support arm; 22-a second support arm; 23-a first support arm; r1 — first inner rim; r2 — second inner rim; r3 — third inner rim; r4 — fourth inner rim; r5 — first outer flange; r6 — second outer flange; r7 — third outer flange; r8 — fourth outer flange; r9-fifth outer flange.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide an automatic layering device and method for a fiber reinforced metal laminate structural member, which are used for improving the bonding quality and bonding efficiency of the fiber reinforced metal laminate structural member.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

1-3, the present embodiment provides an automated fiber reinforced metal laminate structure layup apparatus 100 for applying bonding pressure to a fiber reinforced metal laminate structure. The fiber reinforced metal laminate structure has a protrusion with outer flanges and an inner recess with inner flanges, and the transition surface is used to connect two adjacent inner flanges or two adjacent outer flanges or one adjacent inner flange and one outer flange. The outer flange and the inner flange are both edges which play a connecting role between two adjacent transition surfaces.

The automatic layer laying device comprises a pinch roller assembly and a mechanical arm. The pressing wheel assembly comprises a pressing wheel seat and a pressing wheel rotatably arranged on the pressing wheel seat, and the pressing wheel is used for rolling and pressing on the fiber reinforced metal laminate structural member. The manipulator is detachably connected with the pinch roller seat and used for moving the pinch roller assembly. Wherein, the pinch roller includes indent pinch roller, evagination pinch roller and plain pinch roller. The concave pinch roller is used for pressing the outer flange, and an annular groove used for contacting the outer flange is arranged on the rim of the concave pinch roller. The outer convex pressing wheel is used for pressing the inner concave edge, and the rim of the outer convex pressing wheel is provided with an annular bulge used for contacting the inner concave edge. The annular groove and the annular bulge are coaxial with the pinch roller. The pressing surface of the flat pressing wheel is a cylindrical surface, and the flat pressing wheel is used for pressing the transition surface. The manipulator is rotatably provided with a pinch roller.

When the pressing device is used, the corresponding pressing wheel is selected according to the part needing to be pressed, the pressing wheel is rotatably arranged on the mechanical arm, and the mechanical arm can drive the pressing wheel to roll and press the surface to be pressed of the fiber reinforced metal laminate structural member. It should be noted that, when the outer convex pressure wheel is needed to apply pressure to the inner concave edge, the extension direction of the annular protrusion on the outer convex pressure wheel is consistent with the extension direction of the inner concave edge; when the outer flange needs to be pressed by the concave pinch roller, the extending direction of the annular groove on the concave pinch roller is consistent with the extending direction of the outer flange.

In this embodiment, the manipulator is a four-joint manipulator, and includes a base, a first arm 23, a second arm 22, a third arm 21, a fourth arm 20, and a controller. The base is rotatably connected with the first end of the first arm 23, and the rotating connection position is a first joint 19; the second end of the first support arm 23 is rotatably connected with the first end of the second support arm 22, and the rotary connection position is a second joint 14; the second end of the second support arm 22 is rotatably connected with the first end of the third support arm 21, and the rotary connection position is a third joint 17; the second end of the third support arm 21 is rotatably connected with the first end of the fourth support arm 20, and the rotary connection position is a fourth joint 16; the second end of the fourth arm 20 is used for being rotatably connected with the pressing wheel. The base is provided with a first motor 15, and the first motor 15 controls the rotation of the first supporting arm 23. A second motor 18 is mounted at a second end of the first arm 23, the second motor 18 controlling the rotation of the second arm 22. The second end of the second arm 22 is mounted with a third motor 13, and the third motor 13 controls the rotation of the third arm 21. The second end of the third arm 21 is provided with a fourth motor 12, and the fourth motor 12 controls the rotation of the fourth arm 20. The first motor 15, the second motor 18, the third motor 13 and the fourth motor 12 are all electrically connected to a controller, preferably a PLC controller. According to a program preset in the controller, the first motor 15, the second motor 18, the third motor 13 and the fourth motor 12 can be controlled, so that the motion track of the pinch roller is controlled. According to different actual needs, a person skilled in the art can select other types of manipulators as long as the press wheel can be moved to roll and press the fiber reinforced metal laminate structural member.

Further, this embodiment still includes the pinch roller support, and the pinch roller support is used for placing the pinch roller of waiting to use to the change of pinch roller.

Furthermore, this embodiment still includes pinch roller quick change device, and pinch roller quick change device installs on the manipulator, and the manipulator passes through pinch roller quick change device and is connected with the pinch roller seat is detachable. In this embodiment, the type of the quick-changing device for pressing wheel is USP-100 (corresponding to japanese patent No. 3717923), which can be purchased directly on the market and is not described herein again. According to different actual needs, a person skilled in the art can select other types of quick-change devices for the pressing wheel as long as the replacement of the pressing wheel assembly can be realized.

In this embodiment, the fiber reinforced metal laminate structure is preferably fixed on the mold 4 through the electromagnet 5, and includes a first aluminum alloy plate 1, a fiber plate 2 and a second aluminum alloy plate 3 sequentially arranged from top to bottom.

The embodiment also provides an automatic layering method for a fiber reinforced metal laminate structure, and the automatic layering device 100 for the fiber reinforced metal laminate structure comprises the following steps:

s1, selecting the use sequence of the concave pressing wheel, the convex pressing wheel and the flat pressing wheel according to the distribution condition of the convex parts and the concave parts on the fiber reinforced metal laminate structural member;

s2, selecting the type of the corresponding convex pinch roller according to the size of each inner concave edge to enable the annular bulge to be in contact with the inner concave edge; selecting the model of the corresponding concave pinch roller according to the size of each outer flange, so that the annular groove can be in contact with the outer flange;

and S3, inputting the press wheels required by the whole paving process into a controller of the manipulator according to the using sequence, and using and replacing the press wheels by the manipulator in sequence.

In order to achieve a better bonding effect of the fiber reinforced metal laminate structure, the sequence of use in step S3 includes a forward sequence and a reverse sequence.

Specifically, as shown in fig. 3, the fiber reinforced metal laminate structure of the present embodiment includes, from left to right, four inner concave edges, i.e., a first inner concave edge R1, a second inner concave edge R2, a third inner concave edge R3, and a fourth inner concave edge R4, five outer convex edges, i.e., a first outer convex edge R5, a second outer convex edge R6, a third outer convex edge R7, a fourth outer convex edge R8, and a fifth outer convex edge R9, and a transition surface. The forward pinch roller replacing sequence is sequentially a first pinch roller 6, a second pinch roller 7, a first pinch roller 6, a third pinch roller 8, a first pinch roller 6, a fourth pinch roller 9, a fifth pinch roller 10, a fourth pinch roller 9, a first pinch roller 6, a sixth pinch roller 11, a first pinch roller 6 and a sixth pinch roller 11. The third pressing wheel 8, the fifth pressing wheel 10 and the sixth pressing wheel 11 are convex pressing wheels, and annular bulges arranged on the convex pressing wheels are different in size; the second pinch roller 7 and the fourth pinch roller 9 are concave pinch rollers, and annular grooves formed in the concave pinch rollers are different in size; the first press wheel 6 is a flat press wheel.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.