CN106273545B - It is a kind of to realize that prepreg tape is conveyed and consistent with depositing speeds resend method and device - Google Patents
It is a kind of to realize that prepreg tape is conveyed and consistent with depositing speeds resend method and device Download PDFInfo
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- CN106273545B CN106273545B CN201610864753.6A CN201610864753A CN106273545B CN 106273545 B CN106273545 B CN 106273545B CN 201610864753 A CN201610864753 A CN 201610864753A CN 106273545 B CN106273545 B CN 106273545B
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- pressure roller
- roller
- prepreg tape
- resend
- conveying roller
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- 238000000151 deposition Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 230000005540 biological transmission Effects 0.000 claims abstract description 82
- 239000000835 fiber Substances 0.000 claims abstract description 30
- 230000001360 synchronised effect Effects 0.000 claims description 65
- 230000008450 motivation Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract description 3
- 239000003733 fiber-reinforced composite Substances 0.000 abstract description 2
- 239000011347 resin Substances 0.000 abstract description 2
- 229920005989 resin Polymers 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 239000002131 composite material Substances 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000002146 bilateral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000011157 advanced composite material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 235000004263 Ocotea pretiosa Nutrition 0.000 description 1
- 244000009660 Sassafras variifolium Species 0.000 description 1
- 230000002929 anti-fatigue Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000004580 weight loss Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
- B29C70/388—Tape placement heads, e.g. component parts, details or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Moulding By Coating Moulds (AREA)
Abstract
It is a kind of to realize that prepreg tape is conveyed and consistent with depositing speeds resend method and device comprising：Pressure roller resends mechanism, transmission mechanism, piddler head rack etc. to wheeled traction.Mechanism is resend to wheeled traction by transmission mechanism to be connected with pressure roller.Pressure roller is pressed in the laying of lay on core model or core model; when automatic fiber placement head moves; the frictional force drives pressure roller rotation that having laid on pressure roller and core model or core model generates between laying, to which driving resends mechanism to wheeled traction, that realizes prepreg tape resends function.The device need not individually resend motor, and prepreg tape resends speed real-time matching depositing speeds, reduces control complexity.Meanwhile the quality of piddler head is alleviated, keep automatic fiber placement header structure compacter, is conducive to the piddler precision, reliability and the applicability that improve automatic fiber placement head, is conducive to the resin base fiber reinforced composite material component for manufacturing complex-curved shape.
Description
Technical field
The present invention relates to composite material automatic forming technical fields, are the key components and parts in automatic fiber placement equipment, tool
Body is related to a kind of realizing that prepreg tape is conveyed and consistent with depositing speeds resending method and device.
Background technology
Advanced composite material have lightweight, high specific strength, high ratio modulus, it is antifatigue, can design, that moulding process is good etc. is excellent
Point is widely applied in fields such as Aeronautics and Astronautics, wind electricity blade and automobiles.Especially in aviation field, composite material
It is a large amount of to reduce oil consumption, while maintenance cost be reduced using the weight that can not only mitigate aircraft, extend aircraft and is on active service week
Phase, therefore, dosage of the composite material on aircaft configuration and the weight loss effect thus brought have become that weigh aircraft first at present
Into the important symbol of property.
Automatic fibers laying loss is the high-end automation equipment for manufacturing carbon fibre composite.It lays multi beam carbon fiber simultaneously
Prepreg tape is tieed up, is suitable for deep camber, complex-shaped component, lay is efficient, stock utilization is high, high degree of automation, is
Presently the most advanced composite molding processing technology.It mainly by the creel of storage prepreg tape material volume, tension control mechanism,
Piddler first class sections form, and wherein piddler head is the component of most critical.
Mainly by being clamped, resending, cut and several modules such as pressure roller, heating form as automatic fiber placement is first.Wherein resend
It is that the prepreg tape that will be cut is re-delivered to below pressure roller.Currently, it includes motor, master that prepreg tape both domestic and external, which resends mechanism all,
Dynamic conveying roller resends the key components such as pressure roller.When laying, pressure roller pushing is resend, prepreg tape is sandwiched between two rollers, motor
Drive roll rotation is driven, prepreg tape is fed forward to pressure roller using the frictional force of drive roll and prepreg tape, resends the big of speed
It is small to be determined by motor speed, equal to the linear velocity for resending roller.Meanwhile piddler head is fixed on motion carrier (robot or lathe)
End, moved along the surface profile of core model, pressure roller is pressed in mandrel surface, and when mobile, pressure roller rotation, depositing speeds are pressure roller
Linear velocity because it is driven by motion carrier, depositing speeds are also the movement speed of motion carrier.
This type of drive resends speed and is determined by the rotating speed for resending motor, depositing speeds are by robot etc. when laying
Motion carrier determines, when resending, resends motor speed and needs real-time matching robot movement speed, resends speed and lays speed
Degree is separation, has certain error, and adjustment in real time increases control difficulty, and the two speed is easy inconsistent, especially exists
When speed is higher, bigger velocity error can be caused, lead to prepreg tape overtension or relaxation, and both phenomenons are not only
It reduces and lays precision, and the other problems such as prepreg tape bonding pressure roller can be caused；Secondly, it resends motor and makes outside piddler header structure
Deformation is big, and quality increases, and especially when laying complex model, easily causes the interference with mode shape, greatly limits lay
The applicability of equipment.
Invention content
In order to overcome above-mentioned technical disadvantages, the purpose of the present invention is to provide a kind of conveying of realization prepreg tape and speed is laid
Degree it is consistent resend method and device, the real-time matching for resending speed and depositing speeds may be implemented, motor need not be resend, subtracted
Small piddler header structure size and piddler head quality, are all improved the applicability, reliability, precision of automatic fiber placement head.
To achieve the goals above, the technical solution adopted in the present invention is as follows：
It is a kind of to realize that prepreg tape conveys the resend device consistent with depositing speeds, including mechanism, pressure are resend to wheeled traction
Roller core shaft, pressure roller, transmission mechanism and the rack for installing automatic fiber placement head；Pressure roller is installed on pressure roller mandrel；Pair
Wheeled traction resends mechanism and pressure roller and is all mounted in rack, and automatic fiber placement head is connected to robot arm end, and by machine
People drives；It is described mechanism is resend to wheeled traction to be connected with pressure roller mandrel by transmission mechanism, when pressure roller with core model or
When laying laying contact, friction drive is generated between pressure roller and core model, to drive pressure roller to rotate, pressure roller is again with dynamic pressure roller mandrel
Rotation；By transmission mechanism, prepreg tape will be conveyed under the drive of pressure roller mandrel by resending mechanism to wheeled traction, be passed by determining
The transmission ratio of motivation structure makes the speed that resends of prepreg tape be consistently equal to depositing speeds, realizes depositing speeds and resends the standard of speed
Really matching.
The present invention, which further improves, to be, the transmission mechanism is tape handler, gear drive or worm gear snail
Bar transmission mechanism.
The present invention, which further improves, to be, described to wheeled traction, to resend mechanism include active conveying roller, driven conveying
Roller resends pressure roller and cylinder, and the active conveying roller is connected with driven conveying roller by transmission device；Resend pressure roller and cylinder
It is connected；Prepreg tape setting is in active conveying roller and resends between pressure roller；Wherein, the transmission device is tape handler or gear
Transmission mechanism, transmission ratio 1:1.
The present invention, which further improves, to be, the transmission ratio of the transmission mechanism is pressure roller outer diameter and is resend to wheeled traction
The ratio between active conveying roller outer diameter in mechanism, transmission ratio adjustable range are less than or equal to ± 10%.
The present invention, which further improves, to be, the rack includes left socle and right support；Active conveying roller and driven defeated
One end of roller is sent to be arranged on left socle, the other end of active conveying roller and driven conveying roller is arranged on right support.
The present invention, which further improves, to be, the first connector is provided on the left socle, is arranged second on right support
Connector, pressure roller mandrel one end are arranged on the first connector, and the other end is arranged on the second connector；First connection
It is both provided with the second bearing being used to support between part, the second connector and pressure roller mandrel end.
The present invention, which further improves, to be, active conveying roller one end passes through transmission mechanism and pressure roller mandrel one end phase
Even or driven conveying roller one end is connected by transmission mechanism with pressure roller mandrel one end.
The present invention further improve is, the active conveying roller other end with it is another by transmission mechanism and pressure roller mandrel
One end is connected or the driven conveying roller other end is connected by transmission mechanism with the pressure roller mandrel other end.
The present invention, which further improves, to be, the transmission mechanism includes the first big synchronous pulley, the first synchronous toothed belt
And first small synchronous pulley；The first big synchronous pulley is arranged on pressure roller mandrel one end, the setting of the first small synchronous pulley
On active conveying roller one end, big synchronous pulley is connected by the first synchronous toothed belt with small synchronous pulley；Or
The first big synchronous pulley is arranged on pressure roller mandrel one end, and the first small synchronous pulley is arranged in driven conveying roller
On one end, the first big synchronous pulley is connected by the first synchronous toothed belt with the first small synchronous pulley.
It is a kind of realize prepreg tape convey it is consistent with depositing speeds resend method, when lay, automatic fiber placement head is in cylinder
Under driving, pressure roller and mandrel surface is made to be in close contact, automatic fiber placement head moves under robot drive along piddler track；Pressure roller
Rotation drive active conveying roller rotation, active conveying roller by transmission mechanism drive it is driven resend roller rotate；When resending pressure roller
When pushing, active conveying roller, driven resend generate frictional force between roller and prepreg tape, and prepreg tape is transported to pressure roller and core
At the compression point of mould；Linear velocity and active conveying roller, the driven linear velocity for resending roller of pressure roller are equal always.
Compared with prior art, the beneficial effects of the invention are as follows：
1. the device of the invention is rotated by robot band dynamic pressure roller, pressure roller band dynamic pressure roller mandrel rotates, and pressure roller mandrel is logical
It crosses transmission mechanism driving and mechanism is resend to wheeled traction, resending mechanism to wheeled traction will convey in advance under the drive of pressure roller mandrel
Band is soaked, by determining the transmission ratio of transmission mechanism, so that the speed that resends of prepreg tape is consistently equal to depositing speeds, meets automatic fiber placement
Speed and the accurate match for resending speed.It no longer needs to resend motor in the present invention, has saved the energy, reduce answering in control
Miscellaneous degree alleviates the quality of piddler head, in piddler head narrow space, without considering further that motor installs space that may be present
The problems such as insufficient and other component interference；
If 2. the device of the invention drives the rotation of active conveying roller using motor, it is not easy to install.The present invention is due to saving
Motor being removed, so being conducive to advanced optimizing for piddler header structure so that automatic placement machine is adapted to more complicated model,
Improve the applicability of automatic fiber placement machine.Meanwhile device is more compact.
3. the present invention by pressure roller and core model or has laid the frictional force generated between laying during automatic fiber placement
Drive pressure roller, pressure roller resends mechanism by transmission mechanism driving, the two speed real-time matching realizes the unpowered defeated of prepreg tape
It send.The present invention drives conveying roller rotation, to convey prepreg tape, solve and resend speed and depositing speeds are inconsistent using pressure roller
The problem of, it resends velocity magnitude and depends entirely on depositing speeds, the variation of depositing speeds causes to resend by transmission mechanism in real time
Speed changes, and the two can keep highly consistent during prepreg tape is resend, and consistency is not influenced by speed, improves paving
Spermiation degree eliminates possible relaxation or over-tension during prepreg tape is resend.The transmission ratio of transmission mechanism be pressure roller outer diameter and
The ratio between active conveying roller outer diameter, transmission ratio adjustable range are less than or equal to ± 10%.According to structure size determine transmission ratio it
Afterwards, it resends speed with the change of depositing speeds in real time to change, the two has determining comformity relation, eliminates individually control band
The extra error come.
4. this method need not individually resend motor, and prepreg tape resends speed real-time matching depositing speeds, reduces
Control complexity.Meanwhile the quality of piddler head is alleviated, keep automatic fiber placement header structure compacter, is conducive to improve automatic paving
Piddler precision, reliability and the applicability of silk head, to manufacture the resin base fiber reinforced composite material component of complex-curved shape
Provide a kind of effective method and apparatus.
Description of the drawings
Fig. 1 is the operating diagram of the present invention；
Fig. 2 is the schematic three dimensional views of automatic fiber placement head；
Fig. 3 is the schematic three dimensional views of the automatic fiber placement head other side；
Fig. 4 is the drive mechanism schematic diagram of the mode of unilateral driving of the invention；
Fig. 5 is the drive mechanism schematic diagram of the mode of bilateral driving of the present invention.
In figure：1 is robot, and 2 be automatic fiber placement head, and 3 be core model, and 4 be left socle, and 5 be the first small synchronous pulley, and 6 are
First synchronous toothed belt, 7 be the first big synchronous pulley, and 8 be pressure roller mandrel, and 9 be the first connector, and 10 be pressure roller, and 11 be second
Connector, 12 be right support, and 13 be to resend pressing roller holder, and 14 be protective cover, and 15 be passively to resend roller, and 16 be first gear, 17
It is second gear, 18 be active conveying roller, and 19 be cylinder, and 20 be to resend pressure roller, and 21 be prepreg tape, and 22 be the second synchronous tooth profile
Band, 23 be the second largest synchronous pulley, and 24 be the second small synchronous pulley, and 25 be first bearing, and 26 be second bearing.
Specific implementation mode
It is described further below in conjunction with the accompanying drawings by embodiment.
Referring to Fig. 1 and Fig. 2, the present invention includes automatic fiber placement head 2, resends mechanism, pressure roller mandrel 8, pressure roller to wheeled traction
10, rack and transmission mechanism；Described resends all being mounted on for mechanism, pressure roller 10 and automatic fiber placement head 2 to wheeled traction
In rack；Automatic fiber placement head 2 is connected to 1 arm end of robot, and is driven by robot 1；Pressure roller is installed on pressure roller mandrel 8
10, it is described that wheeled traction is resend by mechanism is connected with pressure roller mandrel 8 by transmission mechanism, when the flexible layer and core model of pressure roller 10
3 or laid laying contact when, generate friction drive, pressure roller 10 rotate, pressure roller 10 with dynamic pressure roller mandrel 8 rotate；Pass through
Transmission mechanism, prepreg tape will be conveyed under the drive of pressure roller mandrel 8 by resending mechanism to wheeled traction, by determining transmission mechanism
Transmission ratio makes the speed that resends of prepreg tape 21 be consistently equal to depositing speeds, meets automatic fiber placement speed and resends the accurate of speed
Matching.
Heretofore described transmission mechanism be tape handler, gear drive or Worm and worm-wheel gearing, other
Transmission mechanism can also.When using other transmission mechanisms other than tape handler, transmission mechanism can also include clutch, use
To disconnect the drive connection of pressure roller and active conveying roller.Also, transmission mechanism can be Multi-stage transmission.
It is described that wheeled traction is resend by mechanism includes active conveying roller 18, driven conveying roller 15, resends pressure roller 20 and gas
Cylinder 19, the active conveying roller 18 are connected with driven conveying roller 15 by tape handler or gear drive, and with biography
The transmission ratio of motivation structure or gear drive is 1:1.
It is connected by first gear 16 and second gear 17 between active conveying roller 18 and driven conveying roller 15 in the present invention；
It resends pressure roller 20 to drive with cylinder 19 and by cylinder 19, the setting of prepreg tape 21 is in active conveying roller 18 and resends between pressure roller 20.
The transmission ratio of the transmission mechanism is 10 outer diameter of pressure roller and is resend in mechanism outside active conveying roller 18 to wheeled traction
The ratio between diameter, transmission ratio adjustable range are less than or equal to ± 10%.
Referring to Fig. 2 and Fig. 3, the piddler head rack includes resending pressing roller holder 13, left socle 4 and right support 12；Actively
One end of conveying roller 18 and driven conveying roller 15 is arranged on left socle 4, active conveying roller 18 and driven conveying roller 15 it is another
End is arranged on right support 12.It is provided with the first connector 9 on the left socle 4, the second connector 11 is set on right support 12,
8 one end of pressure roller mandrel is arranged on the first connector 9, and the other end is arranged on the second connector 11；First connector 9,
Second connector 11 and pressure roller mandrel are both provided with the second bearing 26 being used to support between 8 end.Pressure roller 10 and pressure roller mandrel 8
It can be rotated freely around the centre hole axis of the first connector 9, the second connector 11.13 one end of pressing roller holder is resend to be arranged on a left side
On holder 4, the other end is arranged in right support 12；Pressure roller 20 is resend to be arranged on resending pressing roller holder 13.
Described 18 one end of active conveying roller is connected by transmission mechanism with 8 one end of pressure roller mandrel, based on active conveying roller 18
Dynamic conveying roller；Or driven 15 one end of conveying roller is connected by transmission mechanism with 8 one end of pressure roller mandrel, at this point, driven conveying roller 15
For active conveying roller.Can also be, 18 other end of active conveying roller with pass through transmission mechanism and 8 other end phase of pressure roller mandrel
Even or 15 other end of driven conveying roller is connected by transmission mechanism with 8 other end of pressure roller mandrel.Above-mentioned is the side of unilateral driving
Formula.Can also be that 18 both ends of active conveying roller are connected with 8 both ends of pressure roller mandrel by transmission mechanism or 15 liang of driven conveying roller
End is connected by transmission mechanism with 8 both ends of pressure roller mandrel.It is the mode of bilateral driving at this time.Active conveying roller 18 in the present invention
Can be inverted with the driven relationship for resending roller 15, two centres any one can be actively that another is driven.Described
The driven roller 18 that resends can directly be connected with pressure roller shaft pressure roller mandrel 8 by transmission mechanism, no longer between active conveying roller 15
With drive connection, two can all be active.
Transmission mechanism includes the first big synchronous pulley 7, the first synchronous toothed belt 6 and the first small synchronous pulley 5；
When 18 one end of active conveying roller is connected by transmission mechanism with 8 one end of pressure roller mandrel, the first big synchronous pulley 7 is set
It sets on 8 one end of pressure roller mandrel, the first small synchronous pulley 5 is arranged on 18 one end of active conveying roller, and the first big synchronous pulley 7 is logical
The first synchronous toothed belt 6 is crossed with the first small synchronous pulley 5 to be connected；
When 15 one end of driven conveying roller is connected by transmission mechanism with 8 one end of pressure roller mandrel, the first big synchronous belt
Wheel 7 is arranged on 8 one end of pressure roller mandrel, and the first small synchronous pulley 5 is arranged on 15 one end of passive conveying roller, the first big synchronous belt
Wheel 7 is connected by the first synchronous toothed belt 6 with the first small synchronous pulley 5.
Likewise, dynamic 18 both ends of conveying roller are connected with 8 both ends of pressure roller mandrel by transmission mechanism or 15 liang of driven conveying roller
End is connected by transmission mechanism with 8 both ends of pressure roller mandrel.The present invention when dynamic 18 both ends of conveying roller only to pass through transmission mechanism and pressure
For 8 both ends of roller core shaft are connected, illustrate.
Transmission mechanism further includes the second largest synchronous pulley 23, the second synchronous toothed belt 22 and the second small synchronous pulley 24；
First big synchronous pulley 7 is arranged on 8 one end of pressure roller mandrel, and the first small synchronous pulley 5 is arranged on 18 one end of active conveying roller,
Big synchronous pulley 7 is connected by the first synchronous toothed belt 6 with small synchronous pulley 5；The second largest synchronous pulley 23 is arranged in pressure roller core
On 8 other end of axis, the second small synchronous pulley 24 is arranged on 18 other end of active conveying roller, and the second largest synchronous pulley 23 passes through the
Two synchronous toothed belts 22 are connected with the second small synchronous pulley 24.
Transmission mechanism further includes protective cover 14, the wear erosion for reducing dust etc. to transmission parts.Specifically, anti-
Shield setting is in left socle 4 and right support 12, for dust-proof to first gear 16 and second gear 17.Tape handler can be with
Including a tensioning wheel, increase the tension of belt.
Middle gear of the present invention, belt wheel can be by keys and axis connection, or pass through the other modes such as expansion set.
Referring to Fig. 1 and Fig. 4, the present invention realizes the prepreg tape conveying speed method consistent with depositing speeds：Robot 1 includes
Automatic fiber placement head 2, pressure roller 10 and core model 3, robot 1 drive automatic fiber placement head 2 to arrive the lay of prepreg tape 21 by regulation track
3 surface of core model.1 movement velocity of robot is equal to the linear velocity of pressure roller 10, while being also the depositing speeds of prepreg tape 21.Prepreg tape
21 speed being fed forward at pressure roller 20 in active conveying roller 18 and resending are to resend speed.
Referring to Fig. 4, the unilateral mode driven is taken；When lay, pressure roller 10 under the driving of cylinder, under pressure
It is closely contacted to 3 intimate surface contact of surface and core model of core model 3, automatic fiber placement head 2 is moved along piddler track, because rubbing
The presence of power is wiped, frictional force drives pressure roller 10 rotates, and pressure roller 10 is rotated with dynamic pressure roller mandrel 8, and pressure roller mandrel 8 drives big synchronous belt
Wheel 7, big synchronous pulley 7 drives small synchronous pulley 5 by synchronous toothed belt 6, final that active conveying roller 18 is driven to rotate, using
First gear 16, second gear 17 drive the driven roller 15 that resends to rotate, and the linear velocity of 10 outer ring of pressure roller is depositing speeds；Pressure roller
10 rotation drives the rotation of active conveying roller 18, active conveying roller 18 by transmission mechanism drive it is driven resend roller 15, work as master
Dynamic conveying roller 18 and driven when resending roller 15 and pushing, active conveying roller 18, it is driven resend to generate between roller 15 and prepreg tape rub
Sassafras power, prepreg tape are transported to below pressure roller 10.
When prepreg tape 21 to be started is when resending, pressure roller 20 is resend under the effect of cylinder 19, with certain pressure preimpregnation
Band 21 be pressed onto active conveying roller 18, it is driven resend on roller 15, active conveying roller 18, the driven roller 15 that resends are under the drive of pressure roller 10
When starting rotation, using prepreg tape 21 and active conveying roller 15, driven resend the frictional force between roller 18 and be fed forward prepreg tape
21 retract at pressure roller 10, then resending pressure roller 20 under the effect of cylinder 19, prepreg tape 21 and resend pressure roller 20, active conveying roller
There is no frictional force between 18, complete to resend.
The transmission ratio of transmission mechanism is equal to the ratio between the outer diameter of 10 outer diameter of pressure roller and active conveying roller 18, and can have ± 10%
Extent of amendment.
When resending, if depositing speeds change, the linear velocity of pressure roller 10 changes therewith, is driven and is led by belt gear
Dynamic conveying roller 18, the driven rotating speed for resending roller 18 also change correspondingly, and the linear velocity and active conveying roller 18 of pressure roller 10 driven are resend
The linear velocity of roller 15 is equal always.Therefore, in laid course, it is consistent always with depositing speeds to resend speed.
With reference to Fig. 5, in order to increase the driving force of active conveying roller 18, the mode for taking bilateral to drive is another in pressure roller 10
The second largest synchronous pulley 23 is also installed in side, by the second synchronous toothed belt 22, the second small synchronous pulley 24 and active conveying roller 18
Connection.It passively resends roller 15 and the end of active conveying roller 18 is mounted on first bearing 25.When laying, the rotation of pressure roller 10
Active conveying roller 18 is driven by the belt transmission of both sides, by one belt gear of increase, transmission efficiency can be improved,
Prolong the service life.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (10)
- It realizing that prepreg tape is conveyed 1. a kind of and consistent with depositing speeds resends device, which is characterized in that including being weighed to wheeled traction Send mechanism, pressure roller mandrel (8), pressure roller (10), transmission mechanism and the rack for installing automatic fiber placement head (2)；Pressure roller mandrel (8) pressure roller (10) is installed on；Described resends mechanism and pressure roller (10) all in rack to wheeled traction, automatic fiber placement head (2) it is connected to robot (1) arm end, and is driven by robot (1)；It is described mechanism is resend to wheeled traction to pass through transmission Mechanism is connected with pressure roller mandrel (8), when pressure roller (10) and core model (3) or when having laid laying contact, pressure roller (10) and core model (3) friction drive is generated between, to drive pressure roller (10) to rotate, band dynamic pressure roller mandrel (8) rotates pressure roller (10) again；Pass through biography Motivation structure, prepreg tape (21) will be conveyed under the drive of pressure roller mandrel (8) by resending mechanism to wheeled traction, by determining driver The transmission ratio of structure makes the speed that resends of prepreg tape (21) be consistently equal to depositing speeds, realizes depositing speeds and resends the standard of speed Really matching.
- 2. it is according to claim 1 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In the transmission mechanism is tape handler, gear drive or Worm and worm-wheel gearing.
- 3. it is according to claim 1 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In described to resend mechanism to wheeled traction and include active conveying roller (18), driven conveying roller (15), resend pressure roller (20) and gas Cylinder (19), the active conveying roller (18) are connected with driven conveying roller (15) by transmission device；Resend pressure roller (20) and cylinder (19) it is connected；Prepreg tape setting is in active conveying roller (18) and resends between pressure roller (20)；Wherein, the transmission device is that band passes Motivation structure or gear drive, transmission ratio 1:1.
- 4. it is according to claim 3 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In the transmission ratio of the transmission mechanism is pressure roller (10) outer diameter and resends active conveying roller (18) outer diameter in mechanism to wheeled traction The ratio between, transmission ratio adjustable range is less than or equal to 10%.
- 5. it is according to claim 3 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In the rack includes left socle (4) and right support (12)；One end of active conveying roller (18) and driven conveying roller (15) is arranged On left socle (4), the other end of active conveying roller (18) and driven conveying roller (15) is arranged on right support (12).
- 6. it is according to claim 5 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In being provided with the first connector (9) on the left socle (4), the second connector (11), pressure roller mandrel be arranged on right support (12) (8) one end is arranged on the first connector (9), and the other end is arranged on the second connector (11)；First connector (9), The second bearing (26) being used to support is both provided between second connector (11) and pressure roller mandrel (8) end.
- 7. it is according to claim 3 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In described active conveying roller (18) one end is connected with pressure roller mandrel (8) one end by transmission mechanism or driven conveying roller (15) one End is connected by transmission mechanism with pressure roller mandrel (8) one end.
- 8. it is according to claim 7 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In active conveying roller (18) other end is connected with pressure roller mandrel (8) other end with by transmission mechanism or driven conveying roller (15) other end is connected by transmission mechanism with pressure roller mandrel (8) other end.
- 9. it is according to claim 8 it is a kind of realize prepreg tape convey it is consistent with depositing speeds resend device, feature exists In the transmission mechanism includes the first big synchronous pulley (7), the first synchronous toothed belt (6) and the first small synchronous pulley (5)； The first big synchronous pulley (7) is arranged on pressure roller mandrel (8) one end, and the first small synchronous pulley (5) setting is conveyed in active On roller (18) one end, the first big synchronous pulley (7) is connected by the first synchronous toothed belt (6) with the first small synchronous pulley (5)；OrThe first big synchronous pulley (7) is arranged on pressure roller mandrel (8) one end, and the first small synchronous pulley (5) is arranged driven On conveying roller (15) one end, the first big synchronous pulley (7) passes through the first synchronous toothed belt (6) and the first small synchronous pulley (5) phase Even.
- It realizing that prepreg tape is conveyed 10. a kind of and consistent with depositing speeds resends method, which is characterized in that when lay, automatic fiber placement Head (2) makes pressure roller (10) and core model (3) intimate surface contact, automatic fiber placement head (2) is in robot (1) under the driving of cylinder It is moved along piddler track under drive；The rotation of pressure roller (10) drives active conveying roller (18) to rotate, and active conveying roller (18) is logical Crossing transmission mechanism drives the driven roller (15) that resends to rotate；When resending pressure roller (20) and pushing, active conveying roller (18) driven is resend Roller (15) generates frictional force between prepreg tape, and prepreg tape is transported at the compression point of pressure roller (10) and core model (3)；Pressure Linear velocity and active conveying roller (18), the driven linear velocity for resending roller (15) of roller (10) are equal always.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864753.6A CN106273545B (en) | 2016-09-29 | 2016-09-29 | It is a kind of to realize that prepreg tape is conveyed and consistent with depositing speeds resend method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864753.6A CN106273545B (en) | 2016-09-29 | 2016-09-29 | It is a kind of to realize that prepreg tape is conveyed and consistent with depositing speeds resend method and device |
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| CN106273545A CN106273545A (en) | 2017-01-04 |
| CN106273545B true CN106273545B (en) | 2018-08-10 |
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| CN107512011A (en) * | 2017-10-23 | 2017-12-26 | 哈尔滨工业大学 | A kind of thermoplastic composite fiber placement head with secondary pressurized heating |
| JP7398982B2 (en) * | 2019-03-08 | 2023-12-15 | 東レエンジニアリング株式会社 | Tape pasting device and tape pasting method |
| CN111016210A (en) * | 2019-12-24 | 2020-04-17 | 威海光威精密机械有限公司 | Laying device and laying method for composite plate spring |
| CN113059829B (en) * | 2021-03-09 | 2022-03-25 | 北京航空航天大学 | Synchronous collecting mechanism for isolating films of thermosetting fiber prepreg tapes |
| CN113510945B (en) * | 2021-06-24 | 2022-06-21 | 西安交通大学 | Split sliding type width-adjustable fiber head laying method and device |
| CN114669445B (en) * | 2022-03-08 | 2023-06-23 | 上海交通大学 | Flexible roll forming device for micro-nano structure coating |
| CN114851596A (en) * | 2022-04-22 | 2022-08-05 | 合肥工业大学 | Silk laying head and silk laying machine |
| CN114770977B (en) * | 2022-06-17 | 2022-10-25 | 成都飞机工业（集团）有限责任公司 | Design method, device and equipment of automatic fiber laying tool and storage medium |
| CN117936709A (en) * | 2024-03-18 | 2024-04-26 | 肇庆理士电源技术有限公司 | Lithium ion battery electrode coating equipment and method based on plasma deposition |
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