CN111115333A - Automatic laying device for pre-stripping lining paper of composite material prepreg tape - Google Patents

Automatic laying device for pre-stripping lining paper of composite material prepreg tape Download PDF

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Publication number
CN111115333A
CN111115333A CN201911414391.0A CN201911414391A CN111115333A CN 111115333 A CN111115333 A CN 111115333A CN 201911414391 A CN201911414391 A CN 201911414391A CN 111115333 A CN111115333 A CN 111115333A
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China
Prior art keywords
shaft
base
bearing
winding
frame
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CN201911414391.0A
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Chinese (zh)
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CN111115333B (en
Inventor
肖晓晖
杨尚尚
何思宇
王镇
段宝阁
李晓聃
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Wuhan University WHU
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Wuhan University WHU
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H35/00—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H18/00—Winding webs
    • B65H18/08—Web-winding mechanisms
    • B65H18/10—Mechanisms in which power is applied to web-roll spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H20/00—Advancing webs
    • B65H20/06—Advancing webs by friction band
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/26—Registering, tensioning, smoothing or guiding webs longitudinally by transverse stationary or adjustable bars or rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H37/00—Article or web delivery apparatus incorporating devices for performing specified auxiliary operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H41/00—Machines for separating superposed webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H47/00—Unfolding thin limp material

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Abstract

The invention discloses a composite material prepreg tape lining paper pre-stripping automatic laying device, which comprises: the device comprises an upper frame connected with a mechanical arm flange, and a left frame and a right frame which are positioned at the left end and the right end of the upper frame; the left end and the right end of the ultrasonic cutting mechanism are respectively connected with the left rack and the right rack; the winding mechanism and the unwinding mechanism are connected with the left rack; and the stripping mechanism is connected with the right frame. Therefore, the invention can realize the functions of cutting, conveying, heating and laying the composite material, has the characteristics of simple structure, high automation degree, high laying efficiency, low cost and the like, effectively solves the problem of difficult control of the cutting depth of the traditional prepreg tape, and ensures that the laying process of the composite material is simple and reliable.

Description

Automatic laying device for pre-stripping lining paper of composite material prepreg tape
Technical Field
The invention relates to the field of composite material forming, in particular to an automatic laying device for pre-stripping lining paper of a composite material prepreg tape.
Background
The composite material is compounded by a plurality of materials, has the advantages of all the materials, and the price of the composite material is continuously reduced along with the continuous maturity of the preparation technology of the composite material, so that the composite material can be applied to other fields except military and aerospace, the traditional mode for manually paving the composite material has low efficiency and high cost, and the application range of the composite material is seriously limited, so the research on the automatic paving device of the composite material is the key for solving the problems. The existing composite material prepreg tape is formed by attaching a composite material prepreg on lining paper, the composite material prepreg on the composite material prepreg tape is generally cut by cutting in the composite material laying process in automatic laying equipment, and the cutting depth is difficult to control due to the extremely thin composite material prepreg, so that the composite material prepreg is difficult to cut when the cutting depth is too shallow or the lining paper is cut when the cutting depth is too deep, and thus great difficulty exists in the design and use processes of the composite material automatic device, and the application range of the composite material automatic laying device is limited.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an automatic composite material laying device based on a six-axis mechanical arm, the problem that the cutting depth is difficult to control in the composite material laying process is solved by a method of peeling prepreg and lining paper of a composite material, and then cutting and laying of the composite material are carried out, and the device has the characteristics of simple and compact structure, high automation degree and high laying efficiency.
The purpose of the invention is realized by the following technical scheme:
an automatic laying device for pre-stripping lining paper of a composite material prepreg tape comprises: the device comprises an ultrasonic cutting mechanism, an infrared heating mechanism, a winding mechanism, an unwinding mechanism, a peeling mechanism, a compression roller mechanism, a conveying mechanism, a limiting mechanism, a left frame, a middle frame, a right frame and an upper frame. Wherein unwinding mechanism is the same with winding mechanism structure, only realizes unreeling and the different functions of rolling to the preimpregnation tape respectively.
The ultrasonic cutting mechanism comprises an ultrasonic cutting knife, an ultrasonic cutting knife upper base, an ultrasonic cutting knife lower base, an ultrasonic cutting moving sliding table, an ultrasonic cutting connecting plate, an ultrasonic cutting moving sliding table fixing plate and an ultrasonic cutting mechanism fixing plate. The ultrasonic cutting knife passes through the ultrasonic cutting knife and goes up the base and the base is fixed under the ultrasonic cutting knife, wherein the ultrasonic cutting goes up the base and passes through the ultrasonic cutting connecting plate and link to each other with the movable block that the ultrasonic cutting removed the slip table, the ultrasonic cutting removes the slip table fixed plate and passes through the bolt with the ultrasonic cutting removes the slip table upper surface and link to each other, still passes through the bolt with ultrasonic cutting mechanism fixed plate simultaneously and links to each other, the ultrasonic cutting mechanism fixed plate left and right sides links to each other through the bolt with left frame and right frame respectively and realizes.
The infrared heating mechanism comprises an infrared heating lamp, an infrared heating lamp connecting plate, an infrared heating mechanism connecting plate and an infrared heating mechanism fixing plate. The infrared heating lamp connecting plate is connected with the infrared heating lamp through a bolt and is also connected with the infrared heating mechanism connecting plate through a bolt; the infrared heating mechanism connecting plate is connected with the infrared heating mechanism fixing plate through bolts, and the left side and the right side of the infrared heating mechanism fixing plate are connected with the left rack and the right rack through bolts respectively.
The compression roller mechanism comprises a compression roller mechanism cylinder base, a compression roller mechanism cylinder, a compression roller cylinder rod fixing nut, a guide rail, a compression roller base, a compression roller shaft, a compression roller bearing and a compression roller bearing end cover. The base of the compression roller mechanism cylinder is fixedly connected with the left frame through a bolt and is connected with the compression roller mechanism cylinder through a bolt; the compression roller cylinder rod is connected with the compression roller base through a compression roller cylinder fixing nut; a compression roller is sleeved on the compression roller shaft, a compression roller shaft bearing is sleeved at each of the left end and the right end of the compression roller shaft, the upper outer ring of the compression roller shaft is connected with a compression roller base, and compression roller bearing end covers are installed at the left side hole and the right side hole of the compression roller base; bosses on the left side and the right side of the compression roller base are respectively matched and installed with grooves of one guide rail on the left side and one guide rail on the right side; the left guide rail and the right guide rail are respectively fixed with the left rack and the right rack through bolts.
The transmission mechanism comprises a transmission motor, a transmission motor base, a transmission motor coupler, a driving shaft, a driving bearing, a driving shaft short sleeve, a driving shaft long sleeve, a driving shaft end nut, a transmission belt, a driven shaft, a driven bearing, a driven shaft long sleeve, a driven shaft short sleeve and a driven shaft end nut. The transmission motor is connected with the driving shaft through a coupler, and the upper end and the lower end of the transmission motor base are respectively connected with the transmission motor and the left rack through bolts; the driving bearing is sleeved at the left end of the driving shaft, and the outer ring of the driving bearing is fixed in the hole of the left rack; a driving shaft long sleeve is sleeved on the driving shaft, and a driving shaft short sleeve is simultaneously sleeved on a driving bearing shaft at the left end of the driving shaft long sleeve; the driving shaft end nut realizes the fixation of the driving shaft long sleeve at the right end of the driving shaft long sleeve; the driven shaft bearing is sleeved at the left end of the driven shaft, and the driven shaft short sleeve is sleeved at the right side of the driven bearing of the driven shaft; the driven long sleeve is sleeved on the driven shaft, and meanwhile, the driven shaft end nut is fixed on the right side of the driven long sleeve to axially fix the driven long sleeve.
The winding mechanism comprises a winding motor, a winding motor base, a winding motor coupler, a winding shaft, a winding bearing, a winding shaft retainer ring, a winding shaft sleeve, a winding shaft fixing plate and a winding shaft end nut. The upper end seat of the winding motor is connected with the winding motor through a bolt, the lower end of the winding motor base is connected with the left end of the left rack through a bolt, and the shaft end of the winding motor is connected with the winding shaft through a winding motor coupler; a winding bearing is sleeved at the left end of the winding shaft, and an outer ring of the winding bearing is sleeved in a hole of the left rack; the winding shaft sleeve is sleeved on the winding shaft and is axially fixed through a winding shaft end nut.
The limiting mechanism comprises a limiting mechanism shaft, a limiting mechanism bearing, a limiting mechanism left connecting plate, a limiting mechanism right connecting plate, a limiting mechanism middle connecting plate, a limiting mechanism left fixing plate and a limiting mechanism right fixing plate. The left end and the right end of the limiting mechanism shaft are respectively sleeved with a limiting mechanism bearing, and the outer rings of the two limiting mechanism bearings are respectively connected with holes of a limiting mechanism left connecting plate and a limiting mechanism right connecting plate; the left end of the left connecting plate of the limiting mechanism is connected with the right end of the left fixing plate of the limiting mechanism through a bolt, and the left end of the left fixing plate of the limiting mechanism is connected with the left rack through a bolt; the right end of the right connecting plate of the limiting mechanism is connected with the left end of the right fixing plate of the limiting mechanism through a bolt, and the right end of the right fixing plate of the limiting mechanism is connected with the right rack through a bolt.
The prepreg tape guide mechanism comprises a guide mechanism shaft, a guide mechanism rod, a guide mechanism bearing base left side, a guide mechanism connecting plate, a guide mechanism bearing base right side and a guide mechanism base right side. The guide mechanism shaft is sleeved with a guide mechanism roller, the left end and the right end of the guide mechanism shaft are respectively provided with a guide mechanism bearing, and the outer rings of the left guide mechanism bearing and the right guide mechanism bearing are respectively positioned in the left guide mechanism bearing base and the right guide mechanism bearing base. Two ends of the guide mechanism connecting plate are connected with the left side of the guide mechanism bearing base and the right side of the guide mechanism bearing base through bolts respectively. The left guide mechanism base and the right guide mechanism base are respectively connected with the left frame and the right frame through bolts.
The stripping mechanism comprises a clamping cylinder, a clamping cylinder fixing nut, a clamping cylinder fixing base, a clamping piece, a clamping rubber bar fixing nut, a stripping mechanism moving sliding table and a sliding table fixing plate.
The clamping cylinder base is connected with a sliding block of the stripping mechanism moving sliding table through a bolt and is connected with the lower end of a clamping cylinder barrel; the clamping rubber rod is sleeved at the cylindrical end of the clamping piece, and the clamping rubber rod is axially positioned through the clamping rubber rod fixing nut; the clamping piece and a clamping cylinder rod are fixed together through a clamping cylinder fixing nut; the lower end of the clamping piece is connected with a clamping cylinder barrel; the groove end of the movable sliding table of the stripping mechanism and the two sliding table fixing plates integrally fix the stripping mechanism on the right rack through bolts.
The left frame and the right frame are connected through the middle frame, the left frame and the right frame are further connected with the left side and the right side of the upper frame through bolts, the upper frame is connected with a sixth shaft flange of the six-shaft mechanical arm, and the control of the overall motion of the automatic composite material laying device is achieved.
The beneficial technical effects brought by the invention are as follows:
(1) the invention provides a six-axis mechanical arm-based automatic composite material laying device, which realizes higher laying efficiency and laying quality through the design of functions of unreeling a composite material prepreg tape, reeling lining paper, stripping the composite material prepreg and the lining paper, conveying the composite material prepreg, cutting, heating, laying and the like.
(2) The stripping mechanism clamps the prepreg tape when the prepreg tape is laid at the beginning or after one-time cutting is finished, then separates the composite material and the lining paper in the prepreg tape, pulls the composite material to the position below the compression roller, is convenient for laying the composite material, and plays a role in guiding the composite material in the laying process of the composite material.
(3) When the conveying mechanism is used for laying at the beginning or laying after one-time cutting is finished, the motor of the conveying mechanism rotates to drive the conveying belt to rotate, so that the composite material stripped by the stripping mechanism is transmitted to the lower part of the compression roller, and the composite material can be laid conveniently. When the composite material is normally laid, the conveying mechanism plays a role in guiding the composite material.
(4) The ultrasonic cutting mechanism realizes the cutting of the composite material from right to left, compared with the traditional ultrasonic cutting method which needs to carry out accurate control on the cutting depth, the ultrasonic cutting mechanism has lower requirement on the control accuracy of the ultrasonic cutting depth in the designed automatic composite material laying device, and the cutting of the composite material is easier to realize.
Drawings
FIG. 1 is a schematic view of the overall structure of the device of the present invention.
Fig. 2 is a schematic view of the structure with the right frame removed.
Fig. 3 is a schematic structural view of the winding mechanism.
FIG. 4 is a schematic view of the structure of the roller mechanism.
Fig. 5 is a schematic structural view of the transfer mechanism.
FIG. 6 is a schematic view of the peeling mechanism.
Fig. 7 is a schematic structural view of the guide mechanism.
Detailed Description
The invention is further described with reference to the following figures and examples:
as shown in fig. 1 and 2, the automatic composite material laying device based on the six-axis mechanical arm of the invention comprises: the device comprises a middle rack 1, a left rack 2, an upper rack 3, a right rack 4, a winding mechanism 5, an unwinding mechanism 6, a compression roller mechanism 7, a conveying mechanism 8, an infrared heating mechanism 9, a stripping mechanism 10, an ultrasonic cutting mechanism 11 and a limiting mechanism 12. The upper frame 3 is connected with a sixth shaft flange of a six-shaft mechanical arm through bolts, the six-shaft mechanical arm can move in six degrees of freedom within a certain space range, and the overall motion control of the automatic composite material laying device can be realized.
As shown in figure 3, in the winding mechanism 5, a winding motor 5-1 is mounted on a winding motor base 5-2, the motor shaft end is connected with a winding shaft 5-9 through a winding motor coupler 5-3, a winding bearing 5-5 is sleeved on the winding shaft, and an outer ring of the bearing is sleeved in a hole of a left frame 2, so that the winding motor rotates to drive a winding shaft sleeve 5-6 sleeved on the winding shaft to rotate, and the winding of the lining paper stripped of the composite material is realized. The winding fixing plate 5-7 axially positions the winding sleeve through a winding shaft end nut 5-8. The unwinding mechanism 6 is identical in structure to the winding mechanism 5, and only the unwinding mechanism 6 realizes the unwinding function of the prepreg tape which is not stripped from the composite material and the lining paper.
As shown in fig. 4, a compression roller cylinder 7-2 in the compression roller mechanism 7 is fixed with the left frame through a cylinder base 7-1, so that the compression roller mechanism is integrally fixed; the compression roller shaft 7-9 is sleeved with a compression roller 7-10 made of rubber,
the two ends of the compression roller shaft 7-9 are respectively sleeved with a compression roller bearing 7-7, the outer sides of the compression roller bearings 7-7 at the left end and the right end are respectively provided with a compression roller bearing end cover 7-6, a compression roller retainer ring 7-8 is respectively arranged between the compression roller bearings 7-7 at the left end and the right end and the compression roller 7-10, and the rotation of the compression roller in the process of laying the composite material and the axial fixation of the compression roller are realized through the structure; the compression roller cylinder 7-2 cylinder rod is connected with the compression roller base 7-5 through a compression roller cylinder rod fixing nut 7-4, the left end and the right end of the compression roller base 7-5 are respectively connected with the grooves of the guide rails 7-3 on the left side and the right side, and the compression roller cylinder base 7-5 is driven to move up and down along the guide rails 7-3 on the left side and the right side through the expansion and contraction of the cylinder rod of the compression roller cylinder 7-2, so that the compression roller 7-9 is lifted up and down.
As shown in fig. 5, a transmission motor 8-1 in the transmission mechanism 8 is fixed with the left frame 2 through a transmission motor base 8-3, and the shaft end of the transmission motor is connected with a driving shaft 8-8 through a transmission motor coupler 8-2; the driving shaft is sleeved with a driving bearing 8-4 and a driving shaft long sleeve 8-6, a driving bearing short sleeve 8-5 is sleeved between the driving bearing 8-4 and the driving shaft long sleeve 8-5 of the shaft, the outer ring of the driving bearing 8-4 is sleeved in a hole of the left frame 2, and a driving shaft end nut axially fixes the driving shaft long sleeve 8-6. The driven shaft 8-10 is sleeved with a driven bearing 8-14 and a driven shaft long sleeve 8-12, the driven shaft between the driven bearing and the driven shaft long sleeve is sleeved with a driven shaft short sleeve 8-13, and a driven shaft end nut 8-11 realizes axial fixation of the driving shaft long sleeve 8-12; the conveyor belt 8-9 is sleeved between the driving shaft long sleeve 8-6 and the driven shaft long sleeve 8-12, when the stripping mechanism 10 works, after the composite material is stripped from the lining paper, the conveyor mechanism 8 conveys the stripped composite material to the position below the press roller of the press roller mechanism 7, the press roller 7-9 is convenient for laying the composite material, when the composite material is normally laid, the conveyor motor 8-1 stops rotating, and at the moment, the composite material is stripped from the lining paper due to the laying of the press roller, and the conveyor belt 8-9 plays a role in guiding the composite material.
As shown in fig. 6, the peeling structure 10 is fixed to the right frame 4 by two sliding table fixing plates 10-8; the bottom of the clamping piece 10-4 is connected with a cylinder rod of a clamping cylinder 10-6 through a clamping cylinder fixing nut 10-5; the upper end of the lower part 10-3 of the clamping piece is sleeved with a clamping rubber rod 10-2, the clamping rubber rod 10-2 is axially fixed through a clamping rubber rod fixing nut 10-1, the bottom of the lower part 10-3 of the clamping piece is connected with a cylinder barrel of a clamping cylinder 10-6, the lower part 10-3 of the clamping piece is connected with the upper part 10-4 of the clamping piece through a groove, and when a cylinder rod of the clamping cylinder 10-6 stretches, the upper part 10-4 of the clamping piece is driven to move relative to the lower part 10-3 of the clamping piece, so that the clamping of the composite material by the upper part 10-3 and the; the clamping cylinder base 10-7 is connected with the cylinder barrel of the clamping cylinder 10-6 and is also connected with the sliding table 10-8 sliding block of the stripping mechanism moving sliding table. A cylinder rod of the clamping cylinder 10-6 extends out to drive the lower part of the clamping piece to move 10-4 to clamp the composite prepreg, the stripping mechanism moving sliding table 10-8 drives the clamping cylinder 10-6, the upper part of the clamping piece 10-4, the lower part of the clamping piece 10-3 and the composite prepreg to move, and the composite prepreg and the lining paper are stripped by matching with the movement of the winding mechanism 5 and the unwinding mechanism 6.
As shown in figure 7, the left end and the right end of a guide mechanism shaft 12-4 in a guide mechanism 12 are respectively sleeved with a guide mechanism bearing 12-3, the outer rings of the two guide mechanism bearings 12-3 are respectively connected with a guide mechanism bearing base left 12-2 and a guide mechanism bearing base right 12-5, the two guide mechanism bearing bases are connected through a guide mechanism connecting plate 12-7, meanwhile, the guide mechanism bearing base left 12-2 and the guide mechanism base left 12-1 are fixed with a left frame through bolts, and the guide mechanism bearing base right 12-5 and the guide mechanism base right 12-6 are fixed with a right frame through bolts. The guiding machine plays a guiding role in the prepreg tape.
As shown in fig. 2, the ultrasonic cutting movable sliding table 11-3 in the ultrasonic cutting mechanism 11 is connected with the ultrasonic cutting mechanism fixing plate 11-1 through a bolt by an ultrasonic cutting movable sliding table fixing plate 11-2, and the left side and the right side of the ultrasonic cutting mechanism fixing plate 11-1 are respectively connected with the left frame 2 and the right frame 4 through bolts to realize the integral fixation of the ultrasonic cutting mechanism 11; the upper base 11-5 of the ultrasonic cutting knife and the lower base 11-7 of the ultrasonic cutting knife are connected through bolts to fix the ultrasonic cutting knife 11-6, the upper end and the lower end of the ultrasonic cutting connecting plate 11-4 are respectively connected with the sliding block of the ultrasonic cutting moving sliding table 11-3 and the upper end face of the upper base 11-5 of the ultrasonic cutting knife through bolts, and when the ultrasonic cutting knife 11-6 is required to cut the composite material, the ultrasonic cutting moving sliding table 11-3 drives the ultrasonic cutting knife 11-6 to cut the prepreg tape of the composite material.
As shown in FIG. 2, the left and right ends of an infrared heating mechanism fixing plate 9-1 in the infrared heating mechanism 9 are respectively connected with a left frame 2 and a right frame 4 through bolts to realize the integral fixation of the infrared heating mechanism 9, the upper end of an infrared heating mechanism connecting plate 9-2 is connected with the infrared heating mechanism fixing plate 9-1 through bolts, the lower end is connected with an infrared heating lamp connecting plate 9-3 through bolts, the infrared heating lamp 9-4 is connected with the infrared heating lamp connecting plate 9-3 through bolts, and the angle of the infrared heating lamp 9-4 can be adjusted by adjusting the bolts between the infrared heating lamp connecting plate 9-3 and the infrared mechanism connecting plate 9-2.
Principle of operation
When laying a new composite prepreg tape roll, driving a clamping cylinder 10-6 to move upwards by a moving sliding table 10-8 of a stripping mechanism 10 in the stripping mechanism 10, enabling a rod of the clamping cylinder 10-6 to be in a retracted state, extending a lower part 10-3 of a clamping piece in the stripping mechanism 10 to be close to the unwinding mechanism 6 as far as possible, firstly installing the new prepreg tape roll on the unwinding mechanism 6, manually stripping the composite prepreg and the lining paper, connecting the lining paper with a winding mechanism, facilitating the winding mechanism 6 to wind the lining paper, simultaneously placing the manually stripped composite prepreg between the lower part 10-3 of the clamping piece of the stripping mechanism 10 and an upper part 10-4 of the clamping piece, then extending a rod of the clamping cylinder 10-6 to drive the upper part 10-4 of the clamping piece to be close to the lower part 10-3 of the clamping piece, the lower part 10-3 and the upper part 10-4 of the clamping part are used for clamping the composite prepreg, then the stripping mechanism moves the sliding table 10-8 downwards, and the rolling mechanism 5 and the unreeling mechanism 6 are matched to move, so that the composite prepreg and the lining paper are stripped.
And starting a motor 8-1 of the conveying mechanism to drive a conveying belt 8-9 to convey the stripped composite material prepreg to the lower part of the compression roller 7-9. After one-time stripping is finished, the rolling mechanism 5 and the unreeling mechanism 6 stop moving, the clamping cylinder 10-6 cylinder rod retracts, the stripping mechanism moves the sliding table 10-8 to move upwards, then the clamping cylinder 10-6 cylinder rod extends out to finish the situation that the lower part 10-3 of the clamping piece is close to the upper part 10-4 of the clamping piece to clamp the composite material, the stripping mechanism moves the sliding table 10-8 downwards to realize the re-stripping of the composite material prepreg and the lining paper, the steps are repeated for a plurality of times, and the length of the stripped composite material prepreg reaches the position below the press roller 7-9 as required. Then a stripping mechanism moves a sliding table 10-8 to stop at a proper position, a clamping cylinder 10-6 cylinder rod retracts, a conveying mechanism motor 8-1 stops rotating, an infrared heating lamp 9-4 in an infrared heating mechanism 9 is turned on, tape laying starts at the moment, a compression roller cylinder 7-2 cylinder rod extends, a winding mechanism 5 and an unwinding mechanism 6 move, an automatic laying device carries out composite material laying under the driving of a six-axis mechanical arm, when cutting is needed, a cutting mechanism in an ultrasonic cutting mechanism 11 moves the sliding table 11-3 to drive an ultrasonic cutting knife 11-6 to cut the prepreg of the composite material, the ultrasonic cutting knife 11-6 returns to the original position after cutting is completed, and the compression roller cylinder 7-2 in the compression roller mechanism 7 retracts after laying is completed. When the composite material is laid again, after the composite material prepreg and the lining paper are peeled off, the composite material is laid again.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides a combined material preimpregnation tape slip sheet is peeled off in advance and is put device automatically, its characterized in that includes: a left frame and a right frame; the compression roller mechanism, the conveying mechanism and the infrared heating mechanism are arranged at the bottom between the left frame and the right frame; the winding mechanism and the unwinding mechanism are arranged in the middle between the left rack and the right rack; the stripping mechanism and the ultrasonic cutting mechanism are arranged in front of the middle part between the left frame and the right frame; the middle frame is fixed between the left frame and the right frame, and the upper frame is fixed above the left frame and the right frame; the unwinding mechanism and the winding mechanism are identical in structure and only achieve different functions of unwinding and winding of the prepreg tape respectively, the upper frame is connected with a sixth shaft flange of the six-shaft mechanical arm through a bolt, the six-shaft mechanical arm can move in six degrees of freedom within a certain space range, and overall motion control of the automatic composite material laying device can be achieved.
2. The automatic laying device for the pre-peeling lining paper of the composite material prepreg tape according to claim 1, wherein the ultrasonic cutting mechanism comprises an ultrasonic cutting knife, an ultrasonic cutting knife upper base, an ultrasonic cutting knife lower base, an ultrasonic cutting moving sliding table, an ultrasonic cutting connecting plate, an ultrasonic cutting moving sliding table fixing plate and an ultrasonic cutting mechanism fixing plate; the ultrasonic cutting knife passes through the ultrasonic cutting knife and goes up the base and the base is fixed under the ultrasonic cutting knife, wherein the ultrasonic cutting goes up the base and passes through the ultrasonic cutting connecting plate and link to each other with the movable block that the ultrasonic cutting removed the slip table, the ultrasonic cutting removes the slip table fixed plate and passes through the bolt with the ultrasonic cutting removes the slip table upper surface and link to each other, still passes through the bolt with ultrasonic cutting mechanism fixed plate simultaneously and links to each other, the ultrasonic cutting mechanism fixed plate left and right sides links to each other through the bolt with left frame and right frame respectively and realizes.
3. The automatic laying device for the composite prepreg tape backing paper pre-peeling of the claim 1 is characterized in that the infrared heating mechanism comprises an infrared heating lamp, an infrared heating lamp connecting plate, an infrared heating mechanism connecting plate and an infrared heating mechanism fixing plate; the infrared heating lamp connecting plate is connected with the infrared heating lamp through a bolt and is also connected with the infrared heating mechanism connecting plate through a bolt; the infrared heating mechanism connecting plate is connected with the infrared heating mechanism fixing plate through bolts, and the left side and the right side of the infrared heating mechanism fixing plate are connected with the left rack and the right rack through bolts respectively.
4. The automatic laying device for the pre-peeling of the lining paper of the composite material prepreg tape is characterized in that the press roll mechanism comprises a press roll mechanism cylinder base, a press roll mechanism cylinder, a press roll cylinder rod fixing nut, a guide rail, a press roll base, a press roll shaft, a press roll bearing and a press roll bearing end cover; the base of the compression roller mechanism cylinder is fixedly connected with the left frame through a bolt and is connected with the compression roller mechanism cylinder through a bolt; the compression roller cylinder rod is connected with the compression roller base through a compression roller cylinder fixing nut; a compression roller is sleeved on the compression roller shaft, a compression roller shaft bearing is sleeved at each of the left end and the right end of the compression roller shaft, the upper outer ring of the compression roller shaft is connected with a compression roller base, and compression roller bearing end covers are installed at the left side hole and the right side hole of the compression roller base; bosses on the left side and the right side of the compression roller base are respectively matched and installed with grooves of one guide rail on the left side and one guide rail on the right side; the left guide rail and the right guide rail are respectively fixed with the left rack and the right rack through bolts.
5. The automatic laying device for the pre-stripping of the lining paper of the composite material prepreg tape according to claim 1, wherein the transmission mechanism comprises a transmission motor, a transmission motor base, a transmission motor coupler, a driving shaft, a driving bearing, a driving shaft short sleeve, a driving shaft long sleeve, a driving shaft end nut, a transmission belt, a driven shaft, a driven bearing, a driven shaft long sleeve, a driven shaft short sleeve and a driven shaft end nut; the transmission motor is connected with the driving shaft through a coupler, and the upper end and the lower end of the transmission motor base are respectively connected with the transmission motor and the left rack through bolts; the driving bearing is sleeved at the left end of the driving shaft, and the outer ring of the driving bearing is fixed in the hole of the left rack; a driving shaft long sleeve is sleeved on the driving shaft, and a driving shaft short sleeve is simultaneously sleeved on a driving bearing shaft at the left end of the driving shaft long sleeve; the driving shaft end nut realizes the fixation of the driving shaft long sleeve at the right end of the driving shaft long sleeve; the driven shaft bearing is sleeved at the left end of the driven shaft, and the driven shaft short sleeve is sleeved at the right side of the driven bearing of the driven shaft; the driven long sleeve is sleeved on the driven shaft, and meanwhile, the driven shaft end nut is fixed on the right side of the driven long sleeve to axially fix the driven long sleeve.
6. The automatic laying device for the pre-stripping of the lining paper of the composite prepreg tape according to claim 1, wherein the winding mechanism comprises a winding motor, a winding motor base, a winding motor coupler, a winding shaft, a winding bearing, a winding shaft retainer ring, a winding shaft sleeve, a winding shaft fixing plate and a winding shaft end nut; the upper end seat of the winding motor is connected with the winding motor through a bolt, the lower end of the winding motor base is connected with the left end of the left rack through a bolt, and the shaft end of the winding motor is connected with the winding shaft through a winding motor coupler; a winding bearing is sleeved at the left end of the winding shaft, and an outer ring of the winding bearing is sleeved in a hole of the left rack; the winding shaft sleeve is sleeved on the winding shaft and is axially fixed through a winding shaft end nut.
7. The automatic laying device for the pre-stripping of the lining paper of the composite material prepreg tape according to claim 1, wherein the limiting mechanism comprises a limiting mechanism shaft, a limiting mechanism bearing, a limiting mechanism left connecting plate, a limiting mechanism right connecting plate, a limiting mechanism middle connecting plate, a limiting mechanism left fixing plate and a limiting mechanism right fixing plate; the left end and the right end of the limiting mechanism shaft are respectively sleeved with a limiting mechanism bearing, and the outer rings of the two limiting mechanism bearings are respectively connected with holes of a limiting mechanism left connecting plate and a limiting mechanism right connecting plate; the left end of the left connecting plate of the limiting mechanism is connected with the right end of the left fixing plate of the limiting mechanism through a bolt, and the left end of the left fixing plate of the limiting mechanism is connected with the left rack through a bolt; the right end of the right connecting plate of the limiting mechanism is connected with the left end of the right fixing plate of the limiting mechanism through a bolt, and the right end of the right fixing plate of the limiting mechanism is connected with the right rack through a bolt.
8. The automatic laying device for the pre-peeling of the lining paper of the composite prepreg tape as claimed in claim 1, wherein the prepreg tape guiding mechanism comprises a guiding mechanism shaft, a guiding mechanism rod, a guiding mechanism bearing base left side, a guiding mechanism connecting plate, a guiding mechanism bearing base right side and a guiding mechanism base right side; the guide mechanism shaft is sleeved with a guide mechanism roller, the left end and the right end of the guide mechanism shaft are respectively provided with a guide mechanism bearing, and the outer rings of the left guide mechanism bearing and the right guide mechanism bearing are respectively positioned in the left of the guide mechanism bearing base and the right of the guide mechanism bearing base; two ends of the guide mechanism connecting plate are respectively connected with the left side of the guide mechanism bearing base and the right side of the guide mechanism bearing base through bolts; the left guide mechanism base and the right guide mechanism base are respectively connected with the left frame and the right frame through bolts.
9. The automatic laying device for the pre-peeling of the lining paper of the composite prepreg tape according to claim 1, wherein the peeling mechanism comprises a clamping cylinder, a clamping cylinder fixing nut, a clamping cylinder fixing base, a clamping piece upper part, a clamping piece lower part, a clamping rubber rod fixing nut, a peeling mechanism moving sliding table and a sliding table fixing plate; the clamping cylinder base is connected with a sliding block of the stripping mechanism moving sliding table through a bolt and is connected with the lower end of a clamping cylinder barrel; the clamping rubber rod is sleeved at the cylindrical end of the clamping piece, and the clamping rubber rod is axially positioned through the clamping rubber rod fixing nut; the clamping piece and a clamping cylinder rod are fixed together through a clamping cylinder fixing nut; the lower end of the clamping piece is connected with a clamping cylinder barrel; the groove end of the movable sliding table of the stripping mechanism and the two sliding table fixing plates integrally fix the stripping mechanism on the right rack through bolts.
10. The automatic laying device for the pre-stripping lining paper of the composite material prepreg tapes as claimed in claim 1, wherein the left frame and the right frame are connected through an intermediate frame, the left frame and the right frame are further connected with the left side and the right side of the upper frame through bolts, and the upper frame is connected with a sixth shaft flange of a six-shaft mechanical arm so as to control the overall motion of the automatic laying device for the composite materials.
CN201911414391.0A 2019-12-31 2019-12-31 Automatic laying device for pre-stripping lining paper of composite material prepreg tape Active CN111115333B (en)

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