CN104527090A - Automatic fabric-spreading device for fiber cloth concave die - Google Patents
Automatic fabric-spreading device for fiber cloth concave die Download PDFInfo
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- CN104527090A CN104527090A CN201510001572.6A CN201510001572A CN104527090A CN 104527090 A CN104527090 A CN 104527090A CN 201510001572 A CN201510001572 A CN 201510001572A CN 104527090 A CN104527090 A CN 104527090A
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- sheet material
- tail end
- angled ends
- executive module
- inside casing
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- 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]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Casting Or Compression Moulding Of Plastics Or The Like (AREA)
- Absorbent Articles And Supports Therefor (AREA)
Abstract
The invention provides an automatic fabric-spreading device for a fiber cloth concave die. The automatic fabric-spreading device comprises a folding forming die and a mechanical arm carry executing assembly, wherein the folding forming die comprises a forming die body and a preforming die body, and the mechanical arm carry executing assembly comprises a tail end sheet carry executing assembly, an angle end sheet carry executing assembly, a first robot and a second robot. The automatic fabric-spreading device makes automatic operation of spreading of fiber cloth possible, specific mechanical arms carry out automatic grabbing and spreading, automation of fiber cloth lamination and spreading in the concave die is achieved, the efficiency of spreading of the fiber cloth in the glue injection forming process of the current composite material field is improved greatly, and the automatic fabric-spreading device is suitable for the large-scale composite material production field.
Description
Technical field
The present invention relates to mechanical engineering field, be specifically related to a kind of fiber cloth injecting glue molding concave die and automatically spread fiber cloth device.
Background technology
High-strength light, good fatigue resistance, the damage tolerance high and mechanical property that has composite such as can to design at the excellent specific property, and can make product lightweight, in energy-saving and emission-reduction, potentiality are very huge, can improve again crashworthiness and the security of product.Therefore, composite is more and more extensive in sector applications such as automobile, aviation, ships and light boats, buildings.
At present, the one of the main reasons restricting composite scale application is that especially manufacturing cost is higher for the cost of composite.Wherein the lamination operation of fiber is one of key link of composite material manufacturing process.Traditional superimposed fiber inefficiency is the higher one of the main reasons of composite manufacturing cost.Although in fiber manufacturing process, preimpregnation is furnished with the folded machine of automation layer, and the dry cloth of fiber (i.e. fibre sheet material) does not also have equipment and the technology of automatic assembly line in the world.Technology more advanced at present adopts vacuum cup to realize operation composite material component, but this technology can only realize the automated production of simple shape parts as roof of the vehicle, protecgulum etc., can not be applicable to flexible articles.
In practice, use fibre sheet material to do structural material, usually make fibre sheet material by yarn, after stratified fiber sheet material to certain thickness, obtain the composite (i.e. structural material) of fibre sheet material lamination, could practical application.Because automated machine operation fibre sheet material difficulty is comparatively large, only have exigent aircraft and shape matching rule component can adopt expensive automation laying equipment.And in general field, the many employings of superimposed fiber are manual, efficiency is low, and cost is high, hinders large-scale production.
Publication number is the automatic laminated device that the Chinese invention patent application of CN 101450754A discloses a kind of regular article, comprise the gripper shoe that two pieces of equalitys are arranged, symmetrical between two pieces of gripper shoes two parallel conveyer belts and unilateral gate are installed, below between two parallel conveyer belts is provided with one group of lifting mechanism, the quantity of this group lifting mechanism equals by the quantity of lifting object one deck, and each lifting mechanism is opposable to move up and down.Although this automatic laminated device can by the regular article of the hard on conveyer belt (cigarette as one case one case) by carrying out lamination after lifting mechanism lifting again, the breakage rate of goods can be reduced, improve the lamination efficiency of the regular article of hard and reduce the floor space of goods, but this automatic laminated device can not be applicable to flexible articles, cannot complete the lamination of flexible articles.
The patent No. is that the Chinese utility model patent of ZL 200820101726.4 discloses the automatic laminated packing machine of a kind of regular object, although the automatic laminated packing machine of this regular object can by regular object, as the bar shaped cigarette after packaging, box packed medicine, boxed food carry out stacked, but there is the problem that can not be applicable to flexible articles in the automatic laminated packing machine of this regular object, cannot complete the lamination of flexible articles too.
At present, composite injecting glue is shaping etc. needs fiber cloth to lay injecting glue moulded products to manufacture main method still or after artificial lay down fibre cloth products to demand thickness, and in addition injecting glue is shaping.But artificial paving fiber cloth of laying wastes time and energy, and is also unfavorable for automated production.Therefore, this area still lacks the automatic laying device of a kind of fiber cloth, particularly lacks a kind of laying device of applicable flexible articles.
Summary of the invention
The object of this invention is to provide the automatic laying device of a kind of fiber cloth, particularly a kind of laying device of applicable flexible articles.
A first aspect of the present invention, provide the automatic laying device of a kind of fiber cloth die, described device comprises: folding forming mould, Manipulator Transportation executive module; Wherein:
Described folding forming mould comprises: mould (preferably including angled ends shaper 23 and tail end shaper 24), and preforming tool (preferably include tail end fold preforming tool 6 and angled ends folds preforming tool 7);
Described Manipulator Transportation executive module comprises: tail end sheet material carrying executive module, the carrying of angled ends sheet material executive module, the first robot (4) and the second robot (5).
In another preference, described device also comprises waste material Material collecting box for harvesting (26).
In another preference, described device also comprises a moveable punching mechanism (32).
In another preference, described moveable punching mechanism (32) has the first shear knife (33) and the second shear knife (34).
In another preference, in described device, described mould is placed on shaper dispenser (1), and described preforming tool is arranged on sheet material punching frame (3).
In another preference, in described device, described angled ends sheet material carrying executive module is installed on described second manipulator (5) end, and described angled ends sheet material carrying executive module comprises: the carrying of angled ends sheet material performs frame (14), the second inside casing (13), the second housing (12) and angled ends sheet material carrying base plate.
In another preference, described angled ends sheet material carrying base plate end also has one or more vacuum absorption device.
In another preference, in described angled ends sheet material carrying executive module, described the second inside casing (13) is arranged at the carrying of angled ends sheet material and performs on frame (14), and can planar move left and right forwards, backwards.
In another preference, described the second inside casing (13) can move to housing direction surrounding.
In another preference, in described angled ends sheet material carrying executive module, described the second housing (12) is arranged on described second inside casing (13), and can move up and down along the second inside casing (13) wall.
In another preference, described the second housing (12) bottom and vacuum generator (being preferably vavuum pump) UNICOM.
In another preference, the aperture that the adjacent surface between described the second inside casing (13) bottom and the second housing (12) has curve regularly arranged and vavuum pump UNICOM.
In another preference, described the second housing (12) bottom is communicated with vavuum pump by the aperture that curve is regularly arranged.
In another preference, the aperture that the adjacent surface bottom the second described inside casing 13 and between the second housing 12 has curve regularly arranged and vavuum pump UNICOM.
In another preference, described tail end sheet material carrying executive module is installed on described first manipulator (4) end, and described tail end sheet material carrying executive module comprises: the carrying of tail end sheet material performs frame (10), the first inside casing (9), the first housing (8), and angular mobility frame (11) and tail end sheet material carrying base plate.
In another preference, described tail end sheet material carrying base plate end also has one or more vacuum absorption device.
In another preference, in described tail end dististyle material carrying executive module, described the first inside casing (9) and described tail end dististyle material are carried and are performed frame (10) and be connected, and described the first inside casing (9) can move to housing surrounding.
In another preference, described first inside casing (9) bottom and being connected with vavuum pump with the adjacent surface of the first housing (8), preferably, the regularly arranged aperture of curve and vavuum pump UNICOM is passed through bottom described the first inside casing (9) and with the adjacent surface of the first housing (8).
In another preference, in described tail end dististyle material carrying executive module, described the first housing (8) is arranged on the first inside casing (9), and described the first housing (8) can move up and down along described first inside casing (9) wall.
In another preference, the bottom of described the first housing (8) is connected with vavuum pump, and preferably, the regularly arranged aperture of curve and vavuum pump UNICOM are passed through in the bottom of described the first housing (8).
In another preference, described the second inside casing (13) and described angled ends sheet material are carried and are performed frame (14) and be connected, and can carry with angled ends sheet material the fixing point performing frame (14) and move around described; And/or
Described the first inside casing (9) and described tail end sheet material are carried and are performed frame (14) and be connected, and can carry with tail end sheet material the fixing point performing frame (10) and move around described.
Preferably, described the second housing (12) is connected with described the second inside casing (13), and can move relative to described the second inside casing (13); And/or
Described the first housing (8) is connected with described the first inside casing (9), and can move relative to described the first inside casing (9).
In another preference, the preformed method of described preformed frame adopts aperture vacuum suction fiber cloth to make fiber cloth keep preformed shaped as frame shape, utilize Manipulator Transportation executive module by the pre-stone in the fiber cloth of preformed shaped as frame shape carrying die place, complete die body shaped fibers cloth stone by the interphase interaction of inside casing relevant in Manipulator Transportation executive module and housing.
A second aspect of the present invention, provides a kind of fiber cloth die stone method, and described method uses device as described in the first aspect of the invention to carry out stone, and said method comprising the steps of:
Step (1): will treat that die (2) positioning installation of stone is on shaper dispenser (1), moveable punching mechanism (32) pulls fibrous material material volume (35) a to assigned address to shear, and obtains corresponding to caudad sheet material (15) and warp-wise angled ends sheet material (17);
Step (2): the angled ends sheet material carrying executive module described in startup, under the drive of the second robot (5), described warp-wise angled ends sheet material (17) is carried to angled ends and folds preforming tool (7), described the second housing (12) moves and described warp-wise angled ends sheet material (17) is folded to form warp-wise angled ends formed sheet (20); Described warp-wise angled ends formed sheet (20) is carried to the position of angled ends shaper (23) by described carrying executive module, make described the second housing (12) and the second inside casing (13) outwards movement, thus fit with described shaper (23); Described angled ends sheet material carrying executive module moves, thus completes the sizing lay of angled ends sheet material;
Step (3): the tail end sheet material carrying executive module described in startup, under the drive of the first robot (4), be carried to tail end through caudad sheet material (15) fold preforming tool (6) by described, described the first housing (8) moves and is folded to form through caudad formed sheet (22) by described through caudad sheet material (15); Described tail end carrying executive module is carried to the position of tail end shaper (24) by described through caudad formed sheet (22), make described the first housing (8) and the first inside casing (9) outwards movement, thus fit with described tail end shaper (24); Described tail end sheet material carrying executive module moves, thus completes the sizing lay of tail end sheet material;
Step (4): will treat that die (2) positioning installation of stone is on shaper dispenser (1), moveable punching mechanism (32) pulls fibrous material material volume (35) a to assigned address to shear, and obtains corresponding broadwise tail end sheet material (16) and broadwise angled ends sheet material (18);
Step (5): the angled ends sheet material carrying executive module described in startup, under the drive of the second robot (5), described broadwise angled ends sheet material (18) is carried to angled ends and folds preforming tool (7), described the second housing (12) moves and described broadwise angled ends sheet material (18) is folded to form broadwise angled ends formed sheet (20); Described broadwise angled ends formed sheet (19) is carried to the position of angled ends shaper (23) by described carrying executive module, make described the second housing (12) and the second inside casing (13) outwards movement, thus fit with described shaper (23); Described angled ends sheet material carrying executive module moves, thus completes the sizing lay of angled ends sheet material;
Step (6): the tail end sheet material carrying executive module described in startup, under the drive of the first robot (4), described broadwise tail end sheet material (16) is carried to tail end and folds preforming tool (6), described the first housing (8) moves and described broadwise tail end sheet material (16) is folded to form broadwise tail end formed sheet (21); Described broadwise tail end formed sheet (21) is carried to the position of tail end shaper (24) by described tail end carrying executive module, make described the first housing (8) and the first inside casing (9) outwards movement, thus fit with described tail end shaper (24); Described tail end sheet material carrying executive module moves, thus completes the sizing lay of tail end sheet material.
In another preference, described step (2) and step (3) are carried out simultaneously.
In another preference, described step (5) and step (6) are carried out simultaneously.
In another preference, described stone is for intersecting superposition stone; Preferably, described charging pattern is: warp-wise angled ends formed sheet (20) with through caudad formed sheet (22) with organizing lay thus forming one deck, broadwise angled ends formed sheet (19) and broadwise tail end formed sheet (21) with organizing lay thus forming one deck, thus form approved product (25).
In another preference, described warp-wise angled ends formed sheet (20) is arranged in one deck with described through caudad formed sheet (22), jointly forms warp-wise formed sheet.
In another preference, described shearing comprises: described punching mechanism 32 starts a reciprocating mechanism, and starts the first shear knife 33 and the second shear knife 34 carries out work.
In another preference, the method that described angled ends sheet material carried by described angled ends sheet material carrying executive module comprises: start vacuum suction, by described angled ends sheet material on described angled ends sheet material carrying executive module, then carries.
In another preference, the method that described tail end sheet material carried by described tail end sheet material carrying executive module comprises: start vacuum suction, by described tail end sheet material on described tail end sheet material carrying executive module, then carries.
A third aspect of the present invention, provide a kind of fiber cloth injecting glue moulded products production equipment, described equipment has device as described in the first aspect of the invention.
Should be understood that within the scope of the present invention, above-mentioned each technical characteristic of the present invention and can combining mutually between specifically described each technical characteristic in below (eg embodiment), thus form new or preferred technical scheme.As space is limited, tiredly no longer one by one to state at this.
Accompanying drawing explanation
Fig. 1 is overall construction design schematic diagram of the present invention, in figure, 1 is shaper dispenser, 2 is die, 3 is sheet material punching frame, 4 is the first robot (the first manipulator), 5 is the second robot (the second manipulator), 6 fold preforming tool for tail end, 7 fold preforming tool for angled ends, 8 is the first housing, 9 is the first inside casing, 10 is tail end sheet material carrying execution frame, 11 is angular mobility frame, 12 is the second housing, 13 is the second inside casing, 14 is angled ends sheet material carrying execution frame, 15 is through caudad sheet material, 16 is broadwise tail end sheet material, 17 is warp-wise angled ends sheet material, 18 is broadwise angled ends sheet material, 19 is broadwise angled ends formed sheet, 20 is warp-wise angled ends formed sheet, 21 is broadwise tail end formed sheet, 22 is through caudad formed sheet, 23 is angled ends shaper, 24 is tail end shaper, 25 is approved product, 26 is waste material Material collecting box for harvesting, 32 is moveable punching mechanism, 33 is the first shear knife, 34 is the second shear knife, 35 is fibrous material material volume.
Detailed description of the invention
The present inventor is through long-term and deep research, for the deficiency that flexible articles lay technology in current this area exists, provide the automatic laying device of a kind of fiber cloth die, described device is by vacuum suction fiber cloth, auxiliary mould folds, a series of flow processs such as the automatic stone of manipulator, realize fiber cloth die automation stone.Based on above-mentioned discovery, inventor completes the present invention.
The automatic laying device of fiber cloth die
In the preferred embodiment of the present invention, the described automatic laying device of fiber cloth die is carried executive module formed by folding forming mould, Manipulator Transportation executive module, fiber cloth, soft fiber molding with cloth adopts the preformed method of preformed frame, namely, first in preformed frame, preformed is carried out to fiber cloth, make it form the shape adapted with die bottom surface, and then fiber cloth is moved to shaping frame and carry out shaping.
This application provides the automatic laying device of a kind of fiber cloth die, described device comprises: folding forming mould, Manipulator Transportation executive module; Wherein:
Described folding forming mould comprises: mould (preferably including angled ends shaper 23 and tail end shaper 24), and preforming tool (preferably include tail end fold preforming tool 6 and angled ends folds preforming tool 7);
Described Manipulator Transportation executive module comprises: tail end sheet material carrying executive module, the carrying of angled ends sheet material executive module, the first robot 4 and the second robot 5.
Described device can also comprise other suitable parts, and such as, in the preferred embodiment of the application, described device also comprises waste material Material collecting box for harvesting 26.
In another preference, described device also comprises a moveable punching mechanism 32; Preferably, described moveable punching mechanism 32 has the first shear knife 33 and the second shear knife 34.
In the preferred embodiment of the application, in described device, described mould is placed on shaper dispenser 1, and described preforming tool is arranged on sheet material punching frame 3, in forming process, corresponding preforming tool first put into by sheet material, after corresponding sheet material carrying executive module runs and makes its preformed, then moves into corresponding mould and makes it shaping.
In the preferred embodiment of the application, in described device, described angled ends sheet material carrying executive module is installed on described second manipulator 5 end, and described angled ends sheet material carrying executive module comprises: the carrying of angled ends sheet material performs frame 14, second inside casing 13, second housing 12 and angled ends sheet material carrying base plate; Described angled ends sheet material carrying base plate is provided with one or more device for being combined with sheet material, and such as, in another preference, described angled ends sheet material carrying base plate end also has one or more vacuum absorption device.
In the application, angled ends sheet material carrying executive module takes housing and inside casing jointly to form the structure of bottom surface, makes to adjust according to the shape of die bottom surface during stone, thus fiber cloth is fitted with molding surface better.The connected mode of each assembly can adopt any mode that can realize above-mentioned purpose, in a preferred embodiment, in described angled ends sheet material carrying executive module, the second described inside casing 13 is arranged at the carrying of angled ends sheet material and performs on frame 14, and can planar move left and right forwards, backwards.
In another preference, the second described inside casing 13 can move to housing direction surrounding (namely around housing, planar moving as circumference).
In another preference, in described angled ends sheet material carrying executive module, the second described housing 12 is arranged on described second inside casing 13, and can move up and down along the second inside casing 13 wall.
In another preference, with vacuum generator (being preferably vavuum pump) UNICOM bottom the second described housing 12, when need to make described angled ends sheet material carrying executive module and angled ends sheet material in conjunction with time, vavuum pump described in unlatching, thus make sheet material be adsorbed on angled ends sheet material carrying base plate.Described UNICOM's mode has no particular limits, in a kind of particularly preferred embodiment, and the aperture that the adjacent surface bottom the second described inside casing 13 and between the second housing 12 has curve regularly arranged and vavuum pump UNICOM; Be communicated with vavuum pump by the aperture that curve is regularly arranged bottom the second described housing 12; The aperture that adjacent surface bottom the second described inside casing 13 and between the second housing 12 has curve regularly arranged and vavuum pump UNICOM.
In the preferred embodiment of the application, in described device, described tail end sheet material carrying executive module is installed on described first manipulator 4 end, and described tail end sheet material carrying executive module comprises: the carrying of tail end sheet material performs frame 10, first inside casing 9, first housing 8, and angular mobility frame 11 and tail end sheet material carrying base plate.In another preference, described tail end sheet material carrying base plate end also has one or more vacuum absorption device.
In the preferred embodiment of the application, in described device, in described tail end dististyle material carrying executive module, the first described inside casing 9 and described tail end dististyle material are carried and are performed frame 10 and be connected, and the first described inside casing 9 can move to housing surrounding.
In another preference, be connected with vavuum pump bottom the first described inside casing 9 and with the adjacent surface of the first housing 8, preferably, bottom the first described inside casing 9 and with the adjacent surface of the first housing 8, pass through the regularly arranged aperture of curve and vavuum pump UNICOM.
In the preferred embodiment of the application, in described device, in described tail end dististyle material carrying executive module, the first described housing 8 is arranged on the first inside casing 9, and the first described housing 8 can move up and down along described first inside casing 9 wall.
In another preference, the bottom of the first described housing 8 is connected with vavuum pump, and preferably, the regularly arranged aperture of curve and vavuum pump UNICOM are passed through in the bottom of the first described housing 8.
In another preference, the second described inside casing 13 and described angled ends sheet material are carried and are performed frame 14 and be connected, and can carry with angled ends sheet material the fixing point performing frame 14 and move around described; And/or
The first described inside casing 9 and described tail end sheet material are carried and are performed frame 14 and be connected, and can carry with tail end sheet material the fixing point performing frame 10 and move around described.
Preferably, the second described housing 12 is connected with the second described inside casing 13, and can move relative to the second described inside casing 13; And/or
The first described housing 8 is connected with the first described inside casing 9, and can move relative to the first described inside casing 9.
In another preference, the preformed method of described preformed frame adopts aperture vacuum suction fiber cloth to make fiber cloth keep preformed shaped as frame shape, utilize Manipulator Transportation executive module by the pre-stone in the fiber cloth of preformed shaped as frame shape carrying die place, complete die body shaped fibers cloth stone by the interphase interaction of inside casing relevant in Manipulator Transportation executive module and housing.
Described device can be used alone, also can with other fiber cloth composite process units common combination, form fiber cloth injecting glue moulded products production line, thus carry out automated production.
Fiber cloth die stone method
Present invention also provides a kind of fiber cloth die stone method corresponding to said apparatus, said method comprising the steps of:
Step 1): will treat that die 2 positioning installation of stone is on shaper dispenser 1, moveable punching mechanism 32 pulls fibrous material material volume 35 a to assigned address to shear, and obtains corresponding to caudad sheet material 15 and warp-wise angled ends sheet material 17;
Step 2): the angled ends sheet material carrying executive module described in startup, under the drive of the second robot 5, described warp-wise angled ends sheet material 17 is carried to angled ends and folds preforming tool 7, the second described housing 12 moves and described warp-wise angled ends sheet material 17 is folded to form warp-wise angled ends formed sheet 20; Described warp-wise angled ends formed sheet 20 is carried to the position of angled ends shaper 23 by described carrying executive module, makes the second described housing 12 and the second inside casing 13 outwards movement, thus fits with described shaper 23; Described angled ends sheet material carrying executive module moves, thus completes the sizing lay of angled ends sheet material;
Step 3): the tail end sheet material carrying executive module described in startup, under the drive of the first robot 4, be carried to tail end through caudad sheet material 15 fold preforming tool 6 by described, the first described housing 8 moves and is folded to form through caudad formed sheet 22 by described through caudad sheet material 15; Described tail end carrying executive module is carried to the position of tail end shaper 24 by described through caudad formed sheet 22, makes the first described housing 8 and the first inside casing 9 outwards movement, thus fits with described tail end shaper 24; Described tail end sheet material carrying executive module moves, thus completes the sizing lay of tail end sheet material;
Step 4): will treat that die 2 positioning installation of stone is on shaper dispenser 1, moveable punching mechanism 32 pulls fibrous material material volume 35 a to assigned address to shear, and obtains corresponding broadwise tail end sheet material 16 and broadwise angled ends sheet material 18;
Step 5): the angled ends sheet material carrying executive module described in startup, under the drive of the second robot 5, described broadwise angled ends sheet material 18 is carried to angled ends and folds preforming tool 7, the second described housing 12 moves and described broadwise angled ends sheet material 18 is folded to form broadwise angled ends formed sheet 20; Described broadwise angled ends formed sheet 19 is carried to the position of angled ends shaper 23 by described carrying executive module, makes the second described housing 12 and the second inside casing 13 outwards movement, thus fits with described shaper 23; Described angled ends sheet material carrying executive module moves, thus completes the sizing lay of angled ends sheet material;
Step 6): the tail end sheet material carrying executive module described in startup, under the drive of the first robot 4, described broadwise tail end sheet material 16 is carried to tail end and folds preforming tool 6, the first described housing 8 moves and described broadwise tail end sheet material 16 is folded to form broadwise tail end formed sheet 21; Described broadwise tail end formed sheet 21 is carried to the position of tail end shaper 24 by described tail end carrying executive module, makes the first described housing 8 and the first inside casing 9 outwards movement, thus fits with described tail end shaper 24; Described tail end sheet material carrying executive module moves, thus completes the sizing lay of tail end sheet material.
In another preference, described step 2 and step 3 are carried out simultaneously.
In another preference, described step 5 and step 6 are carried out simultaneously.
In another preference, described stone is for intersecting superposition stone; Preferably, described charging pattern is: warp-wise angled ends formed sheet 20 with through caudad formed sheet 22 is with organizing lay, broadwise angled ends formed sheet 19 and broadwise tail end formed sheet 21 with organizing lay, thus form approved product 25.
In another preference, described warp-wise angled ends formed sheet 20 is arranged in one deck with described through caudad formed sheet 22, jointly forms warp-wise formed sheet.
In another preference, described shearing comprises: described punching mechanism 32 starts a reciprocating mechanism, and starts the first shear knife 33 and the second shear knife 34 carries out work.
In another preference, the method that described angled ends sheet material carried by described angled ends sheet material carrying executive module comprises: start vacuum suction, by described angled ends sheet material on described angled ends sheet material carrying executive module, then carries.
In another preference, the method that described tail end sheet material carried by described tail end sheet material carrying executive module comprises: start vacuum suction, by described tail end sheet material on described tail end sheet material carrying executive module, then carries.
Device of the present invention is applicable to the stone of various die, is specially adapted to the stone that bottom has the die of steric configuration (such as bottom has concavo-convex or angle).In this application, bottom surface is jointly formed (such as because each sheet material carrying executive module have employed multiple parts, housing and inside casing form bottom surface jointly, or housing, inside casing and angle frame form bottom surface jointly), make to adjust according to the shape of die bottom surface during stone, thus fiber cloth is fitted with molding surface better.
Need to understand, said method is only the exemplary using method of one of the application's device, and those skilled in the art completely can according to actual needs, and the Die Design for other shapes goes out corresponding charging pattern, carry out difference stone to various piece, then combination is carried out shaping.
Compared with prior art, major advantage of the present invention comprises:
(1) inventive arrangement provides the design of the automatic laying device of a kind of fiber cloth die, manipulator is targetedly utilized to carry out automatic capturing and stone, realize the automation of fiber cloth lamination stone in die, greatly improve the efficiency of fiber cloth lay in current field of compound material injecting glue moulding process, be applicable to extensive composite production field.
(2) in prior art, the die that bottom has steric configuration need make bottom it fits by manually force and lay, to this, method of the present invention is optimized for the structure of carrying executive module, is therefore specially adapted to the die stone that bottom has steric configuration.
Below in conjunction with specific embodiment, set forth the present invention further.Should be understood that these embodiments are only not used in for illustration of the present invention to limit the scope of the invention.The experimental technique of unreceipted actual conditions in the following example, usually conveniently condition, or according to the condition that manufacturer advises.Unless otherwise indicated, otherwise percentage and number calculate by weight.
As shown in Figure 1, in the automatic laying device of fiber cloth die of the present invention, production mould die 2 positioning installation is on shaper dispenser 1, fibrous material material volume 35 and moveable punching mechanism 32 are placed on sheet material punching frame 3, and sheet material punching frame 3 end is provided with waste material Material collecting box for harvesting 26.Punching mechanism 32 is furnished with the first shear knife 33 of shape displacement and the second shear knife 34 being provided with can intersect the assembly of punching through the assembly of caudad sheet material 15, broadwise tail end sheet material 16 and warp-wise angled ends sheet material 17, broadwise angled ends sheet material 18.Sheet material punching frame 3 edge is provided with tail end and folds the preforming tool that preforming tool 6 and angled ends fold preforming tool 7.The arm end of the first robot 4 is provided with tail end sheet material carrying executive module, and the arm end of the second robot 5 is provided with angled ends sheet material carrying executive module.Tail end sheet material carrying executive module is carried by tail end dististyle material and is performed frame 10, first inside casing 9, first housing 8, angular mobility frame 11 is formed, and angled ends sheet material carrying executive module performs frame 14, second inside casing 13 by the carrying of angled ends sheet material and the second housing 12 is formed.
Action 1: as shown in Figure 1, production mould die 2 positioning installation is on shaper dispenser 1, moveable punching mechanism 32 pulls fibrous material material to roll up 35 fiber cloth to assigned address, punching mechanism 32 starts reciprocating mechanism, first shear knife 33 and the second shear knife 34 work, and obtain corresponding to caudad sheet material 15 and warp-wise angled ends sheet material 17.
After cutting sheets completes, second robot 5 starts working, treat that angled ends sheet material carrying executive module moves to the position of warp-wise angled ends sheet material 17, start vacuum suction warp-wise angled ends sheet material 17, after warp-wise angled ends sheet material 17 being carried to the position of folding preforming tool 7, during angled ends sheet material carrying executive module sinking folding preforming tool 7 to be laminated, second housing 12 moves up, after warp-wise angled ends sheet material 17 is folded into formed sheet 20, formed sheet 20 is carried to the position of angled ends shaper 23, start cylinder, second housing 12 and the second inside casing 13 be mobile laminating mould outwards, close vacuum, second housing 12 second inside casing 13 position is restored, angled ends sheet material carrying executive module moves, complete stone 1 action.
Action 2: after cutting sheets completes, first robot 4 starts working, treat that tail end sheet material carrying executive module moves to the position through caudad sheet material 15, start vacuum suction through caudad sheet material 15, to be carried to after tail end folds the position of preforming tool 6 through caudad sheet material 15, when tail end sheet material carrying executive module sinking upper tail end to be laminated folds preforming tool 6, first housing 8 moves up, will after caudad sheet material 15 be folded into formed sheet 22, formed sheet 22 is carried to the position of tail end shaper 24, start cylinder, first housing 8, first inside casing 9 and angular mobility frame 11 outwards movement, laminating mould, close vacuum, first housing 8 and the first inside casing 9 angular mobility frame position are restored, angled ends sheet material carrying executive module moves, complete stone action 2.
Action 3: as shown in Figure 1, production mould die 2 positioning installation is on shaper dispenser 1, moveable punching mechanism 32 pulls fibrous material material to roll up 35 fiber cloth to assigned address, punching mechanism 32 starts reciprocating mechanism, first shear knife 33 and the second shear knife 34 work, and obtain corresponding broadwise tail end sheet material 16 and broadwise angled ends sheet material 18.
After cutting sheets completes, second robot 5 starts working, treat that angled ends sheet material carrying executive module moves to the position of broadwise angled ends sheet material 18, start vacuum suction broadwise angled ends sheet material 18, after being carried to the position of folding preforming tool 7, during angled ends sheet material carrying executive module sinking folding preforming tool 7 to be laminated, second housing 12 moves up, after broadwise angled ends sheet material 18 is folded into broadwise angled ends formed sheet 19, broadwise angled ends formed sheet 19 is carried to the position of angled ends shaper 23, start cylinder, second housing 12 and the second inside casing 13 be mobile laminating mould outwards, close vacuum, second housing 12 and the second inside casing 13 position are restored, angled ends sheet material carrying executive module moves, complete stone action 3.
Action 4: after cutting sheets completes, first robot 4 starts working, treat that tail end sheet material carrying executive module moves to the position of broadwise tail end sheet material 16, start vacuum suction tail end sheet material assembly 16, be carried to after tail end folds the position of preforming tool 6, when tail end sheet material carrying executive module sinking upper tail end to be laminated folds preforming tool 6, first housing 8 moves up, after broadwise tail end sheet material 16 is folded into broadwise tail end formed sheet 21, formed sheet 21 is carried to tail end shaper 24 position, start cylinder, first housing 8, first inside casing 9 and angular mobility frame 11 are outwards mobile until laminating mould, close vacuum, first housing 8, first inside casing 9 and angular mobility frame position are restored, angled ends sheet material carrying executive module moves, complete stone action 4.
Above-mentioned action 1 and action 2 are for carry out one group simultaneously, action 3 and action 4 are one group that carries out simultaneously, repeat above-mentioned two groups of actions and complete intersection superposition stone, warp-wise angled ends formed sheet 20 and through caudad formed sheet 22 with organizing lay, broadwise angled ends formed sheet 19 and broadwise tail end formed sheet 21, with organizing lay, are finally combined into approved product 25.
The all documents mentioned in the present invention are quoted as a reference all in this application, are just quoted separately as a reference as each section of document.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after having read above-mentioned instruction content of the present invention.
Claims (10)
1. the automatic laying device of fiber cloth die, is characterized in that, described device comprises: folding forming mould, Manipulator Transportation executive module; Wherein:
Described folding forming mould comprises: mould (preferably including angled ends shaper 23 and tail end shaper 24), and preforming tool (preferably include tail end fold preforming tool 6 and angled ends folds preforming tool 7);
Described Manipulator Transportation executive module comprises: tail end sheet material carrying executive module, the carrying of angled ends sheet material executive module, the first robot (4) and the second robot (5);
Preferably, in described device, described mould is placed on shaper dispenser (1), and described preforming tool is arranged on sheet material punching frame (3).
2. device as claimed in claim 1, it is characterized in that, in described device, described angled ends sheet material carrying executive module is installed on described second manipulator (5) end, and described angled ends sheet material carrying executive module comprises: the carrying of angled ends sheet material performs frame (14), the second inside casing (13), the second housing (12) and angled ends sheet material carrying base plate.
3. device as claimed in claim 1, it is characterized in that, in described angled ends sheet material carrying executive module, described the second inside casing (13) is arranged at the carrying of angled ends sheet material and performs on frame (14), and can planar move left and right forwards, backwards.
4. device as claimed in claim 1, it is characterized in that, in described angled ends sheet material carrying executive module, described the second housing (12) is arranged on described second inside casing (13), and can move up and down along the second inside casing (13) wall.
5. device as claimed in claim 1, it is characterized in that, described tail end sheet material carrying executive module is installed on described first manipulator (4) end, and described tail end sheet material carrying executive module comprises: the carrying of tail end sheet material performs frame (10), the first inside casing (9), the first housing (8), and angular mobility frame (11) and tail end sheet material carrying base plate.
6. device as claimed in claim 1, it is characterized in that, in described tail end dististyle material carrying executive module, described the first inside casing (9) and described tail end dististyle material are carried and are performed frame (10) and be connected, and described the first inside casing (9) can move to housing surrounding.
7. device as claimed in claim 1, it is characterized in that, in described tail end dististyle material carrying executive module, described the first housing (8) is arranged on the first inside casing (9), and described the first housing (8) can move up and down along described first inside casing (9) wall.
8. device as claimed in claim 1, it is characterized in that, described the second inside casing (13) and described angled ends sheet material are carried and are performed frame (14) and be connected, and can carry with angled ends sheet material the fixing point performing frame (14) and move around described; And/or
Described the first inside casing (9) and described tail end sheet material are carried and are performed frame (14) and be connected, and can carry with tail end sheet material the fixing point performing frame (10) and move around described;
Preferably, described the second housing (12) is connected with described the second inside casing (13), and can move relative to described the second inside casing (13); And/or
Described the first housing (8) is connected with described the first inside casing (9), and can move relative to described the first inside casing (9).
9. a fiber cloth die stone method, is characterized in that, the device as described in described method use is as arbitrary in claim 1-9 carries out stone, and said method comprising the steps of:
Step (1): will treat that die (2) positioning installation of stone is on shaper dispenser (1), moveable punching mechanism (32) pulls fibrous material material volume (35) a to assigned address to shear, and obtains corresponding to caudad sheet material (15) and warp-wise angled ends sheet material (17);
Step (2): the angled ends sheet material carrying executive module described in startup, under the drive of the second robot (5), described warp-wise angled ends sheet material (17) is carried to angled ends and folds preforming tool (7), described the second housing (12) moves and described warp-wise angled ends sheet material (17) is folded to form warp-wise angled ends formed sheet (20); Described warp-wise angled ends formed sheet (20) is carried to the position of angled ends shaper (23) by described carrying executive module, make described the second housing (12) and the second inside casing (13) outwards movement, thus fit with described shaper (23); Described angled ends sheet material carrying executive module moves, thus completes the sizing lay of angled ends sheet material;
Step (3): the tail end sheet material carrying executive module described in startup, under the drive of the first robot (4), be carried to tail end through caudad sheet material (15) fold preforming tool (6) by described, described the first housing (8) moves and is folded to form through caudad formed sheet (22) by described through caudad sheet material (15); Described tail end carrying executive module is carried to the position of tail end shaper (24) by described through caudad formed sheet (22), make described the first housing (8) and the first inside casing (9) outwards movement, thus fit with described tail end shaper (24); Described tail end sheet material carrying executive module moves, thus completes the sizing lay of tail end sheet material;
Step (4): will treat that die (2) positioning installation of stone is on shaper dispenser (1), moveable punching mechanism (32) pulls fibrous material material volume (35) a to assigned address to shear, and obtains corresponding broadwise tail end sheet material (16) and broadwise angled ends sheet material (18);
Step (5): the angled ends sheet material carrying executive module described in startup, under the drive of the second robot (5), described broadwise angled ends sheet material (18) is carried to angled ends and folds preforming tool (7), described the second housing (12) moves and described broadwise angled ends sheet material (18) is folded to form broadwise angled ends formed sheet (20); Described broadwise angled ends formed sheet (19) is carried to the position of angled ends shaper (23) by described carrying executive module, make described the second housing (12) and the second inside casing (13) outwards movement, thus fit with described shaper (23); Described angled ends sheet material carrying executive module moves, thus completes the sizing lay of angled ends sheet material;
Step (6): the tail end sheet material carrying executive module described in startup, under the drive of the first robot (4), described broadwise tail end sheet material (16) is carried to tail end and folds preforming tool (6), described the first housing (8) moves and described broadwise tail end sheet material (16) is folded to form broadwise tail end formed sheet (21); Described broadwise tail end formed sheet (21) is carried to the position of tail end shaper (24) by described tail end carrying executive module, make described the first housing (8) and the first inside casing (9) outwards movement, thus fit with described tail end shaper (24); Described tail end sheet material carrying executive module moves, thus completes the sizing lay of tail end sheet material.
10. a fiber cloth injecting glue moulded products production equipment, is characterized in that, described equipment have as arbitrary in claim 1-8 as described in device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510001572.6A CN104527090B (en) | 2015-01-04 | 2015-01-04 | Automatic fabric-spreading device for fiber cloth concave die |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510001572.6A CN104527090B (en) | 2015-01-04 | 2015-01-04 | Automatic fabric-spreading device for fiber cloth concave die |
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| CN104527090B CN104527090B (en) | 2017-01-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105109063A (en) * | 2015-09-18 | 2015-12-02 | 常州市新创复合材料有限公司 | Preparation system and preparation method for high-performance fiber multi-axial fabric preform |
| CN110757834A (en) * | 2018-07-27 | 2020-02-07 | 福建海源自动化机械股份有限公司 | Fiber preforming automatic production line |
| CN111002604A (en) * | 2019-12-23 | 2020-04-14 | 崔洪旭 | Sheet molding die pressing pretreatment equipment |
| CN116872510A (en) * | 2023-09-08 | 2023-10-13 | 新创碳谷集团有限公司 | Bonding positioning tool and method for UD cloth at segmented position of modularized blade |
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| CN103108741A (en) * | 2010-08-30 | 2013-05-15 | 美格工业自动化系统有限公司 | Manufacturing system for producing fiber composite material components |
| CN104097335A (en) * | 2014-06-18 | 2014-10-15 | 际华三五零二职业装有限公司 | Sheet taking/feeding and arranging device of automatic sheet paver of bulletproof helmet |
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| US20040021247A1 (en) * | 2000-07-20 | 2004-02-05 | Uwe Habisreitinger | Method and device for producing shell-shaped, plastic parts reinforced with fibre mats |
| CN103108741A (en) * | 2010-08-30 | 2013-05-15 | 美格工业自动化系统有限公司 | Manufacturing system for producing fiber composite material components |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105109063A (en) * | 2015-09-18 | 2015-12-02 | 常州市新创复合材料有限公司 | Preparation system and preparation method for high-performance fiber multi-axial fabric preform |
| CN110757834A (en) * | 2018-07-27 | 2020-02-07 | 福建海源自动化机械股份有限公司 | Fiber preforming automatic production line |
| CN110757834B (en) * | 2018-07-27 | 2023-11-10 | 江西海源复合材料科技股份有限公司 | Automatic production line for fiber preforming |
| CN111002604A (en) * | 2019-12-23 | 2020-04-14 | 崔洪旭 | Sheet molding die pressing pretreatment equipment |
| CN116872510A (en) * | 2023-09-08 | 2023-10-13 | 新创碳谷集团有限公司 | Bonding positioning tool and method for UD cloth at segmented position of modularized blade |
| CN116872510B (en) * | 2023-09-08 | 2023-12-12 | 新创碳谷集团有限公司 | Bonding positioning tool and method for UD cloth at segmented position of modularized blade |
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| Publication number | Publication date |
|---|---|
| CN104527090B (en) | 2017-01-25 |
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