CN104527090B - 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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- CN104527090B CN104527090B CN201510001572.6A CN201510001572A CN104527090B CN 104527090 B CN104527090 B CN 104527090B CN 201510001572 A CN201510001572 A CN 201510001572A CN 104527090 B CN104527090 B CN 104527090B
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- China
- Prior art keywords
- sheet material
- tail end
- angled ends
- executive module
- inside casing
- Prior art date
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Classifications
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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]
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 is and in particular to a kind of fiber cloth injecting glue molding concave die automatically spreads fiber and arranges
Put.
Background technology
It is excellent that composite has that high-strength light, good fatigue resistance, damage tolerance be high and mechanical property can design etc.
Characteristic, can make product lightweight, potentiality are very huge in terms of energy-saving and emission-reduction, can improve crashworthiness and the safety of product again
Property.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 that restriction composite scale is applied is that the cost of composite is especially manufactured into
This is higher.The lamination operation of wherein fiber is one of key link of composite material manufacturing process.Traditional superimposed fiber efficiency
It is lowly the higher one of the main reasons of composite manufacturing cost.Although in fiber manufacturing process, preimpregnation is furnished with automatization
The machine of stacking, but 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.At present than
More advanced technology is to realize operation composite material component using vacuum cup, but this technology can only realize simple shape part such as
The automated production of roof of the vehicle, protecgulum etc. is it is impossible to be applied to flexible articles.
In practice, do structural material using fibre sheet material, generally fibre sheet material is made by yarn, stratified fiber sheet material arrives
The composite (i.e. structural material) of fibre sheet material lamination is obtained after certain thickness, could practical application.Due to automated machine
Operation fibre sheet material difficulty is larger, and only exigent aircraft and shape matching rule component can be automatic using costliness
Change laying equipment.And in general domain, using by hand more than superimposed fiber, efficiency is low, high cost, hinder large-scale production.
The Chinese invention patent application of Publication No. cn 101450754a discloses a kind of automatic laminated dress of regular article
Put, including the gripper shoe of two pieces of equalitys setting, symmetrical between two pieces of gripper shoes two parallel conveyer belts and list are installed
Xiang Men, the lower section between two parallel conveyer belts is provided with one group of lifting mechanism, and the quantity of this group lifting mechanism is equal to is lifted
Rise the quantity of one layer of object, the opposable up and down motion of each lifting mechanism.Although this automatic laminated device can be by conveyer belt
On hard regular article (medicated cigarette as one case one case) lifted by lifting mechanism after carry out lamination again, goods can be reduced
Breakage rate, improves the lamination efficiency of regular article of hard and the floor space reducing goods, but this automatic laminated device is not
Can be suitably used for flexible articles it is impossible to complete the lamination of flexible articles.
It is automatic laminated that the Chinese utility model patent of Patent No. zl 200820101726.4 discloses a kind of regular object
Packer although the automatic laminated packer of this regular object can be by regular object, the bar shaped medicated cigarette after such as packing, box-packed medicine
Product, boxed food are laminated, but the automatic laminated packer of this regular object similarly exists and is not applied for flexible articles
Problem it is impossible to complete the lamination of flexible articles.
At present, composite injecting glue molding etc. needs fiber cloth laying injecting glue moulded products manufacture main method still or people
Work lay down fibre cloth products to demand thickness, injecting glue molding in addition.However, artificial laying paving fiber cloth wastes time and energy, also not
Beneficial to automated production.Therefore, this area still lacks a kind of automatic laying device of fiber cloth, is especially a lack of a kind of suitable flexibility
The laying device of object.
Content of the invention
It is an object of the invention to provide a kind of automatic laying device of fiber cloth, the laying of particularly a kind of suitable flexible articles
Device.
A first aspect of the present invention, there is provided a kind of automatic laying device of fiber cloth die, described device includes: is folded into
Pattern tool, Manipulator Transportation executive module；Wherein:
Described folding forming mould includes: mould (preferably includes angled ends shaper 23 and tail end stock mould
Tool 24), and preforming tool (preferably include tail end and fold preforming tool 6 and angled ends folding preforming tool 7)；
Described Manipulator Transportation executive module includes: tail end sheet material carrying executive module, angled ends sheet material carrying execution group
Part, the first robot (4) and the second robot (5).
In another preference, described device also includes waste material Material collecting box for harvesting (26).
In another preference, described device also includes a moveable punching mechanism (32).
In another preference, described moveable punching mechanism (32) has the first sheaves (33) and the second sheaves
(34).
In another preference, in described device, described mould is placed on shaper dispenser (1), and institute
State preforming tool to be 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 machine
Tool handss (5) end, and described angled ends sheet material carrying executive module includes: angled ends sheet material carrying execution frame (14), in second
Frame (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 vac sorb dresses
Put.
In another preference, in described angled ends sheet material carrying executive module, described the second inside casing (13) is arranged at
On angled ends sheet material carrying execution frame (14), and can planar move left and right forwards, backwards.
In another preference, described the second inside casing (13) can move around to housing direction.
In another preference, in described angled ends sheet material carrying executive module, described the second housing (12) is arranged at
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 is joined with vacuum offer device (preferably vacuum pump)
Logical.
In another preference, the adjacent surface between described the second inside casing (13) bottom and the second housing (12) has curve
Regularly arranged aperture and vacuum pump UNICOM.
In another preference, the regularly arranged aperture of curve is passed through with vacuum pump even in described the second housing (12) bottom
Logical.
In another preference, the adjacent surface between described the second inside casing 13 bottom and the second housing 12 has curve rule
The aperture of arrangement and vacuum pump UNICOM.
In another preference, described tail end sheet material carrying executive module is installed on described first mechanical hand (4) end,
And described tail end sheet material carrying executive module includes: tail end sheet material carrying execution 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 vac sorb dresses
Put.
In another preference, in described tail end dististyle material carrying executive module, described the first inside casing (9) with described
Tail end dististyle material carrying execution frame (10) is connected, and described the first inside casing (9) can move around to housing.
In another preference, described the first inside casing (9) bottom and the adjacent surface with the first housing (8) and vacuum pump phase
Connection, it is preferred that described the first inside casing (9) bottom and pass through regularly arranged little of curve with the adjacent surface of the first housing (8)
Hole and vacuum pump UNICOM.
In another preference, in described tail end dististyle material carrying executive module, described the first housing (8) is arranged at the
The first housing (8) on one inside casing (9) and described 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 vacuum pump, it is preferred that described
The regularly arranged aperture of curve and vacuum pump UNICOM are passed through in the bottom of one housing (8).
In another preference, described the second inside casing (13) carries execution frame (14) phase with described angled ends sheet material
Connect, and can move around the described fixing point carrying execution frame (14) with angled ends sheet material；And/or
Described the first inside casing (9) is carried execution frame (14) with described tail end sheet material and is connected, and can be around described and tail
The fixing point of dististyle material carrying execution frame (10) moves.
Preferably, described the second housing (12) is connected with described the second inside casing (13), and can be with respect to described
Second inside casing (13) moves；And/or
Described the first housing (8) is connected with described the first inside casing (9), and can be with respect to the first described inside casing
(9) move.
In another preference, the method for described preforming frame preforming makes fiber cloth using aperture vac sorb fiber cloth
Keep preforming shaped as frame shape, overlay at the fiber cloth carrying die of preforming shaped as frame shape using Manipulator Transportation executive module
Material, completes die body shaped fibers cloth paving by the interphase interaction of related inside casing in Manipulator Transportation executive module and housing
Material.
A kind of a second aspect of the present invention, there is provided fiber cloth die stone method, methods described is using as the present invention the
On the one hand the device described in carries out stone, and the method comprising the steps of:
Step (1): die (2) positioning installation of stone will be treated on shaper dispenser (1), moveable punching and shearing machine
Structure (32) pull a fibrous material material volume (35) sheared to specified location, obtain corresponding through caudad sheet material (15) and warp
To angled ends sheet material (17)；
Step (2): start described angled ends sheet material carrying executive module, under the drive of the second robot (5), by institute
Warp-wise angled ends sheet material (17) stated is carried to angled ends and folds preforming tool (7), and described the second housing (12) is upper to be moved simultaneously
Described warp-wise angled ends sheet material (17) is folded and forms warp-wise angled ends formed sheet (20)；Described carrying executive module will
Described warp-wise angled ends formed sheet (20) is carried to the position of angled ends shaper (23), makes the second described housing
(12) and the second inside casing (13) is displaced outwardly, thus fitting with described shaper (23)；Described angled ends sheet material carrying is held
Move on row assembly, thus the sizing completing angled ends sheet material lays；
Step (3): start described tail end sheet material carrying executive module, under the drive of the first robot (4), will be described
Be carried to tail end through caudad sheet material (15) and fold preforming tool (6), the upper shifting of described the first housing (8) simultaneously will be described
Fold through caudad sheet material (15) and formed through caudad formed sheet (22)；Described tail end carrying executive module is by described warp
Caudad formed sheet (22) is carried to the position of tail end shaper (24), makes described the first housing (8) and the first inside casing
(9) it is displaced outwardly, thus fitting with described tail end shaper (24)；Move on described tail end sheet material carrying executive module, from
And the sizing completing tail end sheet material lays；
Step (4): die (2) positioning installation of stone will be treated on shaper dispenser (1), moveable punching and shearing machine
Structure (32) pulls a fibrous material material volume (35) to be sheared to specified location, obtains corresponding broadwise tail end sheet material (16) and latitude
To angled ends sheet material (18)；
Step (5): start described angled ends sheet material carrying executive module, under the drive of the second robot (5), by institute
Broadwise angled ends sheet material (18) stated is carried to angled ends and folds preforming tool (7), and described the second housing (12) is upper to be moved simultaneously
Described broadwise angled ends sheet material (18) is folded and forms broadwise angled ends formed sheet (20)；Described carrying executive module will
Described broadwise angled ends formed sheet (19) is carried to the position of angled ends shaper (23), makes the second described housing
(12) and the second inside casing (13) is displaced outwardly, thus fitting with described shaper (23)；Described angled ends sheet material carrying is held
Move on row assembly, thus the sizing completing angled ends sheet material lays；
Step (6): start described tail end sheet material carrying executive module, under the drive of the first robot (4), will be described
Broadwise tail end sheet material (16) be carried to tail end and fold preforming tool (6), the upper shifting of described the first housing (8) simultaneously will be described
Broadwise tail end sheet material (16) folds and forms broadwise tail end formed sheet (21)；Described tail end carrying executive module is by described latitude
Caudad formed sheet (21) is carried to the position of tail end shaper (24), makes described the first housing (8) and the first inside casing
(9) it is displaced outwardly, thus fitting with described tail end shaper (24)；Move on described tail end sheet material carrying executive module, from
And the sizing completing tail end sheet material lays.
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 cross-superimposed stone；Preferably, described charging pattern is: warp-wise
Angled ends formed sheet (20) lays thus forming one layer with group with through caudad formed sheet (22), broadwise angled ends matrix band
Material (19) is laid thus forming one layer with group with broadwise tail end formed sheet (21), thus forming approved product (25).
In another preference, described warp-wise angled ends formed sheet (20) is with described through caudad formed sheet
(22), in being located at one layer, it is collectively forming warp-wise formed sheet.
In another preference, described shearing includes: described punching mechanism 32 starts a reciprocating mechanism, and opens
Dynamic first sheaves 33 and the second sheaves 34 are operated.
In another preference, the method bag that described angled ends sheet material carried by executive module carried by described angled ends sheet material
Include: start vac sorb, by described angled ends sheet material to described angled ends sheet material carrying executive module, then removed
Fortune.
In another preference, the method that the executive module described tail end sheet material of carrying carried by described tail end sheet material includes:
Start vac sorb, by described tail end sheet material to described tail end sheet material carrying executive module, then carried.
A kind of a third aspect of the present invention, there is provided fiber cloth injecting glue moulded products production equipment, described equipment have as
Device described in first aspect present invention.
It should be understood that within the scope of the present invention, above-mentioned each technical characteristic of the present invention and having in below (eg embodiment)
Can be combined with each other between each technical characteristic of body description, thus constituting new or preferred technical scheme.As space is limited, exist
This no longer tires out one by one states.
Brief description
Fig. 1 is the overall construction design schematic diagram of the present invention；In figure, 1 is shaper dispenser, 2 is die, 3 is piece
Material punching frame, 4 be the first robot (the first mechanical hand), 5 be the second robot (the second mechanical hand), 6 be tail end folding preformation
Pattern has, 7 is angled ends folding preforming tool, 8 is the first housing, 9 is the first inside casing, 10 is that the carrying of tail end sheet material executes
Frame, 11 be angular mobility frame, 12 be the second housing, 13 be the second inside casing, 14 be angled ends sheet material carrying execution frame, 15 be warp-wise
Tail end sheet material, 16 be broadwise tail end sheet material, 17 be warp-wise angled ends sheet material, 18 be broadwise angled ends sheet material, 19 be broadwise angle
End formed sheet, 20 be warp-wise angled ends formed sheet, 21 be broadwise tail end formed sheet, 22 be 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 be the first sheaves, 34 be the second sheaves, 35 be fibrous material material volume.
Specific embodiment
The present inventor, through in-depth study for a long time, lays technology for flexible articles in current this area and exists not
A kind of foot, there is provided the automatic laying device of fiber cloth die, described device can pass through vac sorb fiber cloth, auxiliary mould folding
Folded, a series of flow processs such as automatic stone of mechanical hand, realize fiber cloth die automatization stone.Based on above-mentioned discovery, inventor is complete
Become 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 by being folded into pattern
Tool, Manipulator Transportation executive module, fiber cloth carrying executive module are constituted, and soft fiber molding with cloth adopts preforming frame preforming
Method, i.e. first in preforming frame, preforming is carried out to fiber cloth so as to form the shape being adapted with die bottom surface, so
Again fiber cloth movement to shaping frame is carried out molding afterwards.
This application provides a kind of automatic laying device of fiber cloth die, described device includes: folding forming mould, machinery
Handss carry executive module；Wherein:
Described folding forming mould includes: mould (preferably includes angled ends shaper 23 and tail end stock mould
Tool 24), and preforming tool (preferably include tail end and fold preforming tool 6 and angled ends folding preforming tool 7)；
Described Manipulator Transportation executive module includes: tail end sheet material carrying executive module, angled ends sheet material carrying execution group
Part, the first robot 4 and the second robot 5.
Described device can also include other suitable parts, for example, in the preferred embodiment of the application, described
Device also includes waste material Material collecting box for harvesting 26.
In another preference, described device also includes a moveable punching mechanism 32；Preferably, described removable
Punching mechanism 32 there are the first sheaves 33 and the second sheaves 34.
In the preferred embodiment of the application, in described device, described mould is placed in shaper dispenser 1
On, 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 preforming, then move into corresponding mould and make its molding.
In the preferred embodiment of the application, in described device, described angled ends sheet material carrying executive module is installed on institute
State the second mechanical hand 5 end, and described angled ends sheet material carrying executive module includes: angled ends sheet material carrying execution frame 14, the
Two inside casings 13, the second housing 12 and angled ends sheet material carrying base plate；It is provided with one on described angled ends sheet material carrying base plate
Or the multiple device for being combined with sheet material, for example, in another preference, described angled ends sheet material carrying base plate end is also
There are one or more vacuum absorption devices.
In the application, angled ends sheet material carry executive module take housing and inside casing collectively form bottom surface construction so that
Can be adjusted according to the shape of die bottom surface during stone, so that fiber cloth is preferably fitted with molding surface.Each assembly
Connected mode can by using any be capable of above-mentioned purpose in the way of, in a preferred embodiment, described angle dististyle
In material carrying executive module, the second described inside casing 13 is arranged on angled ends sheet material carrying execution frame 14, and can be planar
Move left and right forwards, backwards.
In another preference, the second described inside casing 13 can move around to housing direction (i.e. around housing, flat
Make circumference in face to move).
In another preference, in described angled ends sheet material carrying executive module, the second described housing 12 is arranged at institute
State on the 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 offer device (preferably vacuum pump) UNICOM,
When needing to make described angled ends sheet material carrying executive module when angled ends sheet material is combined, open described vacuum pump, thus
Sheet material is made to be adsorbed on angled ends sheet material carrying base plate.Described UNICOM's mode has no particular limits, a kind of particularly preferred
In embodiment, the adjacent surface between described the second inside casing 13 bottom and the second housing 12 have the regularly arranged aperture of curve with
Vacuum pump UNICOM；Described the second housing 12 bottom is passed through the regularly arranged aperture of curve and is connected with vacuum pump；Described second
Adjacent surface between inside casing 13 bottom and the second housing 12 has the regularly arranged aperture of curve and vacuum pump UNICOM.
In the preferred embodiment of the application, in described device, described tail end sheet material carrying executive module is installed on institute
State the first mechanical hand 4 end, and described tail end sheet material carrying executive module includes: tail end sheet material carrying execution frame 10, 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 piece
Material carrying base plate end also has one or more vacuum absorption devices.
In the preferred embodiment of the application, in described device, in described tail end dististyle material carrying executive module, described
First inside casing 9 is carried execution frame 10 with described tail end dististyle material and is connected, and the first described inside casing 9 can move to housing surrounding
Dynamic.
In another preference, described the first inside casing 9 bottom and the adjacent surface with the first housing 8 are connected with vacuum pump
Logical, it is preferred that described the first inside casing 9 bottom and the adjacent surface with the first housing 8 pass through the regularly arranged aperture of curve with true
Kong Beng UNICOM.
In the preferred embodiment of the application, in described device, in described tail end dististyle material carrying executive module, described
First 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 vacuum pump, it is preferred that described first
The regularly arranged aperture of curve and vacuum pump UNICOM are passed through in the bottom of housing 8.
In another preference, the second described inside casing 13 is carried execution frame 14 with described angled ends sheet material and is connected, and
Can move around the described fixing point carrying execution frame 14 with angled ends sheet material；And/or
The first described inside casing 9 is carried execution frame 14 with described tail end sheet material and is connected, and can be around described and tail end piece
The fixing point of material carrying execution frame 10 moves.
Preferably, the second described housing 12 is connected with the second described inside casing 13, and can be with respect to described second
Inside casing 13 moves；And/or
The first described housing 8 is connected with the first described inside casing 9, and can carry out with respect to the first described inside casing 9
Mobile.
In another preference, the method for described preforming frame preforming makes fiber cloth using aperture vac sorb fiber cloth
Keep preforming shaped as frame shape, overlay at the fiber cloth carrying die of preforming shaped as frame shape using Manipulator Transportation executive module
Material, completes die body shaped fibers cloth paving by the interphase interaction of related inside casing in Manipulator Transportation executive module and housing
Material.
Described device can be single use it is also possible to common group of other fiber cloth composite process units
Closing, forming fiber cloth injecting glue moulded products production line, thus carrying out automated production.
Fiber cloth die stone method
Present invention also provides a kind of fiber cloth die stone method corresponding with said apparatus, methods described includes following
Step:
Step 1): die 2 positioning installation of stone will be treated on shaper dispenser 1, moveable punching mechanism 32
Pull a fibrous material material volume 35 to be sheared to specified location, obtain corresponding through caudad sheet material 15 with warp-wise angle dististyle
Material 17；
Step 2): start described angled ends sheet material carrying executive module, under the drive of the second robot 5, will be described
Warp-wise angled ends sheet material 17 be carried to angled ends fold preforming tool 7, on the second described housing 12 move and will be described
Warp-wise angled ends sheet material 17 folds and forms warp-wise angled ends formed sheet 20；Described carrying executive module is by described warp-wise angle
Degree end formed sheet 20 is carried to the position of angled ends shaper 23, makes the second described housing 12 and the second inside casing 13 outside
Mobile, thus fitting with described shaper 23；Move, thus completing angled ends on described angled ends sheet material carrying executive module
The sizing of sheet material lays；
Step 3): start described tail end sheet material carrying executive module, under the drive of the first robot 4, will be described
It is carried to tail end through caudad sheet material 15 and folds preforming tool 6, the first described housing 8 moves and by described through caudad
Sheet material 15 folds and is formed through caudad formed sheet 22；Described tail end carrying executive module is by described through caudad matrix band
Material 22 is carried to the position of tail end shaper 24, so that the first described housing 8 and the first inside casing 9 is displaced outwardly, thus with institute
State tail end shaper 24 to fit；Move on described tail end sheet material carrying executive module, thus completing the sizing paving of tail end sheet material
Put；
Step 4): die 2 positioning installation of stone will be treated on shaper dispenser 1, moveable punching mechanism 32
Pull a fibrous material material volume 35 to be sheared to specified location, obtain corresponding broadwise tail end sheet material 16 and broadwise angle dististyle
Material 18；
Step 5): start described angled ends sheet material carrying executive module, under the drive of the second robot 5, will be described
Broadwise angled ends sheet material 18 be carried to angled ends fold preforming tool 7, on the second described housing 12 move and will be described
Broadwise angled ends sheet material 18 folds and forms broadwise angled ends formed sheet 20；Described carrying executive module is by described broadwise angle
Degree end formed sheet 19 is carried to the position of angled ends shaper 23, makes the second described housing 12 and the second inside casing 13 outside
Mobile, thus fitting with described shaper 23；Move, thus completing angled ends on described angled ends sheet material carrying executive module
The sizing of sheet material lays；
Step 6): start described tail end sheet material carrying executive module, under the drive of the first robot 4, will be described
Broadwise tail end sheet material 16 is carried to tail end and folds preforming tool 6, and the first described housing 8 moves and by described broadwise tail end
Sheet material 16 folds and forms broadwise tail end formed sheet 21；Described tail end carrying executive module is by described broadwise tail end matrix band
Material 21 is carried to the position of tail end shaper 24, so that the first described housing 8 and the first inside casing 9 is displaced outwardly, thus with institute
State tail end shaper 24 to fit；Move on described tail end sheet material carrying executive module, thus completing the sizing paving of tail end sheet material
Put.
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 cross-superimposed stone；Preferably, described charging pattern is: warp-wise
Angled ends formed sheet 20 lays with group with through caudad formed sheet 22, and broadwise angled ends formed sheet 19 is become with broadwise tail end
Matrix material 21 lays with group, thus forming approved product 25.
In another preference, described warp-wise angled ends formed sheet 20 is with described through caudad formed sheet 22
In one layer, it is collectively forming warp-wise formed sheet.
In another preference, described shearing includes: described punching mechanism 32 starts a reciprocating mechanism, and opens
Dynamic first sheaves 33 and the second sheaves 34 are operated.
In another preference, the method bag that described angled ends sheet material carried by executive module carried by described angled ends sheet material
Include: start vac sorb, by described angled ends sheet material to described angled ends sheet material carrying executive module, then removed
Fortune.
In another preference, the method that the executive module described tail end sheet material of carrying carried by described tail end sheet material includes:
Start vac sorb, by described tail end sheet material to described tail end sheet material carrying executive module, then carried.
Assembly of the invention is applied to the stone of various dies, is particularly well-suited to bottom and has steric configuration (such as bottom
There is concavo-convex or angle) die stone.In this application, because each sheet material carrying executive module employs multiple parts altogether
With constituting bottom surface (for example, housing and inside casing collectively form bottom surface, or housing, inside casing and angle frame collectively form bottom surface) so that
Can be adjusted according to the shape of die bottom surface during stone, so that fiber cloth is preferably fitted with molding surface.
It should be understood that said method is only a kind of exemplary using method of the application device, those skilled in the art are complete
Can according to actual needs, the Die Design for other shapes goes out corresponding charging pattern, and various pieces are spread respectively
Material, then combination carries out molding.
Compared with prior art, main advantages of the present invention include:
(1) inventive arrangement provides a kind of design of the automatic laying device of fiber cloth die, utilize targetedly machine
Tool handss are captured and stone automatically, realize the automatization of fiber cloth lamination stone in die, greatly improve and be currently combined
Efficiency that in Material Field injecting glue moulding process, fiber cloth lays is it is adaptable to extensive composite production field.
(2), in prior art, the die that bottom has steric configuration need to make its bottom of fitting by artificial force and lay,
In this regard, the method for the present invention is optimized for the construction of carrying executive module, it is therefore particularly suitable for bottom and there is space
The die stone of configuration.
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than restriction the scope of the present invention.The experimental technique of unreceipted actual conditions in the following example, generally according to conventional strip
Part, or according to the condition proposed by manufacturer.Unless otherwise indicated, otherwise percentage ratio and number are calculated by weight.
As shown in figure 1, production mould die 2 positioning installation is in sizing in the automatic laying device of fiber cloth die of the present invention
On mould dispenser 1, fibrous material material volume 35 and moveable punching mechanism 32 are placed on sheet material punching frame 3, sheet material punching
Frame 3 end is provided with waste material Material collecting box for harvesting 26.Punching mechanism 32 be furnished with can shape displacement the first sheaves 33 and the second sheaves
34 and be provided with and can intersect punching through caudad sheet material 15, the assembly of broadwise tail end sheet material 16 and warp-wise angled ends sheet material 17, broadwise
The assembly of angled ends sheet material 18.Sheet material punching frame 3 edge is provided with tail end and folds preforming tool 6 and angled ends folding preforming
The preforming tool of mould 7.The arm end of the first robot 4 is provided with tail end sheet material carrying executive module, the second robot 5
Arm end be provided with angled ends sheet material carrying executive module.Tail end sheet material carrying executive module is held by the carrying of tail end dististyle material
Row frame 10, the first inside casing 9, the first housing 8, angular mobility frame 11 are constituted, and angled ends sheet material carrying executive module is by angle dististyle
Material carrying execution frame 14, the second inside casing 13 and the second housing 12 are constituted.
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 volume 35 fiber cloth to specified location, and punching mechanism 32 starts reciprocating mechanism, the first shearing
Knife 33 and the second sheaves 34 work, obtain corresponding through caudad sheet material 15 with warp-wise angled ends sheet material 17.
After the completion of cutting sheets, the second robot 5 starts working, and treats that angled ends sheet material carrying executive module runs to warp-wise
The position of angled ends sheet material 17, starts vac sorb warp-wise angled ends sheet material 17, warp-wise angled ends sheet material 17 is carried to folding
Behind the position of preforming tool 7, during angled ends sheet material carrying executive module sinking upper folding preforming tool 7 to be laminated, second
Housing 12 moves up, and warp-wise angled ends sheet material 17 is folded into after formed sheet 20, formed sheet 20 is carried to angled ends
The position of shaper 23, starts cylinder, and the second housing 12 and the second inside casing 13 are displaced outwardly mould of fitting, close vacuum, the
Two housing 12 second inside casing 13 position is restored, and angled ends sheet material carrying executive module moves, completes stone 1 action.
Action 2: after the completion of cutting sheets, the first robot 4 starts working, treat tail end sheet material carrying executive module run to
Position through caudad sheet material 15, starts vac sorb through caudad sheet material 15, will be carried to tail end folding through caudad sheet material 15
Behind the position of folded 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, and will be folded into after formed sheet 22 through caudad sheet material 15, formed sheet 22 is carried to tail end fixed
The position of pattern tool 24, starts cylinder, and the first housing 8, the first inside casing 9 and angular mobility frame 11 are displaced outwardly, mould of fitting, and closes
Close vacuum, the first housing 8 and the first inside casing 9 angular mobility frame position are restored, angled ends sheet material carrying executive module moves, completes
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 volume 35 fiber cloth to specified location, and punching mechanism 32 starts reciprocating mechanism, the first shearing
Knife 33 and the second sheaves 34 work, and obtain corresponding broadwise tail end sheet material 16 and broadwise angled ends sheet material 18.
After the completion of cutting sheets, the second robot 5 starts working, and treats that angled ends sheet material carrying executive module runs to broadwise
The position of angled ends sheet material 18, starts vac sorb broadwise angled ends sheet material 18, is carried to the position folding preforming tool 7
Postpone, during angled ends sheet material carrying executive module sinking upper folding preforming tool 7 to be laminated, the second housing 12 moves up,
Broadwise angled ends sheet material 18 is folded into after broadwise angled ends formed sheet 19, broadwise angled ends formed sheet 19 is carried to angle
The position of degree end shaper 23, starts cylinder, and the second housing 12 and the second inside casing 13 are displaced outwardly mould of fitting, and close true
Sky, the second housing 12 and the second inside casing 13 position are restored, and angled ends sheet material carrying executive module moves, completes stone action 3.
Action 4: after the completion of cutting sheets, the first robot 4 starts working, treat tail end sheet material carrying executive module run to
The position of broadwise tail end sheet material 16, starts vac sorb tail end sheet material assembly 16, is carried to tail end and folds preforming tool 6
Position after, tail end sheet material carrying executive module sinks upper tail end to be laminated when folding preforming tool 6, and the first housing 8 is upwards
Mobile, broadwise tail end sheet material 16 is folded into after broadwise tail end formed sheet 21, formed sheet 21 is carried to tail end stock mould
Have 24 positions, start cylinder, the first housing 8, the first inside casing 9 and angular mobility frame 11 are moved outwardly until laminating mould, close
Vacuum, the first housing 8, the first inside casing 9 and angular mobility frame position are restored, and angled ends sheet material carrying executive module moves, completes
Stone action 4.
Above-mentioned action 1 and action 2 are to carry out one group simultaneously, and action 3 and action 4 are a group simultaneously carrying out, and repeat above-mentioned
Two groups of actions complete cross-superimposed stone, warp-wise angled ends formed sheet 20 and laying with group through caudad formed sheet 22, latitude
Lay with group to angled ends formed sheet 19 and broadwise tail end formed sheet 21, be finally combined into approved product 25.
The all documents referring in the present invention are all incorporated as reference in this application, independent just as each document
It is incorporated as with reference to like that.In addition, it is to be understood that after the above-mentioned teachings having read the present invention, those skilled in the art can
To make various changes or modifications to the present invention, these equivalent form of values equally fall within the model that the application appended claims are limited
Enclose.
Claims (11)
1. a kind of automatic laying device of fiber cloth die is it is characterised in that described device includes: folding forming mould, mechanical hand
Carrying executive module；Wherein:
Described folding forming mould includes: mould, and described mould includes angled ends shaper (23) and tail end
Shaper (24), and preforming tool, described preforming tool includes tail end and folds preforming tool (6) and angled ends folding
Folded preforming tool (7)；
Described Manipulator Transportation executive module includes: tail end sheet material carrying executive module, angled ends sheet material carrying executive module, the
One robot (4) and the second robot (5)；
And in described device, described mould is placed on shaper dispenser (1), and described preforming tool is arranged on
On sheet material punching frame (3).
2. device as claimed in claim 1 is it is characterised in that in described device, executive module carried by described angled ends sheet material
It is installed on described second mechanical hand (5) end, and described angled ends sheet material carrying executive module includes: the carrying of angled ends sheet material is held
Row 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 is it is characterised in that in described angled ends sheet material carrying executive module, and described the
Two inside casings (13) are arranged on angled ends sheet material carrying execution frame (14), and can planar move left and right forwards, backwards.
4. device as claimed in claim 1 is it is characterised in that in described angled ends sheet material carrying executive module, and described the
Two housings (12) are 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 is it is characterised in that described tail end sheet material carrying executive module is installed on described the
One mechanical hand (4) end, and described tail end sheet material carrying executive module includes: tail end sheet material carrying execution frame (10), 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 is it is characterised in that in described tail end dististyle material carrying executive module, and described the
One inside casing (9) is carried execution frame (10) with described tail end dististyle material and is connected, and described the first inside casing (9) can be to housing four
Zhou Yidong.
7. device as claimed in claim 1 is it is characterised in that in described tail end dististyle material carrying executive module, and described the
One housing (8) is arranged on the first inside casing (9), and described the first housing (8) can move down along along described first inside casing (9) wall
Dynamic.
8. device as claimed in claim 1 is it is characterised in that described the second inside casing (13) is removed with described angled ends sheet material
Fortune execution frame (14) is connected, and can move around the described fixing point carrying execution frame (14) with angled ends sheet material；And/or
Described the first inside casing (9) is carried execution frame (14) with described tail end sheet material and is connected, and can be around described and tail end piece
The fixing point of material carrying execution frame (10) moves.
9. device as claimed in claim 8 is it is characterised in that described the second housing (12) and described the second inside casing (13)
It is connected, and can move with respect 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 enter with respect to described the first inside casing (9)
Row moves.
10. a kind of fiber cloth die stone method is it is characterised in that methods described is using as arbitrary in claim 1-9 described
Device carries out stone, and the method comprising the steps of:
Step (1): die (2) positioning installation of stone will be treated on shaper dispenser (1), moveable punching mechanism
(32) pull a fibrous material material volume (35) sheared to specified location, obtain corresponding through caudad sheet material (15) and warp-wise
Angled ends sheet material (17)；
Step (2): start described angled ends sheet material carrying executive module, under the drive of the second robot (5), will be described
Warp-wise angled ends sheet material (17) is carried to angled ends and folds preforming tool (7), and described the second housing (12) is upper to be moved and by institute
Warp-wise angled ends sheet material (17) stated folds and forms warp-wise angled ends formed sheet (20)；Described carrying executive module will be described
Warp-wise angled ends formed sheet (20) be carried to the position of angled ends shaper (23), make described the second housing (12) and
Second inside casing (13) is displaced outwardly, thus fitting with described shaper (23)；Described angled ends sheet material carrying executive module
Upper shifting, thus the sizing completing angled ends sheet material lays；
Step (3): start described tail end sheet material carrying executive module, under the drive of the first robot (4), by described warp
Caudad sheet material (15) is carried to tail end and folds preforming tool (6), and described the first housing (8) is upper to be moved and by described warp-wise
Tail end sheet material (15) folds and is formed through caudad formed sheet (22)；Described tail end carrying executive module is by described warp-wise tail
End formed sheet (22) is carried to the position of tail end shaper (24), make described the first housing (8) and the first inside casing (9) to
Outer movement, thus fit with described tail end shaper (24)；Move, thus completing on described tail end sheet material carrying executive module
The sizing of tail end sheet material lays；
Step (4): die (2) positioning installation of stone will be treated on shaper dispenser (1), moveable punching mechanism
(32) pull a fibrous material material volume (35) to be sheared to specified location, obtain corresponding broadwise tail end sheet material (16) and broadwise
Angled ends sheet material (18)；
Step (5): start described angled ends sheet material carrying executive module, under the drive of the second robot (5), will be described
Broadwise angled ends sheet material (18) is carried to angled ends and folds preforming tool (7), and described the second housing (12) is upper to be moved and by institute
Broadwise angled ends sheet material (18) stated folds and forms broadwise angled ends formed sheet (19)；Described carrying executive module will be described
Broadwise angled ends formed sheet (19) be carried to the position of angled ends shaper (23), make described the second housing (12) and
Second inside casing (13) is displaced outwardly, thus fitting with described shaper (23)；Described angled ends sheet material carrying executive module
Upper shifting, thus the sizing completing angled ends sheet material lays；
Step (6): start described tail end sheet material carrying executive module, under the drive of the first robot (4), by described latitude
Caudad sheet material (16) is carried to tail end and folds preforming tool (6), and described the first housing (8) is upper to be moved and by described broadwise
Tail end sheet material (16) folds and forms broadwise tail end formed sheet (21)；Described tail end carrying executive module is by described broadwise tail
End formed sheet (21) is carried to the position of tail end shaper (24), make described the first housing (8) and the first inside casing (9) to
Outer movement, thus fit with described tail end shaper (24)；Move, thus completing on described tail end sheet material carrying executive module
The sizing of tail end sheet material lays.
A kind of 11. fiber cloth injecting glue moulded products production equipments are it is characterised in that described equipment has claim 1-9 such as appoints
Device described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510001572.6A CN104527090B (en) | 2015-01-04 | 2015-01-04 | Automatic fabric-spreading device for fiber cloth concave die |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510001572.6A CN104527090B (en) | 2015-01-04 | 2015-01-04 | Automatic fabric-spreading device for fiber cloth concave die |
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| Publication Number | Publication Date |
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| CN104527090A CN104527090A (en) | 2015-04-22 |
| CN104527090B true CN104527090B (en) | 2017-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510001572.6A Active CN104527090B (en) | 2015-01-04 | 2015-01-04 | Automatic fabric-spreading device for fiber cloth concave die |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10035237C1 (en) * | 2000-07-20 | 2001-09-06 | Daimler Chrysler Ag | Press molding method for producing plastic shells from fiber-reinforced duroplastics, comprises feeding sections of fiber mat into molding press, spraying on resin, closing mold, allowing resin to cure and trimming flash from molding |
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2015
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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