CN112403811B - Path planning method for automatically paving tape, laying layers and coating tackifier and tackifying device using path planning method - Google Patents
Path planning method for automatically paving tape, laying layers and coating tackifier and tackifying device using path planning method Download PDFInfo
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- CN112403811B CN112403811B CN202011129203.2A CN202011129203A CN112403811B CN 112403811 B CN112403811 B CN 112403811B CN 202011129203 A CN202011129203 A CN 202011129203A CN 112403811 B CN112403811 B CN 112403811B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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Abstract
The invention provides a path planning method for automatically paving a tape laying layer and coating a tackifier, wherein in the spraying process, a first spraying path is along a geodesic of a curved surface of a mould; the subsequent spraying path is parallel to the geodesic line of the previous path so as to achieve the purpose of uniformly coating the tackifier. The invention also provides a tackifying device of the path planning method for coating the tackifying agent by using the automatic tape laying layer, so that the bonding capability of adjacent layers in the automatic tape laying process is improved, and the laying quality is prevented from being influenced by relative slippage of the adjacent layers due to over-low viscosity. A method of using a tacking device for a path planning method for applying a tacking agent by using an automatic tape laying layer. The device only needs one worker to add the tackifier into the tackifier storage device, automatically completes the processes of spraying, paving, steering and the like, has the advantages of low labor cost, high spraying efficiency, good spraying uniformity and the like, and can meet the requirements of industries such as aerospace, wind power and the like on high-performance manufacturing of large composite material components.
Description
Technical Field
The invention relates to the technical field of automatic tape laying of composite materials, in particular to a path planning method for coating a tackifier on an automatic tape laying layer. The invention also relates to a tackifying device of the path planning method for coating the tackifying agent by using the automatic tape laying layer. The invention also provides a use method of the tackifying device of the path planning method for coating the tackifying agent by using the automatic tape laying layer.
Background
The automatic tape laying technology is a typical representative of the automation of composite material molding, is an important way for realizing the low-cost, high-performance and high-efficiency manufacturing of the composite material, and is widely applied to the manufacturing of aerospace high-performance composite material structures. The automatic tape laying technology uses a unidirectional prepreg tape with backing paper as a raw material, completes cutting of a preset shape in a cutting area, and directly lays and attaches the tape on a mould or the surface of an upper layer of prepreg tape under the action of a compression roller after heating. During the laying process, the adjacent laying layers have certain attaching capacity. If the laminating ability is too poor, on one hand, slippage easily occurs between adjacent layers, the quality of a final component is influenced, and on the other hand, the belt material is easy to form a bridge in a concave area of the die, so that the layering fails.
In the automatic tape laying process, the first layer of prepreg tape is poor in the fitting capacity with the curved surface of the mold, so that the phenomenon of failure of laying is occasionally caused. In order to improve the ability of the ply to be applied, workers often manually apply a tackifier to the surface of the mold. However, for some large-scale curved surfaces of the mold, manual work has the disadvantages of low efficiency, poor coating uniformity and the like, and in addition, the working range of manual work is small, so that full coverage of the curved surfaces of the large-scale mold by the tackifier is not convenient to realize.
Disclosure of Invention
The method aims at the problems of poor laminating capability, high labor cost, low spraying efficiency, poor spraying uniformity and the like of the prior art.
The invention provides a path planning method for automatically paving a layering coating tackifier, which comprises the following steps:
s1, establishing a plane spraying experiment, determining the spraying width d, wherein the spraying width on the plane is approximately equal to the spraying width on the curved surface because the curved surface used by the automatic tape laying process is relatively smooth;
s2, setting a starting point on any short boundary of the curved surface of the mouldO 1To make the starting pointO 1The length of the geodesic line adjacent to the long boundary is d/2;
s3, fromO 1Starting, constructing a geodesic line along the direction perpendicular to the short boundary until the geodesic line reaches the other boundary of the curved surface, wherein the geodesic line is the first spraying path L1;
s4, constructing a second spraying path L2, wherein L2 is a geodesic parallel line of the first spraying path L1, and the length of the geodesic line between L1 and L2 is d;
s5, if the second spraying path L2 reaches the boundary of the curved surface of the mold, the final second spraying path is L2; if the second spraying path L2 does not reach the curved boundary of the mold, starting from the end point of the second spraying path L2, a geodesic L2 ' is constructed along the extension direction thereof until L2 ' reaches the curved boundary of the mold, and finally the second spraying path will be composed of L2 and L2 '; s6, constructing other spraying paths, enabling the latter spraying path to be a geodesic parallel line of the former spraying path, ensuring the length of the geodesic line between the adjacent spraying paths to be d, and enabling each spraying path to reach the curved surface boundary of the mold;
and S7, when the spraying path covers the curved surface of the mould completely, ending the path planning process.
The invention has the beneficial effects that:
in the spraying process, the device moves along the longer side of the curved surface of the die, and the short side is a turning side, so that the turning frequency of the device can be reduced, and the working time and the spraying efficiency are improved; in addition, the first spraying path can ensure the shortest spraying path and the highest efficiency along the geodesic of the curved surface of the mould; the subsequent spraying path can achieve the purpose of uniformly coating the tackifier along the geodesic parallel line of the previous path.
The invention also provides a tackifying device of the path planning method for coating the tackifying agent by using the automatic tape laying layer, which comprises a tackifying agent storage device, a dispensing gun, a laying device and a chassis, wherein the tackifying agent storage device is fixed in the middle area of the chassis through bolts, rubber stop blocks and limiting blocks, the dispensing gun is fixed on one side of the chassis through a first support, the laying device comprises a lifting mechanism and a rolling mechanism, the lifting mechanism is fixed on the other side of the chassis through a second support, the rolling mechanism is arranged below the lifting mechanism, and the rolling mechanism can freely move in the vertical direction under the driving of the lifting mechanism.
Further, the tackifier storage device includes the pressure bucket, be equipped with the inside and outside connecting hole of a plurality of intercommunication pressure buckets on the pressure bucket, the connecting hole includes the connection rubber tube hole with the rubber tube intercommunication for the installation pressure regulating valve opening of installation air-vent valve and the installation exhaust valve opening that is used for installing discharge valve.
Further, the connecting hole also comprises a safety valve mounting hole for mounting a safety valve.
Further, the pressure barrel comprises a barrel body, a barrel cover and a sealing washer, the sealing washer is arranged between the barrel body and the barrel cover, the barrel body and the barrel cover are fixed through a lifting ring nut, an eyelet bolt, a hexagon bolt and a nut, and the connecting hole is formed in the barrel cover.
Further, elevating system includes cylinder, adapter, connecting rod, first fixing base, the flexible end and the adapter upper surface threaded connection of cylinder, and the relative other end passes through hexagon head bolt and second support fixed connection, the adapter makes near middle part of cylinder and connecting rod be connected through round pin axle, connecting rod one end is rotated through round pin axle and first fixing base and is connected, the connecting rod other end rotates through round pin axle and roll-in mechanism and is connected, first fixing base passes through bolt and chassis fixed connection.
Further, the rolling mechanism comprises a bearing retainer ring, a bearing seat, a second fixing seat, a fixing part, a polyurethane rubber roller, a bearing and a shaft, wherein the bearing retainer ring is installed on the bearing seat, the bearing seat is fixedly connected with two side faces of the fixing part through a pin, the second fixing seat is fixedly connected with the upper surface of the fixing part through a pin, the second fixing seat is hinged with a connecting rod through a pin shaft, the polyurethane rubber roller is in interference fit with the middle of the shaft, and two ends of the shaft are in interference fit with the bearing in the bearing seat.
Further, the matching part of the polyurethane rubber roller and the shaft is coated with glue.
Further, the chassis comprises a base, a motor support, a Mecanum wheel and a brushless direct current motor, the motor support is fixed to the base through screws, the brushless direct current motor is connected with the motor support through screws, the Mecanum wheel is connected with an output shaft key of the brushless direct current motor in a key mode, and a roller deflection angle of the Mecanum wheel is 45 degrees.
The invention has the beneficial effects that:
the invention realizes omnidirectional movement based on Mecanum wheels, does not need a steering mechanism, and reduces the size and the manufacturing cost of the device; the invention only needs one worker to add the tackifier into the tackifier storage device, automatically completes the processes of spraying, paving, steering and the like, has the advantages of low labor cost, high spraying efficiency, good spraying uniformity and the like, and can meet the requirements of industries of aerospace, wind power and the like on high-performance manufacturing of large composite material components.
The invention also provides a using method of the adhesion promotion device applying the adhesion promotion agent coating path planning method, which comprises the following steps:
s1, assembling and debugging:
s1.1, injecting a tackifier into a tackifier storage device, and assembling the tackifier storage device;
s1.2, automatically positioning the viscosity increasing device in S1.1 to the starting point of the first spraying path L1O 1And ensure the outlet and the starting point of the glue dispensing gunO 1Aligning, wherein the dispensing gun faces the inner part of the curved surface of the mold;
s1.3, starting an external air source to enable the tackifier to enter a point glue gun from a tackifier storage device;
s2, spraying:
s2.1, spraying the tackifier in the S1 from a nozzle of a dispensing gun to a target area, applying pressure to an air cylinder by an external air source to enable a rolling mechanism to move downwards, and enabling a polyurethane rubber roller to be in contact with the surface of a mold to generate micro deformation;
s2.2, driving a Mecanum wheel through a brushless direct current motor to enable the adhesion promotion device to move along a first spraying path L1 to form a uniform spraying path, and finishing spraying of the first path L1 when the polyurethane rubber roller passes through the tail end point of L1;
s2.3, after the spraying of the first path L1 is finished, the adhesion promotion device is positioned to the tail end point of the second spraying path L2 in the shortest path, the outlet of the glue dispensing gun is aligned with the tail end point, the glue dispensing gun faces the interior of the curved surface of the mold, and in the process that the adhesion promotion device moves from the first spraying path L1 to the second spraying path L2, the glue dispensing gun does not perform the spraying work, meanwhile, the air cylinder contracts, and the rolling mechanism moves upwards, so that the polyurethane glue roller is not contacted with the surface of the mold any more;
s2.4, completing spraying of a second spraying path L2 and subsequent paths by adopting the steps S2.1-S2.3, wherein in the spraying process, the adhesion promotion device moves along the longer side of the curved surface of the die, and the short side is a turning side;
s3, sorting: and when the spraying path fully covers the curved surface of the die, the power supply is turned off, and the adhesion increasing device is detached and cleaned.
The effects of the present invention are as described above.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a cross-sectional view of a tackifier storage device;
FIG. 3 is a partial schematic view of a dispensing gun;
FIG. 4 is a schematic view of the draping device;
FIG. 5 is a schematic view of a roller press mechanism;
FIG. 6 is a flow chart of a spray path planning method;
FIG. 7 shows a first spray path in example 2;
FIG. 8 is a second spray path in example 2;
FIG. 9 shows all the spray paths in example 2;
FIG. 10 shows a first spray path in example 3;
FIG. 11 is a second spray path in example 3;
FIG. 12 is an extension of the second spray path of example 3;
FIG. 13 shows all the spray paths in example 3;
FIG. 14 is a schematic view of a travel route of a ply tack apparatus.
In the figure: 1-1. eye nut; 1-2. a barrel cover; 1-3, swing bolt; 1-4, a rubber stopper; 1-5, a limiting block; 1-6, installing a safety valve hole; 1-7, installing an exhaust valve hole; 1-8, connecting the rubber tube hole; 1-9, installing a pressure regulating valve hole; 1-10. sealing washer; 1-11. a barrel body; 2-1, dispensing a glue gun; 2-2, a tackifier inlet; 2-3. an air inlet; 3-1, a cylinder; 3-2, an adapter; 3-3, connecting rod; 3-4, a first fixed seat; 3-5, bearing retainer ring; 3-6, bearing seats; 3-7, a second fixed seat; 3-8, fixing parts; 3-9, polyurethane rubber roller; 3-10. bearings; 3-11. shaft; 4-1. a base; 4-2, motor support; 4-3 Mecanum wheels; 4-4. brushless DC motor.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of the present invention.
Example 1
As shown in fig. 6, a path planning method for automatically spreading and coating a ply with a tackifier comprises the following steps:
s1, establishing a plane spraying experiment, determining a spraying width d, wherein the spraying width on the plane is approximately equal to the spraying width on the curved surface because the curved surface used by the automatic tape laying process is relatively smooth, specifically, the plane spraying experiment is carried out along a straight path, five points are uniformly taken on the straight path, the width of the formed spraying area at the five points is measured, and the spraying width d is obtained after averaging;
s2, setting a starting point on any short boundary of the curved surface of the mouldO 1To make the starting pointO 1The length of the geodesic line with the closer long boundary is d/2;
s3, fromO 1Starting, constructing a geodesic line along the direction perpendicular to the short boundary until the geodesic line reaches the other boundary of the curved surface, wherein the geodesic line is the first spraying path L1;
s4, constructing a second spraying path L2, wherein L2 is a geodesic parallel line of the first spraying path L1, and the length of the geodesic line between L1 and L2 is d;
s5, if the second spraying path L2 reaches the boundary of the curved surface of the mold, the final second spraying path is L2; if the second spraying path L2 does not reach the curved boundary of the mold, starting from the end point of the second spraying path L2, a geodesic L2 ' is constructed along the extension direction thereof until L2 ' reaches the curved boundary of the mold, and finally the second spraying path will be composed of L2 and L2 ';
s6, constructing other spraying paths, enabling the latter spraying path to be a geodesic parallel line of the former spraying path, ensuring the length of the geodesic line between the adjacent spraying paths to be d, and enabling each spraying path to reach the curved surface boundary of the mold;
and S7, when the spraying path fully covers the curved surface of the mould, ending the path planning process, wherein the fully covered concrete expression form is when the length of the geodesic line between the last spraying path and the adjacent long adjacent side is less than or equal to d/2.
In this embodiment, the spraying process is initiated by setting a starting point on any short boundaryO 1A geodesic line is constructed along the direction vertical to the boundary of the short edge, namely, the geodesic line moves along the longer side of the curved surface of the mold, so that the short edge is a turning edge, the turning frequency of the device can be reduced, and the working time and the spraying efficiency are improved; in addition, the first spraying path can ensure the shortest spraying path and the highest efficiency along the geodesic of the curved surface of the mould; the subsequent spraying path can achieve the purpose of uniformly coating the tackifier along the geodesic parallel line of the previous path.
Example 2
S1, establishing a plane spraying experiment, determining the spraying width d, performing the plane spraying experiment along a straight line path, uniformly taking five points on the straight line path, measuring the width of the formed spraying area at the five points, and averaging to obtain the spraying width of 200 mm;
s2, as shown in FIG. 7, the double-curved mold is input S1, and a starting point is set on a short boundary of S1O 1To make the starting pointO 1The curve distance from the closer long boundary is 100 mm;
s3, fromO 1Starting, constructing a geodesic line along the direction perpendicular to the short boundary until the geodesic line reaches the other boundary of the curved surface, wherein the geodesic line is the first spraying path L1;
s4, as shown in FIG. 8, constructing the second spraying path L2 as a geodesic parallel line of the first spraying path L1, and making the length of the geodesic line between L1 and L2 be 200 mm;
s5, the L2 reaches the boundary of the curved surface of the die, so that the second spraying path is formed;
s6, as shown in FIG. 9, constructing subsequent spraying paths L3 and L4 … L10 by a similar method, so that the latter spraying path is a geodesic parallel line of the former spraying path, and the length of the geodesic between the adjacent spraying paths is ensured to be 200mm, obviously, all the spraying paths reach the curved surface boundary of the mold;
and S7, since the spraying paths L1 and L2 … L10 fully cover the curved surface of the mold, the subsequent spraying path of L10 exceeds the boundary of the curved surface of the mold, and therefore the path planning process is finished.
In this embodiment, the spraying process is initiated by setting a starting point on any short boundaryO 1A geodesic line is constructed along the direction vertical to the boundary of the short edge, namely, the geodesic line moves along the longer side of the curved surface of the mold, so that the short edge is a turning edge, the turning frequency of the device can be reduced, and the working time and the spraying efficiency are improved; in addition, the first spraying path can ensure the shortest spraying path and the highest efficiency along the geodesic of the curved surface of the mould; the subsequent spraying path can achieve the purpose of uniformly coating the tackifier along the geodesic parallel line of the previous path.
Example 3
S1, establishing a plane spraying experiment, determining the spraying width d, carrying out the plane spraying experiment along a straight line path, uniformly taking five points on the straight line path, measuring the width of the formed spraying area at the five points, and averaging to obtain the spraying width d of 200 mm;
s2, as shown in FIG. 10, inputting the free-form surface mold S2, setting a starting point on a short boundary of S2O 1To make the starting pointO 1The length of the geodesic line with the closer long boundary is d/2 and is 100 mm;
s3, fromO 1Starting, constructing a geodesic line along the direction perpendicular to the short boundary until the geodesic line reaches the other boundary of the curved surface, wherein the geodesic line is the first spraying path L1;
s4, as shown in FIG. 11, constructing the second spraying path L2 as a geodesic parallel line of the first spraying path L1, and making the length of the geodesic line between L1 and L2 be 200 mm;
s5, as shown in FIG. 12, L2 did not reach the boundary of the curved surface of the mold, and thus the L2 end point was reachedO 2Starting from L2, a geodesic line L2 'is constructed until L2' reaches the boundary of the curved surface of the mold, and finally a second spray is appliedThe path will consist of L2 and L2';
s6, as shown in FIG. 13, constructing subsequent spraying paths L3 and L4 … L10 by a similar method, so that the latter spraying path is a geodesic parallel line of the former spraying path, and the length of the geodesic between the adjacent spraying paths is ensured to be 200mm, obviously, all the spraying paths reach the curved surface boundary of the mold;
and S7, since the spraying paths L1 and L2 … L10 fully cover the curved surface of the mold, the subsequent spraying path of L10 exceeds the boundary of the curved surface of the mold, and therefore the path planning process is finished.
In this embodiment, the spraying process is initiated by setting a starting point on any short boundaryO 1A geodesic line is constructed along the direction vertical to the boundary of the short edge, namely, the geodesic line moves along the longer side of the curved surface of the mold, so that the short edge is a turning edge, the turning frequency of the device can be reduced, and the working time and the spraying efficiency are improved; in addition, the first spraying path can ensure the shortest spraying path and the highest efficiency along the geodesic of the curved surface of the mould; the subsequent spraying path can achieve the purpose of uniformly coating the tackifier along the geodesic parallel line of the previous path.
In embodiments 1 to 3, the processes of step S2 to step S7 may be implemented in MATLAB software.
The utility model provides an application is automatic to be spread and is spread layer route planning method's of layer coating adhesion promoter device, as shown in figure 1, including adhesion promoter storage device, point gum rifle 2-1, shop and cover device and chassis, adhesion promoter storage device passes through bolt, rubber dog 1-4, stopper 1-5 and fixes the chassis middle part is regional, point gum rifle 2-1 is fixed in chassis one side through first support, it includes elevating system and rolling mechanism to cover the device, elevating system is fixed in the chassis opposite side through the second support, rolling mechanism installs in the elevating system below, under elevating system's drive, rolling mechanism can freely remove in vertical direction. Through elevating system's setting, can make the surface contactless of rolling mechanism and mould curved surface, prevent that too much wearing and tearing from appearing in rolling mechanism at the viscosifying device lateral shifting and the steering process.
As shown in fig. 1 and 2, the tackifier storage device comprises a pressure barrel, wherein a plurality of connecting holes communicated with the inside and the outside of the pressure barrel are formed in the pressure barrel, the connecting holes comprise connecting rubber pipe holes 1-8 communicated with a rubber pipe, mounting pressure regulating valve holes 1-9 used for mounting a pressure regulating valve and mounting exhaust valve holes 1-7 used for mounting an exhaust valve, and the connecting rubber pipe holes 1-8 are connected with a tackifier inlet 2-2 of a dispensing gun 2-1 through the rubber pipe to provide a tackifier for the dispensing gun 2-1; the pressure regulating valve holes 1-9 are connected with an external air source through pressure regulating valves and rubber pipes, and can regulate the air pressure in the pressure barrel; the exhaust valve holes 1-7 are arranged to exchange gas with the outside through the exhaust valves; the connecting hole also comprises mounting safety valve holes 1-6 for mounting a safety valve, and the safety of the pressure barrel is ensured through the arrangement of the safety valve.
As shown in fig. 1 and 2, the pressure barrel comprises a barrel body 1-11, a barrel cover 1-2 and a sealing gasket 1-10; a barrel cover 1-2 of the pressure barrel is provided with a connecting rubber tube hole 1-8, a safety valve hole 1-6, a pressure regulating valve hole 1-9 and an exhaust valve hole 1-7; the sealing washer 1-10 is sleeved at the upper end of the barrel body 1-11, and the barrel cover 1-2 is tightly attached to the sealing washer 1-10 to play a role in sealing the pressure barrel; the barrel body 1-11 is connected with the swing bolt 1-3 through a hexagon bolt, and the swing bolt 1-3 is fixed by the eyenut 1-1 to play a role in fixing the barrel body 1-11 and the barrel cover 1-2; the lifting ring nut 1-1 can fix the barrel body 1-11 and the barrel cover 1-2, and can lift the device from the ground to the surface of a mold through a rope, and similarly, the device can be taken down from the surface of the mold; the barrel body 1-11 is fixed on the base 4-1 through bolts, rubber stoppers 1-4 and limiting blocks 1-5.
As shown in figure 3, the glue dispensing gun 2-1 sprays the tackifier to the surface of the mold, and the air inlet 2-3 is connected with an external air source through a rubber tube to provide a power source for the glue dispensing gun 2-1.
As shown in fig. 4 and 5, the spreading mechanism is used for further uniformly coating the tackifier, wherein the lifting mechanism comprises a cylinder 3-1, an adapter 3-2, a connecting rod 3-3 and a first fixing seat 3-4, and the cylinder 3-1 is powered by an external air source; the telescopic end of the cylinder 3-1 faces downwards, the telescopic end is in threaded connection with the upper surface of the adapter 3-2, the adapter 3-2 enables the cylinder 3-1 to be connected with the position near the middle of the connecting rod 3-3 through a pin shaft, one end of the connecting rod 3-3 is in rotary connection with the first fixing seat 3-4 through the pin shaft, namely the connecting rod 3-3 can rotate around the first fixing seat 3-4, the other end of the connecting rod 3-3 is in rotary connection with the rolling mechanism through the pin shaft, the first fixing seat 3-4 is fixedly connected with the chassis through a bolt, and the rolling mechanism can move up and down through the work of the cylinder 3-1; the rolling mechanism comprises 3-5 parts of a bearing retainer ring, 3-6 parts of a bearing seat, 3-7 parts of a second fixed seat, 3-8 parts of a fixing part, 3-9 parts of a polyurethane rubber roller, 3-10 parts of a bearing and 3-11 parts of a shaft; the bearing 3-10 is arranged in a bearing seat 3-6, a bearing retainer ring 3-5 is arranged on the bearing seat 3-6, the bearing retainer ring 3-5 is used for retaining the bearing 3-10, the bearing seat 3-6 is fixedly connected with two side surfaces of a fixing piece 3-8 through bolts, the bearing 3-10 is convenient to install and fix, a second fixing seat 3-7 is fixedly connected with the upper surface of the fixing piece 3-8 through bolts, the purpose is to provide positions for installing other parts of a rolling mechanism, a polyurethane rubber roller 3-9 is in interference fit with the middle of a shaft 3-11, the purpose is to roll a tackifier, the tackifier is uniformly spread, meanwhile, the glue is used for fixing at a matching part, the purpose is to prevent the shaft 3-11 and the polyurethane rubber roller 3-9 from rotating relatively during working, two ends of the shaft 3-11 are in interference fit with the bearing 3-10, the purpose is to support the shafts 3-11 free to rotate. As shown in fig. 1, the chassis comprises a base 4-1, a motor support 4-2, a mecanum wheel 4-3 and a brushless dc motor 4-4, wherein the motor support 4-2, the mecanum wheel 4-3 and the brushless dc motor 4-4 are respectively provided with four groups, and are arranged at four corners of the base 4-1; the motor support 4-2 and the base 4-1 are fixed through screws, the brushless direct current motor 4-4 is connected with the motor support 4-2 through screws, and the Mecanum wheel 4-3 is connected with an output shaft of the brushless direct current motor 4-4 through a key; the roller deflection angle of Mecanum wheel 4-3 is selected to be 45 deg., and the energy source of brushless DC motor 4-4 is supplied by external power supply. Through the arrangement of Mecanum wheels 4-3, the movement and omnidirectional movement of the viscosity increasing device can be realized, a steering mechanism is not needed, and the size and the manufacturing cost of the device are reduced.
The invention also provides a using method of the adhesion promotion device applying the adhesion promotion agent coating path planning method, which comprises the following steps:
s1, assembling and debugging:
s1.1, injecting a tackifier into a tackifier storage device, and assembling the tackifier storage device;
s1.2, automatically positioning the viscosity increasing device in S1.1 to the starting point of the first spraying path L1O 1And ensure the outlet and the starting point of the glue dispensing gun 2-1O 1Aligning, wherein the glue dispensing gun 2-1 faces the inner part of the curved surface of the mold;
s1.3, starting an external air source to enable the tackifier to enter a point glue gun 2-1 from a tackifier storage device;
s2, spraying:
s2.1, spraying the tackifier in the S1 from a nozzle of a dispensing gun 2-1 to a target area, and applying pressure to an air cylinder 3-1 by an external air source to enable a rolling mechanism to move downwards so that a polyurethane rubber roller 3-9 is in contact with the surface of a mold to generate micro deformation;
s2.2, driving the Mecanum wheel 4-3 through the brushless direct current motor 4-4 to enable the adhesion promotion device to move along a first spraying path L1 to form a uniform spraying path, and finishing spraying of the first path L1 when the polyurethane rubber roller 3-9 passes through the end point of L1;
s2.3, after the spraying of the first path L1 is finished, the adhesion promotion device is positioned at the tail end point of the second spraying path L2 by the shortest path, the outlet of the glue dispensing gun 2-1 is aligned with the tail end point, the glue dispensing gun 2-1 faces the interior of the curved surface of the mold, the glue dispensing gun 2-1 does not perform the spraying work in the process that the adhesion promotion device moves from the first spraying path L1 to the second spraying path L2, meanwhile, the air cylinder 3-1 contracts, and the roller pressing mechanism moves upwards, so that the polyurethane glue roller 3-9 is not contacted with the surface of the mold any more;
s2.4, completing spraying of a second spraying path L2 and subsequent paths by adopting the steps S2.1-S2.3, wherein in the spraying process, the adhesion promotion device moves along the longer side of the curved surface of the die, and the short side is a turning side;
s3, sorting: and when the spraying path fully covers the curved surface of the die, the power supply is turned off, and the adhesion increasing device is detached and cleaned.
In this embodiment, the specific working process of assembling and debugging in step S1 is as follows:
s1.1, taking down a lifting eye nut 1-1 by 1 worker, opening an eyelet bolt 1-3, then opening a barrel cover 1-2, injecting a tackifier into a pressure barrel of a tackifier storage device, stirring the tackifier to enable the tackifier to be difficult to block a rubber tube, then putting down the barrel cover 1-2, pulling up the eyelet bolt 1-3, and installing the lifting eye nut 1-1;
s1.2, then the adhesion promoter is activated, which is automatically positioned to the starting point of the first spray path L1O 1And ensure the outlet and the starting point of the glue dispensing gun 2-1O 1Aligning, wherein the glue dispensing gun 2-1 faces the inner part of the curved surface of the mold; the movement and the steering of the viscosity increasing device are realized through Mecanum wheels 4-3 which are driven by brushless direct current motors 4-4, and the energy of the brushless direct current motors 4-4 is supplied by an external power supply;
s1.3, finally starting an external air source to enable the tackifier to enter a point glue gun 2-1 from a tackifier storage device;
the specific working process of spraying in step S2 is as follows:
s2.1, firstly, spraying the tackifier entering the dispensing gun 2-1 to a target area from a nozzle of the dispensing gun 2-1; meanwhile, an external air source applies pressure to the air cylinder 3-1 to enable the rolling mechanism to move downwards, and the polyurethane rubber roller 3-9 is in contact with the surface of the die to generate micro deformation;
s2.2, driving a Mecanum wheel 4-3 through a brushless direct current motor 4-4 to enable the adhesion promotion device to move along a first spraying path L1, and enabling a glue dispensing gun 2-1 and a rolling mechanism to act together to form a uniform spraying path; when the polyurethane rubber rollers 3-9 pass through the end point of L1, the first path is sprayed completely;
s2.3, after the spraying of the first path is finished, the adhesion promotion device is positioned to the tail end point of the second spraying path in the shortest path, the outlet of a glue dispensing gun 2-1 is aligned with the tail end point, and the glue dispensing gun 2-1 faces the inner part of the curved surface of the mold; in the process that the device moves from a first path to a second path, the glue dispensing gun 2-1 does not perform spraying work, meanwhile, the air cylinder 3-1 contracts, the roller pressing mechanism moves upwards, so that the polyurethane rubber roller 3-9 is not in contact with the surface of the die, and the polyurethane rubber roller 3-9 is prevented from being excessively worn in the lateral movement and turning processes of the adhesion device;
s2.4, finishing the spraying of a second path and a subsequent path by adopting the same steps; the advancing route of the adhesion increasing device is shown in fig. 14, the device moves along the longer side of the curved surface of the die, and the short side is a turning side, so that the turning frequency of the device can be reduced, and the working time and the spraying efficiency can be improved.
Step S3 collates: and when the spraying path fully covers the curved surface of the die, the power supply is turned off, and the adhesion increasing device is detached and cleaned.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A path planning method for automatically paving a layer and coating a tackifier is characterized by comprising the following steps:
s1, establishing a plane spraying experiment, determining the spraying width d, wherein the spraying width on the plane is approximately equal to the spraying width on the curved surface because the curved surface used by the automatic tape laying process is relatively smooth;
s2, setting a starting point on any short boundary of the curved surface of the mouldO 1To make the starting pointO 1The length of the geodesic line adjacent to the long boundary is d/2;
s3, fromO 1Starting, constructing a geodesic line along the direction perpendicular to the short boundary until the geodesic line reaches the other boundary of the curved surface, wherein the geodesic line is the first spraying path L1;
s4, constructing a second spraying path L2, wherein L2 is a geodesic parallel line of the first spraying path L1, and the length of the geodesic line between L1 and L2 is d;
s5, if the second spraying path L2 reaches the boundary of the curved surface of the mold, the final second spraying path is L2; if the second spraying path L2 does not reach the curved boundary of the mold, starting from the end point of the second spraying path L2, a geodesic L2 ' is constructed along the extension direction thereof until L2 ' reaches the curved boundary of the mold, and finally the second spraying path will be composed of L2 and L2 '; s6, constructing other spraying paths, enabling the latter spraying path to be a geodesic parallel line of the former spraying path, ensuring the length of the geodesic line between the adjacent spraying paths to be d, and enabling each spraying path to reach the curved surface boundary of the mold;
and S7, when the spraying path covers the curved surface of the mould completely, ending the path planning process.
2. The adhesion promotion device for the path planning method for coating the adhesion promotion agent by using the automatic tape laying layer as claimed in claim 1, is characterized by comprising an adhesion promotion agent storage device, a glue dispensing gun (2-1), a laying device and a chassis, wherein the adhesion promotion agent storage device is fixed on the middle area of the chassis through bolts, rubber stop blocks (1-4) and limit blocks (1-5), the glue dispensing gun (2-1) is fixed on one side of the chassis through a first support, the laying device comprises a lifting mechanism and a rolling mechanism, the lifting mechanism is fixed on the other side of the chassis through a second support, the rolling mechanism is arranged below the lifting mechanism, and the rolling mechanism can freely move in the vertical direction under the driving of the lifting mechanism.
3. The adhesion promotion device according to claim 2, wherein the adhesion promotion agent storage device comprises a pressure barrel, the pressure barrel is provided with a plurality of connecting holes for communicating the inside and the outside of the pressure barrel, the connecting holes comprise connecting rubber tube holes (1-8) communicated with a rubber tube, installation pressure regulating valve holes (1-9) for installing pressure regulating valves and installation exhaust valve holes (1-7) for installing exhaust valves.
4. The device according to claim 3, wherein the attachment hole further comprises a safety valve mounting hole (1-6) for mounting a safety valve.
5. The viscosity increasing device as claimed in claim 4, wherein the pressure barrel comprises a barrel body (1-11), a barrel cover (1-2) and a sealing washer (1-10), the sealing washer (1-10) is installed between the barrel body (1-11) and the barrel cover (1-2), the barrel body (1-11) and the barrel cover (1-2) are fixed through an eyenut (1-1), an eyelet bolt (1-3), a hexagon bolt and a nut, and the connecting hole is located on the barrel cover (1-2).
6. The viscosity increasing device according to claim 2, wherein the lifting mechanism comprises a cylinder (3-1), a joint (3-2), a connecting rod (3-3) and a first fixed seat (3-4), the telescopic end of the cylinder (3-1) is in threaded connection with the upper surface of the adapter (3-2), the other opposite end is fixedly connected with the second bracket through a hexagon head bolt, the adapter (3-2) connects the cylinder (3-1) with the middle part of the connecting rod (3-3) through a pin shaft, one end of the connecting rod (3-3) is rotationally connected with the first fixed seat (3-4) through a pin shaft, the other end of the connecting rod (3-3) is rotatably connected with the rolling mechanism through a pin shaft, and the first fixing seat (3-4) is fixedly connected with the chassis through a bolt.
7. The viscosity increasing device as claimed in claim 6, wherein the rolling mechanism comprises a bearing retainer ring (3-5), a bearing seat (3-6), a second fixing seat (3-7), a fixing member (3-8), a polyurethane rubber roller (3-9), a bearing (3-10) and a shaft (3-11), the bearing retainer ring (3-5) is mounted on the bearing seat (3-6), the bearing seat (3-6) is fixedly connected with two side faces of the fixing member (3-8) through a pin, the second fixing seat (3-7) is fixedly connected with the upper surface of the fixing member (3-8) through a pin, the second fixing seat (3-7) is hinged with the connecting rod (3-3) through a pin shaft, the polyurethane rubber roller (3-9) is in interference fit with the middle part of the shaft (3-11), and two ends of the shaft (3-11) are in interference fit with the bearings (3-10) in the bearing seats (3-6).
8. The device according to claim 7, wherein the portion of the polyurethane rubber roller (3-9) that engages with the shaft (3-11) is coated with glue.
9. The viscosity increasing device of claim 8, wherein the chassis comprises a base (4-1), a motor bracket (4-2), a Mecanum wheel (4-3) and a brushless direct current motor (4-4), the motor bracket (4-2) is fixed with the base (4-1) through screws, the brushless direct current motor (4-4) is connected with the motor bracket (4-2) through screws, the Mecanum wheel (4-3) is connected with an output shaft key of the brushless direct current motor (4-4), and the roller deflection angle of the Mecanum wheel (4-3) is 45 degrees.
10. A method of using the device of claim 9, comprising the steps of:
s1, assembling and debugging:
s1.1, injecting a tackifier into a tackifier storage device, and assembling the tackifier storage device;
s1.2, automatically positioning the viscosity increasing device in S1.1 to the starting point of the first spraying path L1O 1And ensure the outlet and the starting point of the glue dispensing gun (2-1)O 1Aligning, wherein a glue dispensing gun (2-1) faces the inner part of the curved surface of the mould;
s1.3, starting an external air source to enable the tackifier to enter a point glue gun (2-1) from a tackifier storage device;
s2, spraying:
s2.1, spraying the tackifier in the S1 from a nozzle of a dispensing gun (2-1) to a target area, and applying pressure to a cylinder (3-1) by an external air source to enable a rolling mechanism to move downwards, so that a polyurethane glue roller (3-9) is in contact with the surface of a mould to generate micro deformation;
s2.2, driving a Mecanum wheel (4-3) through a brushless direct current motor (4-4) to enable the tackifying device to move along a first spraying path L1 to form a uniform spraying path, wherein when the polyurethane rubber roller (3-9) passes through the tail end point of L1, the first path L1 is completely sprayed;
s2.3, after the spraying of the first path L1 is finished, the adhesion promotion device is positioned to the tail end point of the second spraying path L2 in the shortest path, the outlet of the glue dispensing gun (2-1) is aligned with the tail end point, the glue dispensing gun (2-1) faces the interior of the curved surface of the mold, the glue dispensing gun (2-1) does not perform the spraying work in the process that the adhesion promotion device moves from the first spraying path L1 to the second spraying path L2, meanwhile, the air cylinder (3-1) contracts, and the roller pressing mechanism moves upwards, so that the polyurethane glue roller (3-9) is not contacted with the surface of the mold any more;
s2.4, completing spraying of a second spraying path L2 and subsequent paths by adopting the steps S2.1-S2.3, wherein in the spraying process, the adhesion promotion device moves along the longer side of the curved surface of the die, and the short side is a turning side;
s3, sorting: and when the spraying path fully covers the curved surface of the die, the power supply is turned off, and the adhesion increasing device is detached and cleaned.
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