CN108819292B - Thermoplastic composite material automatic laying device and method - Google Patents

Abstract

The invention discloses a thermoplastic composite material automatic laying device and a method thereof. The thermoplastic composite material automatic laying device comprises a laying device, the laying device is installed on a support plate, and a laser welding head of a laser welding device is fixed on the laying device On one side, the ultrasonic vibration device is fixed on the other side of the laying device; the thermoplastic prepreg tape wound on the tape reel by the laying device is transferred to the lower part of the pressing roller through the guide wheel and the main and auxiliary driving rollers to control the pressure of the pressing roller. The thermoplastic prepreg tape is fully contacted with the substrate; the laser beam emitted by the laser welding head is irradiated obliquely at the junction of the thermoplastic prepreg tape and the substrate, and the infrared temperature probe detects the processing temperature and feeds it back to the computer to control the processing temperature in real time; ultrasonic vibration The device ultrasonically impacts the thermoplastic prepreg tape behind the pressure roller; the laser of the present invention acts as a heat source, and the heating area is precise and fast; ultrasonic energy is introduced to improve the interface connection strength; closed-loop temperature control improves the quality of processed molded parts.

Description

Thermoplastic composite material automatic laying device and method

technical field

The invention belongs to the technical field of laser processing, and relates to a thermoplastic composite material automatic laying device and method.

Background technique

Structural parts made of high-performance composite fiber materials have the characteristics of high strength, light weight and corrosion resistance, and are widely used in aerospace, automobile, electrical appliances, construction and other fields. Among them, thermoplastic resin matrix composites have the characteristics of short curing time, greatly shortening the molding cycle, strong impact toughness, good welding performance, etc., and have received more and more attention and research. However, due to the high melting point and high viscosity of its resin base material, high temperature and high pressure are required for component molding, and the requirements for molding equipment are strict, which restricts its further promotion and use, and the automatic laying molding technology can effectively solve this problem.

Laser welding technology is a welding technology that uses a high-energy-density laser beam as a welding heat source to melt and bond the workpiece to achieve the purpose of welding. Laser welding beam energy density is high, welding speed is fast, and processing is accurate. Laser welding is non-contact welding, which can realize welding at a certain distance, which is flexible and convenient, and is often used in conjunction with robots to achieve automation. Refractory materials can be welded by laser welding, and dissimilar materials can be welded, and the welding effect is good. This makes it one of the ideal means for automatic placement of high-performance composite fiber materials.

When the ultrasonic wave propagates in the medium, it can produce phenomena such as mechanical, cavitation, acoustic flow and thermal effects, so that the ultrasonic wave has multiple functions such as strong dispersion, crushing, and activation at the same time. In the process of composite material processing, power ultrasound is used to break the bubbles in the liquid, and at the same time, high temperature, high pressure and local effects are generated to improve the physical and chemical properties of the composite material.

Chinese patent CN104354302B discloses a device and method for laying composite material preforms by automatic film sticking, which is characterized by first pressing fibers and resin films into semi-prepreg tapes, and then laying the semi-prepreg tapes on the core mold , and obtain a preform. However, it is not suitable for the laying of thermoplastic composite components with small curvature, the laying speed is slow, and the interfacial connection strength of thermoplastic composites is low, which cannot meet the actual use requirements.

Chinese patent CN104626611B discloses an automatic tape laying device and method based on a six-axis robot, which is characterized in that the prepreg tape is transported to the core mold or the surface that has been laid and pressed through the tape laying device, and an infrared lamp is used to heat the laying Put into shape. Infrared heating transfers energy through electromagnetic waves, and the heat transfer form is radiation heat transfer, which has the disadvantages of large heating range and low energy density, which leads to the accumulation of heat in the pressing roller of the laying device and affects the molding quality. The laying efficiency is low and it is difficult to control the processing temperature. .

Chinese patent CN105904739A discloses a device and method for rapid and automatic laying of thermoplastic composite materials. The thermoplastic prepreg tape is laid and formed by using an ultrasonic heating device, and after curing, the crystallinity and grain size are controlled to achieve optimization. The purpose of component performance. However, since the heat source is generated by mechanical vibration, the surface molding quality of the fabricated structural parts is low, and curing treatment is required, resulting in low processing efficiency.

SUMMARY OF THE INVENTION

In order to achieve the above purpose, the present invention provides an automatic laying device and method for thermoplastic composite materials, which solves the problems of slow laying speed, low interface connection strength of thermoplastic composite materials and difficult control of processing temperature in the prior art.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is that the thermoplastic composite material automatic laying device includes a laying device, the laying device is fixed on the support plate, and the laser welding head of the laser welding device is fixed on the first laying device. The ultrasonic vibration device is fixed on the other side of the laying device, and the support plate is connected to the arm of the robot through a flange.

The laying device is composed of a tape reel, a tensioning device, a thermoplastic prepreg tape, a first pneumatic cylinder, a pressure roller, a guide wheel, a main driving roller, an auxiliary driving roller and a third pneumatic cylinder. The thermoplastic prepreg tape is wound on the On the tape reel, there is a tensioning device in the center of the tape reel; the guide wheel is fixed under the thermoplastic prepreg tape drawn from the tape reel, and is in contact with the thermoplastic prepreg tape; the main driving roller and the auxiliary driving roller parallel to each other are located under the guiding wheel , the thermoplastic prepreg tape passes through the middle of the main driving roll and the auxiliary driving roll, and contacts with the main driving roll and the auxiliary driving roll; the pressing roller is located under the main driving roll and the auxiliary driving roll, and the thermoplastic prepreg tape is fed along the pressing roll contact with the base material under the pressing roller; one side of the pressing roller is connected with a first air cylinder, and the first air cylinder is provided with a first piston rod, a first air hole located above the first piston rod and a first air hole located below the first piston rod The other side of the pressure roller is connected to the third air cylinder, and the third air cylinder is provided with a second piston rod, a third air hole located below the second piston rod, and a fourth air hole located above the second piston rod .

The laser welding device is composed of a laser, a computer, a laser welding head and an infrared temperature measuring probe. The laser input line is connected to the computer, the laser output line is connected to the laser welding head, an infrared temperature measuring probe is installed on the laser welding head, and the infrared temperature measuring probe is connected to the computer. , the laser beam emitted by the laser welding head is irradiated obliquely at the interface between the thermoplastic prepreg tape and the substrate under the pressing roller.

The ultrasonic vibration device is composed of an ultrasonic generator, an ultrasonic vibration tool head, a horn, a transducer, a second pneumatic cylinder, a slider and a guide rail. The ultrasonic vibration tool head, the horn and the transducer are connected in sequence to form a vibration. Working unit, the transducer is connected with the ultrasonic generator through the signal transmission line, the second air cylinder is connected with the transducer through the third piston, one end of the slider is fixed on the transducer, the other end of the slider is clamped on the guide rail, and the vibration works The unit moves linearly along the axis of the guide rail through the slider. The second pneumatic cylinder is provided with a fifth air hole located below the third piston and a sixth air hole located above the third piston. The guide rail and the second pneumatic cylinder are fixed on the support plate.

The thermoplastic prepreg tape is a combination of thermoplastic resin and fiber; the thermoplastic resin is one of polypropylene, polyethylene or polyamide; the fiber is carbon fiber, glass fiber, aramid fiber or basalt fiber. One or a combination of two or more.

The first air hole, the fourth air hole and the sixth air hole are air intake holes; the second air hole, the third air hole and the fifth air hole are exhaust holes.

The laying method of the thermoplastic composite material automatic laying device includes the following steps:

Step 1: The robot pulls and installs the support plate of the laying device, the laser welding device and the ultrasonic vibration device to the top of the base material, and the thermoplastic prepreg tape is transported to the bottom of the pressure roller through the guide wheel, the main driving roller and the auxiliary driving roller. The first air hole And the fourth air hole is inhaled, the second air hole and the third air hole are exhausted, the first piston rod of the first air cylinder and the second piston rod of the third air cylinder push the pressing roller to make the thermoplastic prepreg tape and the substrate tightly fit and keep the pressure stable; at the same time, the sixth air hole is inhaled, the fifth air hole is exhausted, and the third piston rod of the second pneumatic cylinder pushes the ultrasonic vibration tool head to contact the thermoplastic prepreg tape, and maintains the pressure stable;

Step 2: The computer controls the output power of the laser. The laser releases the laser beam through the laser welding head to heat the junction between the thermoplastic prepreg tape and the base material under the pressure roller. At the same time, the ultrasonic generator is turned on, and the transducer generates the ultrasonic generator. The high-frequency current energy is converted into mechanical vibration energy, and the mechanical vibration is amplified and concentrated by the horn, and then transferred to the ultrasonic vibration tool head, so as to realize the ultrasonic vibration tool head to the thermoplastic prepreg behind the pressure roller. Ultrasonic impact;

Step 3: The substrate and the robot move synchronously, and the speed of the main drive roller pulling the thermoplastic prepreg tape is consistent with the laying rate of the pressure roller, so as to realize the continuous laying and molding of the thermoplastic thermoplastic prepreg tape, and the infrared temperature measuring probe detects the processing temperature and Feedback to the computer, adjust the output power of the laser in real time, control the power of the laser beam, and thus control the processing temperature;

Step 4: Adjust the laying path by changing the posture of the end arm of the robot, and repeat steps 1 to 3 until the entire thermoplastic composite component is formed.

In the first step, when laying the thermoplastic prepreg tape, the pressure of the pressing roller on the thermoplastic prepreg tape is 0.6MPa-1.0MPa, and the pressure of the ultrasonic vibration tool head on the thermoplastic prepreg tape is 0.2MPa-0.5MPa.

In the second step, the laser spot is a rectangular spot, the width of the spot is 3mm-5mm, the thermoplastic prepreg tape and the substrate are heated at the same time, and the temperature of the laser processing zone is 150°C-270°C;

In the second step, the amplitude of the ultrasonic vibration tool head is 16-20 μm, and the vibration frequency is 40-80 kHz;

After the infrared temperature measuring probe collects the radiation signal of the processing area, it transmits it to the computer through serial communication.

The beneficial effect of the present invention is that the thermoplastic composite material automatic laying device and method utilizes laser heating to realize the automatic laying of the thermoplastic composite material, which effectively solves the following problems:

(1) The laser is used as the heat source, the heating area is precise, and the heating speed is fast, which can provide a higher laying rate, and has the advantages of high laying efficiency, energy saving and environmental protection;

(2) Introduce high-frequency ultrasonic energy into welding, and transfer it to the melt to generate cavitation and acoustic flow, so as to remove the bubbles between the layers of the composite material, and at the same time, ultrasonically impact the post-weld area to significantly eliminate residual stress. and other defects, improve the interface connection strength;

(3) During the laying process of the prepreg tape, the temperature closed-loop control system is used to accurately control the heating temperature, so as to avoid the decomposition of the resin material due to the excessive heating temperature, and improve the quality of the processed molded parts;

(4) The continuous in-situ consolidation molding method is adopted, which greatly saves the laying and forming time. The laying device and the robot cooperate to arrange the laying path according to the shape of the component. The laying efficiency is high and the waste of raw materials is reduced.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

Fig. 1 is the overall equipment layout diagram of the thermoplastic composite material automatic laying device;

Fig. 2 is a schematic diagram of the structure of a laying device;

Figure 3 is the left side view of the pressure roller;

4 is a three-dimensional view of an ultrasonic vibration device;

Fig. 5 is the control flow chart of the thermoplastic composite material automatic laying method;

FIG. 6 is a control flow chart of the temperature closed-loop control system.

In the figure, 1. Laser, 2. Computer, 3. Flange, 4. Support plate, 5. Tape reel, 6. Tensioning device, 7. Laser welding head, 8. Ultrasonic generator, 9. Infrared temperature probe , 10. Thermoplastic prepreg tape, 11. First pneumatic cylinder, 12. Pressurized roller, 13. Base material, 14. Ultrasonic vibration tool head, 15. Amplifier rod, 16. Transducer, 17. Second pneumatic pressure Cylinder, 18. Robot, 19. Laser beam, 20. Guide wheel, 21. Main driving roller, 22. Secondary driving roller, 23. Slider, 24. Guide rail, 25. First air hole, 26. Second air hole, 27 .First piston rod, 28. Third air cylinder, 29. Third air hole, 30. Second piston rod, 31. Fourth air hole, 32. Third piston rod, 33. Fifth air hole, 34. Sixth air hole .

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIG. 1, the thermoplastic composite material automatic laying device includes a laying device, and the laying device is fixed on the support plate 4 for laying and pressing the thermoplastic prepreg tape 10; the laser welding of the laser welding device The head 7 is fixed on one side of the laying device for heating the thermoplastic prepreg tape 10 and the base material 13, the ultrasonic vibration device is fixed on the other side of the laying device, for inputting ultrasonic energy during the laying process, the support plate 4 Connected with the arm of the robot 18 through the flange 3;

As shown in Figure 2 and Figure 3, the laying device is composed of a tape reel 5, a tensioning device 6, a thermoplastic prepreg tape 10, a first pneumatic cylinder 11, a pressing roller 12, a guide roller 20, a main driving roller 21, and a secondary driving The roller 22 and the third pneumatic cylinder 28 are composed. The thermoplastic prepreg tape 10 is wound on the tape reel 5, and the center of the tape reel 5 is provided with a tensioning device 6 to ensure that the thermoplastic prepreg tape 10 is tensioned during processing; The thermoplastic prepreg tape 10 drawn from the left side of the tape reel 5 is below and in contact with the thermoplastic prepreg tape 10; the main driving roller 21 and the auxiliary driving roller 22 parallel to each other are located under the guide wheel 20, and the thermoplastic prepreg tape 10 passes through the main driving roller 21 and the auxiliary driving roller 22. The driving roll 21 and the auxiliary driving roll 22 are in the middle, and are in contact with the main driving roll 21 and the auxiliary driving roll 22; the pressing roll 12 is located at the lower left of the main driving roll 21 and the auxiliary driving roll 22. The right side is sent to the bottom of the pressing roller 12 to contact the substrate 13 ; one side of the pressing roller 12 is connected to the first pneumatic cylinder 11 , and the first pneumatic cylinder 11 is provided with a first piston rod 27 and is located above the first piston rod 27 The first air hole 25 and the second air hole 26 located below the first piston rod 27; the other side of the pressurizing roller 12 is connected to the third pneumatic cylinder 28, and the third pneumatic cylinder 28 is provided with a second piston rod 30, located in the second The third air hole 29 below the piston rod 30 and the fourth air hole 31 above the second piston rod 30, the pressure roller 12 uses the first pneumatic cylinder 11 and the third pneumatic cylinder 28 to apply pressure to the thermoplastic prepreg tape 10, and in Maintain a stable pressure value during processing;

As shown in Figure 1, the laser welding device consists of a laser 1, a computer 2, a laser welding head 7, and an infrared temperature measuring probe 9. The input line of the laser 1 is connected to the computer 2, the computer 2 controls the output power of the laser 1, and the output line of the laser 1 is connected to the Laser welding head 7, an infrared temperature measuring probe 9 is installed on one side of the laser welding head 7, the infrared temperature measuring probe 9 is connected to the computer 2, and the laser beam 19 emitted by the laser welding head 7 is irradiated obliquely on the thermoplastic prepreg tape 10 and the thermoplastic prepreg under the pressing roller 12. The junction of substrate 13;

As shown in Figures 1 and 4, the ultrasonic vibration device consists of an ultrasonic generator 8, an ultrasonic vibration tool head 14, a horn 15, a transducer 16, a second air cylinder 17, a slider 23, and a guide rail 24. The ultrasonic vibration The tool head 14, the horn 15 and the transducer 16 are sequentially connected to form a vibration work unit. The transducer 16 is connected to the ultrasonic generator 8 through a signal transmission line, and the second pneumatic cylinder 17 is connected to the transducer 16 through the third piston 32. One end of the slider 23 is fixed on one side of the transducer 16, the other end of the slider 23 is clamped on the guide rail 24, and the vibration working unit moves linearly along the axis of the guide rail 24 through the slider 23. The fifth air hole 33 below the three pistons 32 and the sixth air hole 34 above the third piston 32, the guide rail 24 and the second pneumatic cylinder 17 are fixed on the support plate 4;

The first air hole 25, the fourth air hole 31 and the sixth air hole 34 take in air, the second air hole 26, the third air hole 29 and the fifth air hole 33 exhaust air; the first piston rod 27 and the second piston rod 30 push the pressure roller 12; The third piston rod 32 is used to push the ultrasonic vibration tool head 14 .

The thermoplastic prepreg tape 10 is a combination of thermoplastic resin and fiber; the thermoplastic resin is one of polypropylene, polyethylene or polyamide, and the fiber is one or two of carbon fiber, glass fiber, aramid fiber or basalt fiber combination of the above.

The present invention also relates to a method for automatic laying of thermoplastic composite materials, as shown in Figure 5, comprising the following steps:

Step 1: The robot 18 pulls and installs the support plate 4 of the laying device, the laser welding device and the ultrasonic vibration device to the top of the base material 13, and the thermoplastic prepreg 10 is conveyed to the processing machine through the guide wheel 20, the main driving roller 21 and the auxiliary driving roller 22. Below the pressing roller 12, the first air hole 25 and the fourth air hole 31 take in air, the second air hole 26 and the third air hole 29 exhaust air, and the first piston rod 27 and the second piston rod 30 push the pressing roller 12 to make the thermoplastic prepreg The belt 10 and the base material 13 are closely attached, and the pressure is kept stable. At the same time, the sixth air hole 34 is inhaled, the fifth air hole 33 is exhausted, and the third piston rod 32 of the second air cylinder 17 pushes the ultrasonic vibration tool head 14 and the thermoplastic Dip the tape 10 in contact and keep the pressure stable;

Step 2: The computer 2 controls the output power of the laser 1, the laser 1 releases the laser beam 19 through the laser welding head 7, heats the junction of the thermoplastic prepreg tape 10 and the base material 13 under the pressure roller 12, and simultaneously turns on the ultrasonic generator 8 , the transducer 16 converts the high-frequency current energy generated by the ultrasonic generator 8 into mechanical vibration energy, and after amplifying and converging the mechanical vibration through the horn 15, it is transferred to the ultrasonic vibration tool head 14 to realize the ultrasonic vibration tool head 14 Ultrasonic impact on the thermoplastic prepreg tape 10 behind the pressure roller 12;

Step 3: The substrate 13 and the robot 18 move synchronously, and the speed of pulling the thermoplastic prepreg tape 10 by the main driving roller 21 is consistent with the laying rate of the pressure roller 12, so as to realize the continuous laying and molding of the thermoplastic thermoplastic prepreg tape 10; The temperature probe 9 detects the processing temperature and feeds it back to the computer 2, adjusts the output power of the laser 1 in real time, and controls the power of the laser beam 19, thereby controlling the heating temperature, as shown in Figure 6;

Step 4: Adjust the laying path by changing the posture of the end arm of the robot 18, and repeat steps 1 to 3 until the entire thermoplastic composite component is formed.

In step 1, when laying the thermoplastic prepreg tape 10, adjust the pressures of the first pneumatic cylinder 11 and the third pneumatic cylinder 28, so that the pressure of the pressing roller 12 on the thermoplastic prepreg tape 10 is 0.6 MPa to 1.0 MPa to ensure the thermoplastic prepreg 10. The interface strength after the prepreg tape 10 is connected with the base material 13; adjust the second air cylinder 17 so that the pressure of the ultrasonic vibration tool head 14 on the thermoplastic prepreg tape 10 is 0.2MPa～0.5MPa;

In step 2, the laser spot is a rectangular spot, the width of the spot is 3mm-5mm, the thermoplastic prepreg tape 10 and the substrate 13 are heated at the same time, so that both are melted, and the temperature of the laser processing zone is 150 ℃～270 ℃; ultrasonic vibration tool The amplitude of the head 14 is 16-20 μm, and the vibration frequency is 40-80 kHz; after the infrared temperature measuring probe 9 collects the radiation signal of the processing area, it transmits it to the computer 2 through serial communication, and the computer 2 adjusts the output of the laser 1 according to the closed-loop control system power, control the power of the laser beam 19, and ensure the processing temperature.

Example 1

The aramid fiber/PA prepreg tape 10 with a size of 0.5mm×12mm is automatically laid by the composite material automatic laying device, which specifically includes the following steps:

Step 1: The robot 18 pulls and installs the support plate 4 of the laying device, the laser welding device and the ultrasonic vibration device to the top of the base material 13, and the aramid/PA prepreg tape 10 passes through the guide wheel 20, the main driving roller 21 and the auxiliary driving roller 22. Transferred to the bottom of the pressure roller 12, the first air hole 25 and the fourth air hole 31 take in air, the second air hole 26 and the third air hole 29 exhaust, the first piston rod 27 and the second piston rod 30 push the pressing roller 12, so that the The aramid/PA prepreg tape 10 is closely attached to the base material 13, and the pressures of the first air cylinder 11 and the third air cylinder 28 are adjusted so that the pressure of the pressing roller 12 on the aramid/PA prepreg tape 10 is 1.0MPa At the same time, the sixth air hole 34 is inhaled, the fifth air hole 33 is exhausted, and the third piston rod 32 of the second pneumatic cylinder 17 pushes the ultrasonic vibration tool head 14 to contact the aramid/PA prepreg tape 10, and makes the ultrasonic vibration tool head The pressure of 14 pairs of aramid/PA prepreg tape 10 is 0.5MPa;

Step 2: The computer 2 controls the output power of the laser 1, and the laser 1 releases the laser beam 19 through the laser welding head 7, and heats the junction of the aramid/PA prepreg tape 10 and the base material 13 under the pressure roller 12, and simultaneously heats the aramid fiber/PA prepreg tape 10. The fiber/PA prepreg tape 10 and the substrate 13, the laser spot is a rectangular spot, the spot width is 5mm, and the temperature of the laser processing area is 270°C; The frequency current energy is converted into mechanical vibration energy, and the mechanical vibration is amplified and converged by the horn 15, and then transferred to the ultrasonic vibration tool head 14, so as to realize the ultrasonic vibration tool head 14 to the aramid/PA prepreg tape behind the pressure roller 12 10 Ultrasonic impact, the amplitude of the ultrasonic vibration tool head 14 is 20 μm, and the vibration frequency of the ultrasonic vibration tool head 14 is 40 kHz;

Step 3: The substrate 13 and the robot 18 move synchronously, and the speed at which the main driving roller 21 pulls the aramid/PA prepreg tape 10 is consistent with the laying rate of the pressure roller 12, so as to realize the continuous laying of the aramid/PA prepreg tape 10 Putting molding, the infrared temperature measuring probe 9 detects the processing temperature and feeds it back to the computer 2, adjusts the output power of the laser 1 in real time, and controls the power of the laser beam 19, thereby controlling the processing temperature;

Step 4: Adjust the laying path by changing the posture of the end arm of the robot 18, and repeat steps 1 to 3 until the entire thermoplastic composite component is formed.

Example 2

The basalt fiber and carbon fiber blend/PE prepreg tape 10 with a size of 0.4mm × 10mm is automatically laid by the composite material automatic laying device, which specifically includes the following steps:

Step 1: The robot 18 pulls and installs the support plate 4 of the laying device, the laser welding device and the ultrasonic vibration device to the top of the base material 13, and the basalt fiber and carbon fiber blend/PE prepreg belt 10 passes through the guide wheel 20, the main driving roller 21 and the The auxiliary driving roller 22 is conveyed to the lower part of the pressurizing roller 12, the first air hole 25 and the fourth air hole 31 take in air, the second air hole 26 and the third air hole 29 exhaust air, and the first piston rod 27 and the second piston rod 30 push and pressurize Roller 12, make basalt fiber and carbon fiber blend/PE prepreg tape 10 and base material 13 closely fit, adjust and adjust the pressure of the first pneumatic cylinder 11 and the third pneumatic cylinder 28, so that the pressure roller 12 is suitable for basalt fiber and carbon fiber. The pressure of the mixed/PE prepreg tape 10 is 0.6MPa, while the sixth air hole 34 is inhaled, the fifth air hole 33 is exhausted, and the third piston rod 32 of the second pneumatic cylinder 17 pushes the ultrasonic vibration tool head 14 and the basalt fiber and carbon fiber. The blend/PE prepreg tape 10 is brought into contact, and the pressure of the ultrasonic vibration tool head 14 on the basalt fiber and carbon fiber blend/PE prepreg tape 10 is 0.2 MPa;

Step 2: The computer 2 controls the output power of the laser 1, and the laser 1 releases the laser beam 19 through the laser welding head 7 to heat the junction of the basalt fiber and carbon fiber blend/PE prepreg tape 10 and the base material 13 under the pressure roller 12 , and heat the basalt fiber and carbon fiber blend/PE prepreg tape 10 and substrate 13 at the same time, the laser spot is a rectangular spot, the spot width is 3mm, and the temperature of the laser processing area is 150 ℃; at the same time, the ultrasonic generator 8 and the transducer 16 are turned on. The high-frequency current energy generated by the ultrasonic generator 8 is converted into mechanical vibration energy, and the mechanical vibration is amplified and converged by the horn 15, and then transferred to the ultrasonic vibration tool head 14 to realize the ultrasonic vibration tool head 14 to the pressure roller 12. The rear basalt fiber and carbon fiber blend/PE prepreg tape is ultrasonically impacted by 10, the amplitude of the ultrasonic vibration tool head 14 is 18 μm, and the vibration frequency of the ultrasonic vibration tool head 14 is 80 kHz;

Step 3: The substrate 13 and the robot 18 move synchronously, and the main driving roller 21 pulls the basalt fiber and carbon fiber blend/PE prepreg tape 10 at a rate consistent with the laying rate of the pressure roller 12 to realize the basalt fiber and carbon fiber blend/ The continuous laying and forming of the PE prepreg tape 10, the infrared temperature measuring probe 9 detects the processing temperature and feeds it back to the computer 2, adjusts the output power of the laser 1 in real time, and controls the power of the laser beam 19, thereby controlling the processing temperature;

Step 4: Adjust the laying path by changing the posture of the end arm of the robot 18, and repeat steps 1 to 3 until the entire thermoplastic composite component is formed.

Example 3

The glass fiber/PP prepreg tape 10 with a size of 0.3mm×15mm is automatically laid by using a composite material automatic laying device, which specifically includes the following steps:

Step 1: The robot 18 pulls and installs the support plate 4 of the laying device, the laser welding device and the ultrasonic vibration device to the top of the base material 13, and the glass fiber/PP prepreg tape 10 passes through the guide wheel 20, the main driving roller 21 and the auxiliary driving roller 22. Transferred to the bottom of the pressure roller 12, the first air hole 25 and the fourth air hole 31 take in air, the second air hole 26 and the third air hole 29 exhaust, the first piston rod 27 and the second piston rod 30 push the pressing roller 12, so that the The glass fiber/PP prepreg tape 10 is closely attached to the substrate 13, and the pressure of the first pneumatic cylinder 11 and the third pneumatic cylinder 28 is adjusted so that the pressure of the pressure roller 12 on the glass fiber/PP prepreg tape 10 is 0.8MPa At the same time, the sixth air hole 34 is inhaled, the fifth air hole 33 is exhausted, and the third piston rod 32 of the second pneumatic cylinder 17 pushes the ultrasonic vibration tool head 14 to contact the glass fiber/PP prepreg tape 10, and makes the ultrasonic vibration tool head 14 The pressure on the glass fiber/PP prepreg tape 10 is 0.3MPa;

Step 2: The computer 2 controls the output power of the laser 1, and the laser 1 releases the laser beam 19 through the laser welding head 7 to heat the interface between the glass fiber/PP prepreg tape 10 and the base material 13 under the pressure roller 12, and heat the glass at the same time. The fiber/PP prepreg tape 10 and the base material 13, the laser spot is a rectangular spot, the spot width is 4mm, and the temperature of the laser processing area is 180°C; The frequency current energy is converted into mechanical vibration energy, and the mechanical vibration is amplified and concentrated by the horn 15, and then transferred to the ultrasonic vibration tool head 14, so as to realize the ultrasonic vibration tool head 14 to the glass fiber/PP prepreg tape behind the pressure roller 12 10 Ultrasonic impact, the amplitude of the ultrasonic vibration tool head 14 is 16 μm, and the vibration frequency of the ultrasonic vibration tool head 14 is 60 kHz;

Step 3: The substrate 13 and the robot 18 move synchronously, and the main driving roller 21 pulls the glass fiber/PP prepreg tape 10 at a rate consistent with the laying rate of the pressure roller 12 to achieve continuous laying of the glass fiber/PP prepreg tape 10 Putting molding, the infrared temperature measuring probe 9 detects the processing temperature and feeds it back to the computer 2, adjusts the output power of the laser 1 in real time, and controls the power of the laser beam 19, thereby controlling the processing temperature;

Step 4: Adjust the laying path by changing the posture of the end arm of the robot 18, and repeat steps 1 to 3 until the entire thermoplastic composite component is formed.

The interlaminar shear strength of the structure obtained in Example 3 of the present invention can reach 35 MPa, which is significantly improved compared with the existing interlaminar shear strength of 28 MPa, and the weight of the fabricated structural component is reduced to 75 MPa compared with traditional metal components %.

Since the difference between the melting temperature of the resin material and the thermal decomposition temperature is small, the local heating during the automatic laying process should be controlled within a certain range to avoid the occurrence of non-adhesion or over-melting. The temperature closed-loop control system used in the present invention can ensure that the temperature of the processing area is controlled within the preset temperature ±10°C, the interface connection is good, and the quality of the processed and formed parts is greatly improved.

The thermoplastic composite material structure formed in the embodiment of the present invention has a multi-layered structure, and has the characteristics of high strength and light weight, and can be applied to large-sized structural parts such as crude oil pipelines, aircraft, automobiles and ship hulls and the whole of complex curved structural parts. It can effectively reduce the weight of equipment, reduce the number of parts assembled, and save assembly and manufacturing costs.

Each embodiment in this specification is described in a related manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (4)

1. The laying method of the thermoplastic composite material automatic laying device is characterized in that, the thermoplastic composite material automatic laying device comprises a laying device, and the laying device is fixed on the support plate (4), and the laser welding device of the laser welding device The head (7) is fixed on one side of the laying device, the ultrasonic vibration device is fixed on the other side of the laying device, and the support plate (4) is connected with the arm of the robot (18) through the flange (3); The laying device consists of a tape reel (5), a tensioning device (6), a thermoplastic prepreg tape (10), a first pneumatic cylinder (11), a pressing roller (12), a guide wheel (20), a main drive The roller (21), the auxiliary driving roller (22) and the third pneumatic cylinder (28) are composed, the thermoplastic prepreg tape (10) is wound on the tape reel (5), and the center of the tape reel (5) is provided with a tensioning device (6). ); the guide wheel (20) is fixed under the thermoplastic prepreg tape (10) drawn from the tape reel (5), and is in contact with the thermoplastic prepreg tape (10); the main driving roller (21) and the auxiliary driving roller parallel to each other (22) is located under the guide wheel (20), and the thermoplastic prepreg tape (10) passes through the middle of the main driving roll (21) and the auxiliary driving roll (22), and is connected with the main driving roll (21) and the auxiliary driving roll (22) contact; the pressing roller (12) is located under the main driving roller (21) and the auxiliary driving roller (22), and the thermoplastic prepreg tape (10) is sent along the pressing roller (12) to the bottom of the pressing roller (12) and the base The material (13) is in contact; one side of the pressing roller (12) is connected to the first pneumatic cylinder (11), and the first pneumatic cylinder (11) is provided with a first piston rod (27), located above the first piston rod (27) The first air hole (25) and the second air hole (26) below the first piston rod (27); the other side of the pressure roller (12) is connected to the third air cylinder (28), the third air cylinder (28) a second piston rod (30), a third air hole (29) located below the second piston rod (30), and a fourth air hole (31) located above the second piston rod (30); The laser welding device is composed of a laser (1), a computer (2), a laser welding head (7) and an infrared temperature measuring probe (9). The input line of the laser (1) is connected to the computer (2), and the output line of the laser (1) is Connect the laser welding head (7), install the infrared temperature measuring probe (9) on the laser welding head (7), connect the infrared temperature measuring probe (9) to the computer (2), and the laser beam (19) emitted by the laser welding head (7) obliquely irradiating the junction between the thermoplastic prepreg tape (10) and the substrate (13) under the pressing roller (12); The ultrasonic vibration device consists of an ultrasonic generator (8), an ultrasonic vibration tool head (14), a horn (15), a transducer (16), a second pneumatic cylinder (17), a slider (23) and a guide rail (24), the ultrasonic vibration tool head (14), the horn (15) and the transducer (16) are connected in sequence to form a vibration work unit, and the transducer (16) is connected to the ultrasonic generator (8) through a signal transmission line , the second pneumatic cylinder (17) is connected to the transducer (16) through the third piston rod (32), one end of the slider (23) is fixed on the transducer (16), and the other end of the slider (23) is clamped on the On the guide rail (24), the vibration working unit moves linearly along the axis of the guide rail (24) through the slider (23), and the second pneumatic cylinder (17) is provided with a fifth air hole (33) located below the third piston rod (32). ) and the sixth air hole (34) above the third piston rod (32), the guide rail (24) and the second pneumatic cylinder (17) are fixed on the support plate (4); The thermoplastic prepreg tape (10) is a combination of thermoplastic resin and fiber; The thermoplastic resin is one of polypropylene, polyethylene or polyamide; The fiber is one or a combination of two or more carbon fibers, glass fibers, aramid fibers or basalt fibers; The first air hole (25), the fourth air hole (31) and the sixth air hole (34) are air intake holes; the second air hole (26), the third air hole (29) and the fifth air hole (33) are exhaust air holes (33). stomata; The laying method of the thermoplastic composite material automatic laying device comprises the following steps: Step 1: The robot (18) pulls and installs the support plate (4) of the laying device, the laser welding device and the ultrasonic vibration device to the top of the base material (13). The thermoplastic prepreg tape (10) is driven by the guide wheel (20). The roller (21) and the auxiliary driving roller (22) are conveyed to the lower part of the pressing roller (12), the first air hole (25) and the fourth air hole (31) take in air, the second air hole (26) and the third air hole (29) Exhaust, the first piston rod (27) of the first pneumatic cylinder (11) and the second piston rod (30) of the third pneumatic cylinder (28) push the pressing roller (12) to make the thermoplastic prepreg tape (10) It is in close contact with the base material (13) and keeps the pressure stable; at the same time, the sixth air hole (34) is inhaled, the fifth air hole (33) is exhausted, and the third piston rod (32) of the second air cylinder (17) pushes The ultrasonic vibration tool head (14) is in contact with the thermoplastic prepreg tape (10) and keeps the pressure stable; Step 2: The computer (2) controls the output power of the laser (1), the laser (1) releases the laser beam (19) through the laser welding head (7), and the thermoplastic prepreg tape (10) and The junction of the substrate (13) is heated, and the ultrasonic generator (8) is turned on at the same time. 15) After amplifying and converging the mechanical vibration, it is transferred to the ultrasonic vibration tool head (14) to realize the ultrasonic impact of the ultrasonic vibration tool head (14) on the thermoplastic prepreg tape (10) behind the pressing roller (12); Step 3: The substrate (13) and the robot (18) move synchronously, and the speed at which the main driving roller (21) pulls the thermoplastic prepreg tape (10) is consistent with the laying speed of the pressure roller (12), so as to realize the thermoplastic prepreg tape (10) Continuous laying and molding, the infrared temperature measuring probe (9) detects the processing temperature and feeds it back to the computer (2), adjusts the output power of the laser (1) in real time, and controls the power of the laser beam (19), thereby controlling the processing temperature; Step 4: Adjust the laying path by changing the position and posture of the end arm of the robot (18), and repeat steps 1 to 3 until the molding of the entire thermoplastic composite material component is completed. 2 . The laying method of the thermoplastic composite material automatic laying device according to claim 1 , wherein in the step 1, when laying the thermoplastic prepreg tape ( 10 ), the pressing roller ( 12 ) applies the thermoplastic The pressure of the prepreg tape (10) is 0.6MPa-1.0MPa, and the pressure of the ultrasonic vibration tool head (14) on the thermoplastic prepreg tape (10) is 0.2MPa-0.5MPa. 3. The laying method of the thermoplastic composite material automatic laying device according to claim 1, wherein in the step 2, the laser spot is a rectangular spot, and the spot width is 3mm～5mm, and the thermoplastic prepreg is heated simultaneously. (10) and the base material (13), the temperature of the laser processing zone is 150°C to 270°C. 4. The laying method of the thermoplastic composite material automatic laying device according to claim 1, characterized in that, in the second step, the amplitude of the ultrasonic vibration tool head (14) is 16-20 μm, and the vibration frequency is 40-40 μm. 80kHz; after the infrared temperature measuring probe (9) collects the radiation signal in the processing area, it transmits it to the computer (2) through serial communication.

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