热塑性复合材料机器人铺放系统设计及工艺优化研究

Aiming at the laying function and actual requirements of thermoplastic composites, with the robot as the carrier, the research on the key technologies and process optimization of the thermoplastic composites laying equipment has been carried out. According to the characteristics of the robot laying head, the overall design scheme of the laying head has been proposed, and the functional modules such as heating, cutting, re-feeding, clamping, and tension regulation have been designed, and the control units such as electrical control, PID tension control, and temperature control have been developed to realize the construction of the thermoplastic composites robot laying equipment. Using GF/PP thermoplastic prepregs, the process comparison tests and detection tests have been carried out, and the influence of the microstructure on the mechanical properties has been explored. The results show that there is an obvious distinction between layers in the specimens prepared by the laying process, and the crystallinity is low, which is the main reason why its mechanical properties are inferior to those of vacuum bag-assisted molding. The laying process parameters have been optimized by the response surface method and verified by experiments. After optimization, the defects of the components formed by the laying process are fewer, and their mechanical properties are equivalent to those of the components prepared by vacuum bag-assisted molding, thus verifying the feasibility and effectiveness of the thermoplastic composites robot laying equipment.

针对热塑性复合材料的铺放功能及其实际需求,以机器人为载体,开展了热塑性复合材料铺放设备关键技术及工艺优化研究。根据机器人铺放头特点,提出了铺放头总体设计方案,设计了加热、剪断、重送、夹紧、张力调控等功能模块,开发出了电气控制、PID张力控制、温度控制等控制单元,实现热塑性复合材料机器人铺放设备的搭建。采用GF/PP热塑性预浸料,开展工艺对比试验及检测试验,并探究了显微结构对力学性能的影响,结果表明:铺放工艺制备的试样中层与层间有明显区分,且结晶度较低,是造成其力学性能不及真空袋辅助成型的主要原因。采用响应面法优化了铺放工艺参数并进行试验验证,优化后铺放工艺成型构件的缺陷较少,其力学性能与真空袋辅助成型制备的构件相当,从而验证了热塑性复合材料机器人铺放设备的可行性及有效性。