CN104626611B - Six-shaft robot-based type automatic tape paving device and six-shaft robot based type automatic tape paving method - Google Patents

Abstract

The invention discloses a six-shaft robot based type automatic tape paving device and a six-shaft robot based type automatic tape paving method. The device is applied to the field of automatic manufacturing equipment for paving a composite material fiber tape. The device comprises a belt releasing device (1), a tension detection device (2), a pressing and shearing device (3), an infrared heating device (4), a pressing mechanism (5), a lining paper collecting device (6), a rack (7) and a connection mechanism (8). The device has the function of automatically paving a composite material prepreg tape, breaks through the block of a foreign technology, and meets the requirements on manufacturing of composite materials by aerospace and aviation industries.

Description

An automatic tape laying device and method based on a six-axis robot

technical field

This article relates to a six-axis robot-based automatic tape laying device and method in composite material laying equipment, which belongs to the technical field of composite material forming.

Background technique

Advanced composite materials have the advantages of light weight, high strength, high modulus, fatigue resistance, corrosion resistance, designability, and good manufacturability, and are widely used in aerospace and military fields, but their molding equipment is complex in structure and difficult to control. The manufacturing cost is high, and composite material products are rarely used in the civilian field. Therefore, the low-cost manufacturing technology of composite materials is the core issue in the field of composite materials in the world, and the automatic tape laying technology of composite materials is the research focus of low-cost manufacturing technology of composite materials.

Automatic tape laying technology adopts unidirectional prepreg tape with isolation backing paper 9. The cutting, positioning, laying and stick pressing are all carried out by numerical control technology, which is completed by automatic tape laying machine. It has high efficiency, good product quality, and Advantages of directional lay.

Contents of the invention

The present invention mainly solves the technical problems existing in the prior art; it provides an automatic tape laying system based on a six-axis robot that can greatly reduce the manufacturing cost and control difficulty of the equipment while ensuring the basic function of tape laying. device.

Above-mentioned technical problem of the present invention is mainly solved by following technical scheme:

An automatic tape laying device based on a six-axis robot, characterized in that, the frame, and the:

A connection mechanism: used for connection and fixation with external equipment;

1. Tape unwinding device: used to place tape laying with backing paper, including magnetic powder brake, magnetic powder brake support with mounting holes, tape unwinding shaft, elastic coupling connecting magnetic powder brake rotating shaft and tape unwinding shaft, tape unwinding The wheel is installed on the unwinding shaft;

A tension detection device: used to undertake the tape laying output from the tape unwinding device and detect the tension of the tape during the laying process, including the VNW tension detection sensor, the tension detection mounting frame set on the frame and two tension detection installations set on the VNW tension detection guide bar next to the sensor;

A pressing and shearing device: used for pressing and shearing, for clamping and cutting the fiber band;

An infrared heating device: used to heat the fiber tape to be laid or the fiber tape that has been laid on the surface, including the lampshade arranged on the frame and the infrared lamp arranged in the lampshade

A pressing roller device: the prepreg tape delivered to the surface of the mandrel is pressed on the mandrel or the laid surface, including the needle roller bearing installed on the frame, the pressing roller shaft matched with the two needle roller bearings, A pressure roller mounted on a pressure roller shaft;

1. Lining paper receiving device: collect excess lining paper, including the paper receiving shaft installed on the frame through bearings, the paper receiving wheel installed on the paper receiving shaft, the motor seat installed on the frame, and the servo motor , reducer, used to install the servo motor and reducer and fix the motor bracket on the motor base;

The compressing and shearing device includes a fixed support and a pneumatic compressing device and a pneumatic shearing device arranged on the fixed support;

The pneumatic pressing device includes a first double-acting cylinder, a pressing bracket connected to the output of the first double-acting cylinder, a pin shaft, a pressing roller installed in the pressing bracket and the pin shaft, and a pressing roller arranged on the opposite side of the pressing roller. fixed roller;

The pneumatic shearing device includes a second double-acting cylinder, a shearing knife frame connected to the output of the second double-acting cylinder, a shearing knife installed in the shearing knife frame, and a cutting block arranged on the opposite side of the shearing knife .

In the above-mentioned automatic tape-laying device based on a six-axis robot, the pressing and shearing device includes a fixed support and two pneumatic pressing devices arranged on the fixed support, and two pneumatic pressing devices arranged between the two pneumatic pressing devices Pneumatic shearing device between;

The pneumatic pressing device includes a first double-acting cylinder, a pressing bracket connected to the output of the first double-acting cylinder, a pin shaft, a pressing roller installed in the pressing bracket and the pin shaft, and a pressing roller arranged on the opposite side of the pressing roller. fixed roller;

The pneumatic shearing device includes a second double-acting cylinder, a shearing knife holder connected to the output of the second double-acting cylinder, a shearing knife installed in the shearing knife holder, and a set between the two pneumatic pressing devices There is a wedge-shaped separator to separate the tape from the liner.

In the above-mentioned automatic tape laying device based on a six-axis robot, the paper receiving device 6 also includes a backing paper guide wheel, the backing paper is separated from the fiber belt, and passes through the pressing device fixed roller, the backing paper guide wheel , pressure roller, and finally wind up on the delivery wheel.

An automatic tape laying method based on a six-axis robot, characterized in that the tension of the fiber tape is controlled by controlling the current adjustment of the magnetic powder brake. The specific method is: the tension detection sensor is fixed on the mounting frame by screws, and the guide rod and the tension The detection sensors are arranged in an S shape on the frame; during the laying process, the tension detection sensor dynamically detects the tension F ₀ of the fiber tape, and transmits the detected signal to the control system, which adjusts the magnetic powder in the tape unwinding device 1. The brake input current I is used to keep the tension of the prepreg tape constant and improve the quality of composite material laying and forming; at this time, the liner receiving device still keeps moving at a constant speed;

Wherein, the input current adjustment method of the magnetic powder brake is as follows:

According to the actual situation of the fiber placement process, set a threshold ΔF ₀ =|F ₁ -F ₀ |>0

When the deviation |ΔF|>ΔF ₀ ,

When the deviation |ΔF|≤ΔF ₀ , use PID control,

Among them, F ₀ is the preset tension value, F ₁ is the tension value measured by the tension sensor, the deviation ΔF=F ₁ -F ₀ , I ₁ is the initial input current corresponding to F ₁ , I ₂ is the input current after the control system is adjusted, K _P is the proportional coefficient, T _i is the integral time constant, and T _d is the differential time constant.

On the premise of ensuring the laying effect, the present invention can lay and shape large-scale components with small curvature, greatly improve the laying efficiency, further reduce the manufacturing cost of automatic laying products, and have better advantages in the fields of automobiles and aviation. application prospects.

Description of drawings

Fig. 1 is the overall structure front view of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the left view of Fig. 1;

Fig. 4 is a front view of the tape unwinding device;

Fig. 5 is an axonometric view of the tension detection device;

Fig. 6 is the top view of pressing and shearing device;

Fig. 7 is the side view of pressing roller device;

Fig. 8 is a sectional view along the A-A direction of Fig. 2;

Fig. 9 is a schematic diagram of an infrared heating device;

Figure 10 is a front view of the delivery wheel device;

Figure 11 is an axonometric view of the delivery roller device;

Fig. 12 is a schematic diagram of the pressing and shearing mechanism of Embodiment 2;

Fig. 13 is the front view of embodiment two pressing and shearing device;

Fig. 14 is a three-dimensional isometric view of the pressing and shearing device of the second embodiment.

detailed description

The composite material laying device provided by the present invention will be described in detail below with reference to the accompanying drawings and embodiments, which is an explanation of the present invention rather than a limitation.

Referring to Fig. 1, Fig. 2 and Fig. 3, an automatic tape laying device based on a six-axis robot type includes a frame 7, and is arranged on the frame 7:

A connection mechanism 8: used to connect and fix with external equipment;

1. Tape unwinding device 1: used to place tape laying with backing paper, including magnetic powder brake 1-1, magnetic powder brake support 1-2 with mounting holes, tape unwinding shaft 1-5, connecting magnetic powder brake rotating shaft and unwinding The elastic shaft coupling 1-3 of belt shaft 1-5, puts belt pulley 1-4 and is installed on the unwinding shaft 1-4;

A tension detection device 2: used to undertake the tape laying output from the tape unwinding device and detect the tension of the tape during laying, including the VNW tension detection sensor 2-1, and the tension detection installation frame 2-2 set on the frame 6 and two guide rods 2-3 arranged beside the VNW tension detection sensor 2-1;

A pressing and shearing device 3: used for pressing and shearing, for clamping and cutting off the fiber band;

An infrared heating device 4: used to heat the fiber tape to be laid or the fiber tape on the surface that has been laid, including a lampshade 4-1 arranged on the frame 7 and an infrared lamp 4-2 arranged in the lampshade

A pressure roller device 5: the prepreg tape delivered to the surface of the mandrel is pressed on the mandrel or the laid surface, including the needle roller bearing 5-1 installed on the frame 7, and the two needle roller bearings 5-1 1. The matching pressure roller shaft 5-3, the pressure roller 5-2 installed on the pressure roller shaft 5-3;

1. Lining paper receiving device 6: collect excess lining paper, including the lining paper receiving shaft 6-1 installed on the frame 7 through bearings, the lining paper receiving wheel 6-2 installed on the lining paper receiving shaft 6-1, Installed on the motor base 6-3 on the frame 7, the servo motor 6-7, the speed reducer 6-5, for installing the motor of the servo motor 6-7 and the speed reducer 6-5 and being fixed on the motor base 6-3 bracket 6-6;

The compression and shearing device 3 includes a fixed support 3-11 and a pneumatic compression device and a pneumatic shearing device arranged on the fixed support 3-11;

The pneumatic compression device includes a first double-acting cylinder 3-1-1, a compression bracket 3-10 connected to the output of the first double-action cylinder 3-1-1, and a pin shaft 3-9, which is installed on the compression bracket 3-10 and pinch roller 3-8 in bearing pin 3-9, and the fixed roller 3-7 that is arranged on the opposite side of pinch roller 3-8;

The pneumatic shearing device includes a second double-acting cylinder 3-2-1, a shearing knife frame 3-3 connected to the output of the second double-acting cylinder 3-2-1, installed in the shearing knife frame 3-3 The shearing knife 3-4, and the cutting chopping board 3-6 that is arranged on the opposite side of the shearing knife 3-4.

The compression and shearing device 3 includes a fixed support 3-11, two pneumatic compression devices arranged on the fixed support 3-11, and a pneumatic shear device arranged between the two pneumatic compression devices;

Described pneumatic pressing device comprises the first double-acting cylinder 3-13, the pressing bracket 3-14 that is connected with the output of the first double-acting cylinder 3-13, pin shaft 3-15, is installed in pressing bracket 3-14 and The pressure roller 3-16 in the pin shaft 3-15, and the fixed roller 3-17 that is arranged on the opposite side of the pressure roller 3-16;

Described pneumatic shearing device comprises the second double-acting cylinder 3-18, the shearing knife rest 3-19 that is connected with the output of the second double-acting cylinder 3-18, the shearing knife that is installed in the shearing knife rest 3-19 3-4, a wedge-shaped separation sheet 3-20 is arranged between the two pneumatic pressing devices so as to separate the tape laying from the backing paper.

Described backing paper device 6 also comprises a backing paper guide wheel 10, and backing paper 9 is separated from fiber band 3-5, and passes through pressing device fixed roller 3-7, backing paper guide wheel 10, pressure roller 5-2, Finally wound on the delivery roller 6-2. ;

Wherein the connecting mechanism 8 is used to connect the tape laying head with the six-axis robot, and the six-axis robot drives the tape laying head to move; the tape laying head frame 7 is the basic component of the whole laying head, and is used to install and connect parts in the tape laying head; The detection device 2, the pressing and shearing device 3, the heating device 4, the pressure roller device 5, and the lining paper receiving device 6 are installed on the tape laying head frame, which can complete the tension detection, guiding, clamping and cutting, and heating of the fiber tape The function also includes the function of collecting backing paper 9; the tension detection device 2 is used to detect the tension of the belt in the laying process, in order to achieve better laying quality; Compression and shearing are used to clamp and cut the fiber tape; the heating device 4 is used to heat the fiber tape to be laid or the laid surface; the pressure roller device 5 compacts the prepreg tape delivered to the surface of the mandrel to the core mold or on a laid surface.

Specifically, as shown in Figure 1, the connection mechanism 8 is located at the center of the top of the placement head frame 7, the tension detection device 2 and the shearing and clamping device 3 are located at one side of the placement head frame 7, and the heating device 4 is located at the top of the placement head frame 7. The left bottom of the laying head frame 7 is close to the pressure roller device 5, and the delivery device 6 is located at the bottom of the right side of the laying head frame 7.

During the laying process of the fiber prepreg tape 3-5, the tension detection device 2 detects the tension of the tape during the laying process, the heating device 4 heats the fiber prepreg tape 3-5 to be laid or the laid surface, and the pressing roller device 5 Compact the prepreg tape 3-5 onto the heated mandrel or lay-up surface. Before the prepreg tape 3-5 enters the shearing device 3-2, the backing paper 9 is separated from the fiber tape 3-5, and passes through the fixing wheel 3-7 of the pressing device, the backing paper guide wheel 10, and the pressing roller 5-2 , and finally wound on the delivery roller 6-2.

The structure and working principle of the pressing and shearing device 3 are: the pressing mechanism 3-1 and the shearing mechanism 3-2 are installed on the same mounting seat 3-11, and the power of cutting and pressing comes from two double-acting cylinders , respectively compression cylinder 3-1-1 and shear cylinder 3-2-1. Compression wheel 3-8 is installed on the compression support 3-10 by bearing pin 3-9, and compression support 3-10 is connected with the piston rod of cylinder 3-1-1 by screw. Shearing knife 3-4 is fixed on the shearing knife rest 3-3 by screw, and shearing knife rest 3-3 is connected with the piston rod of cylinder 3-2-1 by screw. When the fiber band 3-5 needs to be cut off, the control system sends an instruction, firstly the clamping cylinder 3-1-1 acts, the piston rod stretches out, and the fiber band 3-5 is pressed against the pinch fixed wheel by the pinch wheel 3-8 On 3-7, shear cylinder 3-2-1 action then, piston rod stretches out, and shearing knife 3-4 cuts off fiber band 3-5 by shearing action between cutting anvil 3-6.

The structure and working principle of the tension detection device 2 are: as shown in Figure 5, the tension detection sensor 2-1 is fixed on the mounting frame 2-2 by screws, and the guide rod 2-3 and the tension detection sensor 2-1 are mounted on the frame 7. The top is arranged in an S shape. During the laying process, the tension detection sensor dynamically detects the tension F ₀ of the fiber tape, and transmits the detected signal to the control system, and the control system adjusts the input current I of the magnetic powder brake 1-1 in the tape unwinding device 1 to maintain the predetermined The constant tension of the dipping tape improves the quality of laying and forming of composite materials. At this time, the interlining device still keeps moving at a constant speed.

Wherein, the input current adjustment method of the magnetic powder brake 1-1 is as follows:

According to the actual situation of the fiber placement process, set a threshold ΔF ₀ =|F ₁ -F ₀ |>0

When the deviation |ΔF|>ΔF ₀ ,

When the deviation |ΔF|≤ΔF ₀ , use PID control,

Among them, F ₀ is the preset tension value, F ₁ is the tension value measured by the tension sensor, the deviation ΔF=F ₁ -F ₀ , I ₁ is the initial input current corresponding to F ₁ , I ₂ is the input current after the control system is adjusted, K _P is the proportional coefficient, T _i is the integral time constant, and T _d is the differential time constant.

The structure and working principle of the pressure roller device 5 are: the pressure roller device 5 is installed on the frame 7 through the needle bearing 5-1, and the pressure roller 5-2 adopts flexible materials to better adapt to the laying surface. When the fiber tape 3-5 is transported to the pressure roller, the fiber tape 3-5 is laid on the mandrel or the layered surface with a certain pressure by adjusting the posture of the robot.

Specific Embodiment 1: The implementation of Embodiment 1 will be described with reference to FIGS. 1 , 6 , 7 , 8 , and 9 . During the laying process of the fiber prepreg tape 3-5, the tension detection device 2 detects the tension of the tape during the laying process, the heating device 4 heats the fiber prepreg tape 3-5 to be laid or the laid surface, and the pressure roller device 5 Compact the prepreg tape 3-5 onto the heated mandrel or lay-up surface. Before the prepreg tape 3-5 enters the shearing device 3-2, the backing paper 9 is separated from the fiber tape 3-5, and passes through the fixing wheel 3-7 of the pressing device, the backing paper guide wheel 10, and the pressing roller 5-2 , and finally wound on the delivery roller 6-2.

Embodiment 2: The embodiment of Embodiment 1 will be described with reference to FIGS. 1 , 7 , 12 , 13 , and 14 . This embodiment is identical with embodiment one except shearing and compacting device. Before the prepreg tape 3-5 enters the shearing device 3-2, the pressing wheel first compresses the prepreg tape 3-5 to prevent the prepreg tape 3-5 from rebounding under tension after shearing. After entering the shearing device, the backing paper 9 and the fiber tape 3-5 are attached to the upper and lower sides of the wedge-shaped block 3-12 respectively, so that the backing paper is not cut off when being convenient to mechanical cutting. After the cutting is completed, the pressing wheel will compress the backing paper and the fiber tape again to ensure that the fiber tape is in the correct position relative to the backing paper and laid on the laying surface without deviation. Like this just can neither cut backing paper 9 and the normal delivery of the fiber band 3-5 that guarantees again, and cost is low, economical and applicable.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Claims (3)

1. a kind of automated tape-laying device based on six-joint robot formula, it is characterised in that frame (7), and it is arranged on frame (7) On：

One bindiny mechanism (8)：For being connected with external equipment；

One tape feeding device (1)：For placing the laying with lining paper, including magnetic powder brake (1-1), the magnetic of mounting hole is provided with The yielding coupling (1-3) of brake support (1-2), unreeling shaft (1-5), connection magnetic powder brake rotating shaft and unreeling shaft (1-5), Belt wheel (1-4) is put to be arranged on unreeling shaft (1-5)；

One tension detecting apparatus (2)：For accept laying from tape feeding device output and in detecting laid course band tension force, bag Tension force detection sensor (2-1) is included, the tension force that is arranged in frame (7) detects mounting bracket (2-2) and two are arranged on tension force and examine Survey the other guide post (2-3) of sensor (2-1)；

One compresses shear (3)：For compressing and shearing, for clamping simultaneously cut staple band；

One infrared heating device (4)：For heating fiber band to be laid or the fiber band of placement surface, including it is arranged on Lampshade (4-1) in frame (7) and the infrared lamp (4-2) being arranged in lampshade；

One press-roller device (5)：The prepreg tape of mandrel surface is transported to be pressed on core or placement surface, including installed in machine Needle bearing (5-1) on frame (7), the pressure roller shaft (5-3) being engaged with two needle bearings (5-1), installed in pressure roller shaft (5- 3) pressure roller (5-2) on；

One receives shaft lining paper device (6)：Unnecessary lining paper is collected, including the receipts lining paper axle (6- in frame (7) is arranged on by bearing 1) receipts lining paper wheel (6-2) received on lining paper axle (6-1), is installed on, the motor cabinet (6-3) in frame (7), servomotor is installed on (6-7), decelerator (6-5), for the electricity for installing servomotor (6-7) and decelerator (6-5) and be fixed on motor cabinet (6-3) Machine support (6-6)；

It is described to compress shear (3) including hold-down support (3-11) and be arranged on two Pneumatic pressures of hold-down support (3-11) Tight device and the pneumatic shear being arranged between two air clampers；

The air clamper includes the first double-acting cylinder (3-13), is connected with the first double-acting cylinder (3-13) output Support (3-14) is compressed, bearing pin (3-15) is installed on the hold-down roller (3-16) compressed in support (3-14) and bearing pin (3-15), with And it is arranged on the fixing roller (3-17) on hold-down roller (3-16) opposite；

The pneumatic shear includes the second double-acting cylinder (3-18), is connected with the second double-acting cylinder (3-18) output Shearing knife rest (3-19), is installed on the shear knife (3-4) in shearing knife rest (3-19), is set between described two air clampers A wedge-shaped separate sheet (3-20) is equipped with so as to laying is separated with lining paper.

2. a kind of automated tape-laying device based on six-joint robot formula according to claim 1, it is characterised in that the receipts Shaft lining paper device (6) also includes a lining paper directive wheel (10), and lining paper (9) is separated with fiber band (3-5), and solid by hold-down gear It is fixed roll (3-7), lining paper directive wheel (10), pressure roller (5-2), final wound on receiving on lining paper wheel (6-2).

3. the automated tape-laying method of the automated tape-laying device based on six-joint robot formula described in a kind of use claim 1, its It is characterised by, controls the tension force of fiber band (3-5), specific method to be by controlling the electric current of magnetic powder brake (1-1) to adjust： Tension force detection sensor (2-1) is fixed by screws on mounting bracket (2-2), guide post (2-3) and tension force detection sensor (2- 1) arranged into S types in frame (7)；In laid course, the tension force F of tension force detection sensor dynamic detection fiber band₀, will examine The signal transmission for measuring adjusts magnetic powder brake (1-1) the input current I in tape feeding device 1 to control system by control system, To keep the constant of preimpregnation belt tension, the quality of composite material laying shaping is improved；Shaft lining paper device is now received still to remain a constant speed Motion；

Wherein, described magnetic powder brake (1-1) input current regulative mode is as follows：

According to the actual conditions of fiber placement process, a threshold value Δ F is set₀=| F₁-F₀| ＞ 0

| Δ F | the ＞ Δs F that works as departure₀When,

| Δ the F |≤Δ F that work as departure₀When, using PID control,

Wherein F₀It is pre-set tension value, F₁For tension sensor measures tension value, departure Δ F=F₁-F₀, I₁It is F₁It is corresponding first Beginning input current, I₂It is input current, K after control system regulation_PIt is proportionality coefficient, T_iIt is integration time constant, T_dDuring for differential Between constant.