CN102975375A - Method for detecting automated tape laying quality of composite material through laser positioning - Google Patents
Method for detecting automated tape laying quality of composite material through laser positioning Download PDFInfo
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- CN102975375A CN102975375A CN2012105161636A CN201210516163A CN102975375A CN 102975375 A CN102975375 A CN 102975375A CN 2012105161636 A CN2012105161636 A CN 2012105161636A CN 201210516163 A CN201210516163 A CN 201210516163A CN 102975375 A CN102975375 A CN 102975375A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
- B29C70/541—Positioning reinforcements in a mould, e.g. using clamping means for the reinforcement
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Abstract
The invention discloses a method for detecting the automated tape laying quality of a composite material through laser positioning, and aims to provide a method for efficiently, rapidly and accurately detecting automated tape laying quality such as automated tape laying angle, contour and boundary and the like. The method disclosed by the invention is implemented through the following technical scheme: a laser projector connected with a maser control platform computer is fixedly connected on a mounting rack moving along with a tape laying head, and signal cables of the laser projector are integrated in a servo control circuit of an automated tape laying machine; the outer edge of a tape laying mold tool is provided with a reflection head shared by a tape laying head laser locator and the laser projector; a reference coordinate system of the laser locator and the tape laying mold tool is established through the reflected sensing of the reflection head, and a digital model of layered tape laying contours is established through a TruLASER software program in the computer; and the laser projector acquires the position coordinates of the reflection head by using the TruLASER so as to generate the projection contour of a tape material in each layer, and then the projection contour is projected to the working surface of the tape laying mold tool through the laser projector.
Description
Technical field
The present invention relates to a kind of composite automated tape-laying accurate detecting method.
Background technology
The automated tape-laying technology is one of automatic forming technology of American-European countries's broad development and application, integrates that prepreg is cut out, the integrated numerical control forming technique of location, laying, compacting, the function such as heat.It relates to a plurality of research directions such as automatic placement equipment technology, prepreg cutting technique, lay CAD/CAM technology, automatic placement technology, spreading monitoring, Tool and Die Technology, cost analysis.So-called automated tape-laying technology adopts numerical control laying equipment exactly, realizes continuous surface trimming and the automatic placement of composite material presoaked strap by the means of digitlization, automation.Main working process is: the material prepreg volume is installed in the placement head, preimpregnation material is derived by one group of roller, but and be pressed on the material that frock or last layer completed by pinch rollers or conformal mechanism, cutter cut off material by the direction that sets, can guarantee that the material of lay is consistent with the profile of frock.In the time of lay, the feed back roller reclaims back lining materials.
Domestic many Aviation Manufacturing Enterprises have been carried out relevant experimental study from external introduction automated tape-laying machine at the laying technical elements at present.The automated tape-laying machine is divided into 2 kinds in flat automated tape-laying machine (FTLM) and curved surface automated tape-laying machine (CTLM).FTLM has 4 universal driving shafts, mainly is applicable to the manufacturing of flat board or small curve wing wallboard; CTLM has 5 universal driving shafts, is applicable to the manufacturing of iso-curvature wallboard in the single-curved surface (such as the large scale fuselage).Automated tape-laying machine system is comprised of platform system (parallel orbit, crossbeam and vertical rod) and laying head, is divided into single posture and double frame type.Wherein the characteristics of two stand automated tape-laying machines are that machine length is adjustable, for lead aircraft wing skin construction, are suitable for continued operation.The laying head is the core of automated tape-laying equipment, the double laying head that company produces at present in France, all the other belt spreading machines are single station laying head, as single station laying is first at least by 6 axles (2 cover diced systems totally 4 axles, 1 axle of prepreg tape feeding system, 1 axle of lining paper recovery system).The main composition of laying head comprises: prepreg tape clamping and delivery system, lining paper recovery system, defect detecting system, prepreg tape are carried guidance system, prepreg tape diced system, prepreg tape heating system, laying and debulking systems, laser assisted location centering system.Wherein prepreg tape transmits by conveying axis and the tension axle of laying head.The automated tape-laying machine not only will accurately be controlled a laying movement locus, and will realize the motions such as the inner prepreg tape conveying of laying head, lay and cutting, and can accurately control technical indicators such as prepreg tape quality (width, be mingled with, lack yarn etc.), prepreg tape feeding, cut quality, forming temperature, briquetting pressure and laying gaps.So the automated tape-laying machine not only need to and operate steadily apparently higher than the machining accuracy of other composite automation equipments, and need more powerful control function and flexibility (multi-axis interpolation, many I/O control point, analog quantity control).
The automated tape-laying monitoring parameter generally includes, and band, yarn quality control are invaded in the observing and controlling of lay gap in advance, lay angle etc., and present research mainly concentrates on the detection of lay gap and lay blemish, and less for the detection of lay angle.The surperficial complexity of composite element has been brought certain difficulty to the Real Time Monitoring of technological parameter in the lay process, especially this important parameter of lay angle of placement head.Whether correct mode adopts traditional survey tool such as ruler, slide measure and bevel protractor to every layer of band material that present detection belt spreading machine spreads out.But this measuring method certainty of measurement is low, can't carry out Measurement accuracy for large-scale product, and measuring period is long.Because the special process of composite product adopts model locate mode laying parts quality to be difficult to guarantee in the manual laying mode, and along with the size of composite product is increasing, uses the mode of model location progressively to be eliminated.And adopt at present the laying locate mode of laser positioning instrument, workman's operation complexity, increase positioning accuracy in the time of can not only reducing manual laying, so that the quality of product promoted greatly, thereby the laser positioning instrument uses as its auxiliary instrument just by the manual laying of a large amount of introducings.
At present main rely on control placement head motion process and utilize the photoelectric sensor fabric strip at guiding a kind of jade place sideslip gap detection whether.Also do not have so far a kind of can be applied to engineering reality efficiently, automatic placement detection method for quality quickly and accurately.
Summary of the invention
Task of the present invention is to utilize the laser positioning technology, provides a kind of efficient, quick, can accurately check the method for the automatic placement quality such as automated tape-laying angle, profile, border.
Above-mentioned purpose of the present invention can realize by following measures.A kind of laser positioning detects the method for composite automated tape-laying quality, it is characterized in that comprising the steps:
On the installing rack of first motion of companion laying, connect firmly a laser projection that links to each other with master control platform computer, and the laser projection signal cable is integrated in the servo control circuit of automated tape-laying machine; Then at least four alignment pins that distribute at laying mold tooling outer rim upper surface are installed the perflectometer that shares with a laying laser positioning instrument and above-mentioned laser projection, the laser positioning instrument is set up the laser positioning instrument reference frame identical with the laying mold tooling with laser projection by perflectometer reflection induction, sets up simultaneously the mathematical model of every one deck laying profile and every band material by above-mentioned built-in computer TruLASER software program; Laser projection is by laser positioning instrument system program software TruLASER, automatically gather the position coordinates of perflectometer, with the part data behind the laser positioning instrument calibration coordinate, generate the projected outline of every layer of band material by TruLASER, during detection, by controlling master control platform computer, profile with the definition of system file cad data, pass through laser projection, the laying contour images that forms, accurately project on the working surface of laying mold tooling, the image boundary profile that then projects according to laser projection is distinguished the figure that the actual laying of belt spreading machine goes out.
The present invention has following beneficial effect than prior art.
The laying contour accuracy that laser positioning instrument precision projects is high, detection speed is fast, whether belt spreading machine automated tape-laying profile conforms to the profile that laser projection projects the frock surface, very clear, need not the auxiliary detection instrument, the survey tool that can discard tradition such as survey tools such as ruler, slide measure and bevel protractors, is realized quick, Measurement accuracy that whether automated tape-laying angle, profile, border meet the demands.During detection, only can determine the accuracy of the accuracy of the geometric parameters such as composite cut-parts profile, machine direction, lay gap and laying position, direction, angle by manual observation, thereby alleviate inspector's labour intensity.Utilize the present invention effectively to save detection time, improve multiple material overall production.
Description of drawings
In order to further specify rather than limit above-mentioned implementation of the present invention, the present invention is further described below in conjunction with drawings and Examples, but therefore do not limit the present invention among the described practical range.All these designs should be considered as the disclosed content of present technique and protection scope of the present invention.
Fig. 1 composite automated tape-laying machine System Working Principle schematic diagram.
Fig. 2 is that automated tape-laying machine laser positioning of the present invention detects principle schematic.
Among the figure: 1 belt spreading machine, 2 laying heads, 3 laser projections, 4 crossbeams and vertical rod, 5 parallel orbits, 6 laying mold toolings, 7 perflectometers, 8 laser positioning instrument, 9 laser beams, 10 laying sheet stocks, the profile of 11 laser projections.
The specific embodiment
Consult Fig. 1.In the automated tape-laying machine system that is comprised of platform system and laying head, the prior art platform system that present embodiment adopts comprises parallel orbit 5, crossbeam and vertical rod 4.During Fixture Design and composite material hand laying frock similar.In order to realize that laser positioning detects composite automated tape-laying quality, on companion laying 2 installing rack that move together, connected firmly a laser projection 3 that links to each other with master control platform computer, the realization circuit of this laser projection 3 merges in the laser positioning instrument system, can connect firmly together on the C rotating shaft of coordinate system Z axis rotation by support and automated tape-laying machine.When guaranteeing that laser projection and laying mold tooling 6 have enough distances, also laser projection 3 can be followed the automated tape-laying machine carries out translation, rotatablely moves, the part convenience also can on other parts or mechanism of belt spreading machine, just have been lost in its installation site.Laser projection 3 integrates by laser positioning instrument system and automated tape-laying machine, the signal cable of control laser projection is integrated in the servo control circuit of automated tape-laying machine, by the startup of automated tape-laying owner control computer control laser projection 3, stop and working.Laser positioning instrument 8 links to each other with local master control platform computer with adopting one or more laser projections 3 that are installed in laying mold tooling 6 superjacent air spaces, and master control platform built-in computer has part data, system file and TruLASER software program.Distribute around the laying mold tooling 6 outer rim upper surfaces at least four or more than, around the alignment pin of compound material laying laminate materials working face, alignment pin is positioned on the exact position of laying mold tooling 6.Perflectometer 7 is installed on the alignment pin.The perflectometer working face is coated with reflectorized material.The perflectometer 7 that a laying laser positioning instrument 8 and above-mentioned laser projection 3 share, any laser that perflectometer will be aimed at it directly reflexes to laser projection and above-mentioned laser projection 3, like this, perflectometer 7 makes laser projection 3 sense laying mold tooling 6 with respect to the position of oneself.Laser positioning instrument 8 is set up the laser positioning instrument reference frame identical with the laying mold tooling with laser projection 3 by perflectometer reflection induction, sets up simultaneously the mathematical model of every one deck laying profile and every band material by above-mentioned built-in computer TruLASER software program.Laser projection is by laser positioning instrument system program software TruLASER, automatically gather the position coordinates of perflectometer, with the part data behind the laser positioning instrument 8 calibration coordinates, generate the projected outline of every layer of band material by TruLASER, during detection, by controlling master control platform computer, laser projection 3 forms the laser beam 9 of spare part profile by perflectometer 7 oscillating mirrors, deflection the laser of both direction, 9 continue to describe the profile of cad data definition, and the galvanometer driver of speculum is controlled by digital processor.If the describing of profile surpasses about per second 20 times, but then substantive profile is arrived in visual observation.When local master control platform computer operation laser positioning instrument 8, laser positioning instrument and the laser projection installed on the automated tape-laying machine portal frame, by laser laser positioning instrument system program, automatically gather the projection perflectometer coordinate on the frock, finish laser positioning instrument calibrating coordinates; TruLASER instruction laser projection 3 laser projections 3 are with the profile of system file cad data definition and every layer of projected outline that band is expected of TruLASER generation, at a high speed, accurately project by part data by laser beam 9 on the working surface of laying mold tooling 6 and form the laying contour images, whether inspection conforms to the profile that the laser positioning instrument projects the frock surface by the automated tape-laying profile that mathematical model carries out, and realizes quick, Measurement accuracy that whether automated tape-laying angle, profile, border meet the demands.The image boundary profile that just can project according to laser projection is distinguished the figure that the actual laying of belt spreading machine goes out.The operator is placed on compound material laying laminate materials (tablet) on laying mold tooling 6 surfaces according to the image of projection, finishes the laying that meets material.
The automated tape-laying machine is by carrying the laser assisted navigation system, four perflectometers carry out the front coordinate centering of automated tape-laying machine laying part among the laser projection selection figure, make the automated tape-laying machine find applying laying mold tooling 6 positions with respect to oneself, the work of automated tape-laying machine, laying goes out ground floor composite strip, mobile automated tape-laying machine, the laser projection 3 that drive is arranged in the laser positioning instrument system moves to laying mold tooling 6 superjacent air space correct positions, operate subsequently the basic correction verification module of laser positioning instrument system, according to the position along the perflectometer 7 at laying mold tooling 6 frock edges, make laser projection 3 sense laying mold tooling 6 with respect to the position of oneself, simultaneously, automated tape-laying machine projection control submodule is recorded the position at current laser projection place.The operator is by being integrated in the control program in the automated tape-laying owner control computer, and the instruction laser projection starts, and begins to throw the profile of ground floor.Inspector or operator according to the boundary profile that laser projection projects, with the naked eye distinguish the figure that the actual laying of belt spreading machine goes out, and fit like a glove such as both, and be then all qualified, misfits such as part, then only needs emphasis to check that this zone gets final product.After having inspected, the operator closes laser projection 3 by being integrated in the control program in the automated tape-laying owner control computer, and beginning automated tape-laying machine program, enters laying second layer operation; After second layer lay was finished, automated tape-laying machine projection control submodule made the automated tape-laying machine drive the position of recording when laser projection 3 moves to the ground floor projection automatically, and begins projection, check, and follow-up all layers mode of operation is identical with the second layer.
Consult Fig. 2.The operation principle that laser positioning detects embodiment is as follows: the user uses the laser orientation system programming software to make the laser orientation system digital control program.The local master control platform of laser orientation system computer calls the digital control program of making, and digital control program is sent to laser projection, laser projection comprises, digital control program is carried out the galvanometer of the digital signal processor DSP of Data Analysis, the link to each other laser generator of DSP, two continuous controllers and two reflective mirrors that drive by galvanometer, reflective mirror 14,15 can be around rotating shaft rotation separately, and two rotating shafts spatially are mutual vertical relation.Master control platform built-in computer digital control program is delivered to laser generator and controller by DSP with analysis result, control the size of current of two galvanometer 12, galvanometer 13, drive reflective mirror 14 and reflective mirror 15 deflections, electric current is larger, and the angle of reflective mirror deflection is just larger.After laser generator gives off laser beam, laser beam is at first by reflective mirror 15, if this moment, the drive current size of reflective mirror 15 kept constant, reflective mirror 15 will keep certain deflection angle not change, project on the reflective mirror 14 after the reflection of laser beam by reflective mirror 15, if this moment, reflective mirror 14 deflected under different current drives, the position that laser beam projects on the laying mold tooling after reflecting via reflective mirror 14 will change (being assumed to the directions X of laying mold tooling) along straight line at certain orientation, if keep reflective mirror 14 deflection angles constant, and the position that reflective mirror 15 deflection angles project on the laying mold tooling when changing will change (being assumed to the Y-direction of laying mold tooling) along straight line by the direction with above-mentioned perpendicular direction, if reflective mirror 14,15 carry out deflection respectively simultaneously under galvanometer driving separately, then the laser beam any position that can project the laying mold tooling (is similar to the X of Digit Control Machine Tool, Y-axis interlock control), like this by reflective mirror at a high speed, continuous motion, the laser beam that laser projection projects finally can form a contour pattern at the laying mold tooling, whether the contour pattern that the inspector compares laser beam projection and automated tape-laying spread the figure that Die goes out identical, can judge whether laying meets the requirements.
Claims (7)
1. a laser positioning detects the method for composite automated tape-laying quality, it is characterized in that comprising the steps: on the installing rack of first motion of companion laying, connect firmly a laser projection that links to each other with master control platform computer, and the laser projection signal cable is integrated in the servo control circuit of automated tape-laying machine; Then at least four alignment pins of laying mold tooling outer rim upper surface distribution the perflectometer that shares with a laying laser positioning instrument and above-mentioned laser projection is installed; The laser positioning instrument is set up the laser positioning instrument reference frame identical with the laying mold tooling with laser projection by perflectometer reflection induction, sets up simultaneously the mathematical model of every one deck laying profile and every band material by above-mentioned built-in computer TruLASER software program; Laser projection is by laser positioning instrument system program software TruLASER, automatically gather the position coordinates of perflectometer, with the part data behind the laser positioning instrument calibration coordinate, generate the projected outline of every layer of band material by TruLASER, during detection, by controlling master control platform computer, profile with the definition of system file cad data, pass through laser projection, the laying contour images that forms, accurately project on the working surface of laying mold tooling, the image boundary profile that then projects according to laser projection is distinguished the figure that the actual laying of belt spreading machine goes out.
2. laser positioning as claimed in claim 1 detects the method for composite automated tape-laying quality, it is characterized in that, the realization circuit of laser projection 3 merges in the laser positioning instrument system, connects firmly together on the C rotating shaft of coordinate system Z axis rotation by support and automated tape-laying machine.
3. laser positioning as claimed in claim 1 detects the method for composite automated tape-laying quality, it is characterized in that, laser positioning instrument 8 links to each other with local master control platform computer with adopting one or more laser projections 3 that are installed in laying mold tooling 6 superjacent air spaces, and master control platform built-in computer has part data, system file and TruLASER software program.
4. laser positioning as claimed in claim 1 detects the method for composite automated tape-laying quality, it is characterized in that, when local master control platform computer operation laser positioning instrument 8, laser positioning instrument and the laser projection installed on the automated tape-laying machine portal frame, by laser laser positioning instrument system program, automatically gather the projection perflectometer coordinate on the frock, finish laser positioning instrument calibrating coordinates.
5. laser positioning as claimed in claim 1 detects the method for composite automated tape-laying quality, it is characterized in that, laser projection is selected the coordinate centering before four perflectometers carry out automated tape-laying machine laying part, make the automated tape-laying machine find applying laying mold tooling 6 positions with respect to oneself, the work of automated tape-laying machine, laying goes out ground floor composite strip, mobile automated tape-laying machine, the laser projection 3 that drive is arranged in the laser positioning instrument system moves to laying mold tooling 6 superjacent air space correct positions, operate subsequently the basic correction verification module of laser positioning instrument system, according to the position along the perflectometer 7 at laying mold tooling 6 frock edges, make laser projection 3 sense laying mold tooling 6 with respect to the position of oneself, simultaneously, automated tape-laying machine projection control submodule is recorded the position at current laser projection place.
6. laser positioning as claimed in claim 1 detects the method for composite automated tape-laying quality, it is characterized in that, after second layer lay is finished, automated tape-laying machine projection control submodule makes the automated tape-laying machine drive the position of recording when laser projection 3 moves to the ground floor projection automatically, and beginning projection, check, follow-up all layers mode of operation is identical with the second layer.
7. laser positioning as claimed in claim 1 detects the method for composite automated tape-laying quality, it is characterized in that, local master control platform computer calls the digital control program of making, and digital control program is sent to digital signal processor DSP, DSP carries out data analysis, and analysis result delivered to laser generator and controller, control galvanometer generation size of current, galvanometer drives reflective mirror according to size of current and deflects into respectively different angles, laser generator gives off laser beam simultaneously, laser beam is via around the rotation of rotating shaft separately, and two rotating shafts spatially project on the laying mold tooling for orthogonal two reflective mirrors.
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| CN103448259A (en) * | 2013-09-18 | 2013-12-18 | 沈阳飞机工业（集团）有限公司 | Automatic belt paving machine blank folding tool convenient to transfer and folding method |
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| CN104440069A (en) * | 2014-12-26 | 2015-03-25 | 苏州博众精工科技有限公司 | Integrated equipment used for installation and detection of screws |
| CN104985834A (en) * | 2015-05-29 | 2015-10-21 | 武汉大学 | Wave infrared heating system for high-speed fiber placement |
| CN105128363A (en) * | 2015-05-29 | 2015-12-09 | 武汉大学 | System for solving springback phenomenon in composite material laying process |
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