CN104626611B - Six-shaft robot-based type automatic tape paving device and six-shaft robot based type automatic tape paving method - Google Patents
Six-shaft robot-based type automatic tape paving device and six-shaft robot based type automatic tape paving method Download PDFInfo
- Publication number
- CN104626611B CN104626611B CN201510050759.5A CN201510050759A CN104626611B CN 104626611 B CN104626611 B CN 104626611B CN 201510050759 A CN201510050759 A CN 201510050759A CN 104626611 B CN104626611 B CN 104626611B
- Authority
- CN
- China
- Prior art keywords
- lining paper
- laying
- tension force
- frame
- tape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
-
- 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
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
- B29C70/388—Tape placement heads, e.g. component parts, details or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Moulding By Coating Moulds (AREA)
- Paper (AREA)
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
Technical field
A kind of automated tape-laying device and method based on six-joint robot formula in present document relates to composite material laying equipment,
Belong to technical field of composite material molding.
Background technology
Advanced composite material has lightweight, high intensity, high-modulus, antifatigue, corrosion-resistant, designability and good manufacturability etc.
Advantage and in Aero-Space and military industry field extensive use, but its former complex structure, control difficulty be big, manufacturing cost
Height, composite product rarely has in civil area set foot at present.Therefore, composite low-cost manufacturing technique is international at present multiple
The key problem in condensation material field, composite automated tape-laying technology is the research emphasis of composite low-cost manufacturing technique.
Using the unidirectional prepreg tape with isolation lining paper 9, its cutting, positioning, laying, rod pressure are used automated tape-laying technology
Numeric Control Technology, is completed by automated tape-laying machine, and with efficiency high, good product quality can the advantage that lays of any direction.
The content of the invention
The present invention mainly solves the technical problem existing for prior art；Ensureing have laying basic there is provided one kind
While function, the manufacturing cost of equipment and a kind of automated tape-laying based on six-joint robot formula of control difficulty can be substantially reduced
Device.
Above-mentioned technical problem of the invention is mainly what is be addressed by following technical proposals：
A kind of automated tape-laying device based on six-joint robot formula, it is characterised in that frame, and be arranged in frame
's：
One bindiny mechanism：For being connected with external equipment；
One tape feeding device：For placing the laying with lining paper, including magnetic powder brake, the magnetic powders brake of mounting hole is provided with
Device bearing, puts tape spool, connects magnetic powder brake rotating shaft and the yielding coupling for putting tape spool, puts belt wheel and is arranged on unreeling shaft；
One tension detecting apparatus：For accept laying from tape feeding device output and in detecting laid course band tension force,
Including VNW tension force detection sensors, the tension force detection mounting bracket being arranged in frame and two are arranged on VNW tension force detection sensing
Guide post by device；
One compresses shear：For compressing and shearing for clamping simultaneously cut staple band；
One infrared heating device：For heating fiber band to be laid or the fiber band of placement surface, including set
Lampshade and the infrared lamp being arranged in lampshade in frame
One press-roller device：Be transported to mandrel surface preimpregnation it is with pressure be pressed on core or placement surface, including install
Needle bearing in frame, the pressure roller shaft being engaged with two needle bearings, the pressure roller in pressure roller shaft；
One receives shaft lining paper device：Unnecessary lining paper is collected, including lining paper axle is received by the way that bearing is rack-mounted, be installed on
Receive the receipts lining paper wheel on lining paper axle, be installed on the motor cabinet in frame, servomotor, decelerator, for install servomotor and
Decelerator is simultaneously fixed on the electric machine support on motor cabinet；
The shear that compresses includes hold-down support and is arranged on the air clamper and pneumatic clipper of hold-down support
Cutting apparatus；
The air clamper includes the first double-acting cylinder, the compression branch being connected with the output of the first double-acting cylinder
Frame, bearing pin is installed on the hold-down roller compressed in support and bearing pin, and the fixing roller for being arranged on hold-down roller opposite；
The pneumatic shear includes the second double-acting cylinder, the shear knife being connected with the output of the second double-acting cylinder
Frame, is installed on the shear knife in shearing knife rest, and the shearing chopping block for being arranged on shear knife opposite.
In a kind of above-mentioned automated tape-laying device based on six-joint robot formula, the compression shear includes fixed branch
Seat and it is arranged on two air clampers of hold-down support and the pneumatic shearing that is arranged between two air clampers
Device；
The air clamper includes the first double-acting cylinder, the compression branch being connected with the output of the first double-acting cylinder
Frame, bearing pin is installed on the hold-down roller compressed in support and bearing pin, and the fixing roller for being arranged on hold-down roller opposite；
The pneumatic shear includes the second double-acting cylinder, the shear knife being connected with the output of the second double-acting cylinder
Frame, is installed on the shear knife in shearing knife rest, be provided between described two air clampers a wedge-shaped separate sheet so as to
Laying is separated with lining paper.
In a kind of above-mentioned automated tape-laying device based on six-joint robot formula, the receipts shaft lining paper device 6 also includes one
Lining paper directive wheel, lining paper is separated with fiber band, and by hold-down gear fixing roller, lining paper directive wheel, pressure roller, final wound on receipts
On paper wheel.
A kind of automated tape-laying method based on six-joint robot formula, it is characterised in that by the electricity for controlling magnetic powder brake
Stream regulation is controlling the tension force of fiber band, specific method：Tension force detection sensor is fixed by screws on mounting bracket, is oriented to
Bar is arranged in frame with tension force detection sensor into S types；In laid course, tension force detection sensor dynamic detection fiber band
Tension force F0, the signal transmission that will be detected is to control system, and the magnetic powder brake adjusted by control system in tape feeding device 1 is defeated
Enter electric current I, to keep presoaking the constant of belt tension, improve the quality of composite material laying shaping；Now receive shaft lining paper device still
Remain a constant speed motion；
Wherein, described magnetic powder brake 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 F1Correspondence
Initial input current, I2It is input current, K after control system regulationPIt is proportionality coefficient, TiIt is integration time constant, TdFor micro-
Divide time constant.
The present invention can carry out laying forming, significantly on the premise of ensureing to lay effect to the large-scale component of small curvature
The efficiency of lay is improve, automatic placement cost of goods manufactured is further reduced, is had in fields such as automobile, aviation fields and is compared
Good application prospect.
Brief description of the drawings
Fig. 1 is overall structure front view of the invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is tape feeding device front view；
Fig. 5 is tension detecting apparatus axonometric drawing；
Fig. 6 is to compress the top view with shear；
Fig. 7 is the side view of press-roller device；
Fig. 8 is sectional views of the Fig. 2 along A-A directions；
Fig. 9 is infrared heating device schematic diagram；
Figure 10 is the front view of collection wheel apparatus；
Figure 11 is the axonometric drawing of collection wheel apparatus；
Figure 12 is the schematic diagram of mechanism of the compression of implementation method two and cutting mechanism；
Figure 13 is the front view of the compression of implementation method two and shear；
Figure 14 is the three-dimensional axonometric drawing of the compression of implementation method two and shear.
Specific embodiment
Come to be described in detail the composite material laying device that the present invention is provided with reference to the accompanying drawings and examples, it is described
It is explanation of the invention rather than restriction.
Referring to Fig. 1, Fig. 2, Fig. 3, a kind of automated tape-laying device based on six-joint robot formula, including frame 7, and set
In frame 7：
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
Brake support 1-2, puts tape spool 1-5, connects magnetic powder brake rotating shaft and the yielding coupling 1-3 for putting tape spool 1-5, puts belt wheel 1-
4 are arranged on unreeling shaft 1-4；
One tension detecting apparatus 2：For accept laying from tape feeding device output and in detecting laid course band tension force,
Including VNW tension force detection sensor 2-1, the tension force detection mounting bracket 2-2 being arranged in frame 6 and two are arranged on VNW tension force
Guide post 2-3 by detection 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 set
The lampshade 4-1 and infrared lamp 4-2 being arranged in lampshade in frame 7
One press-roller device 5：Be transported to mandrel surface preimpregnation it is with pressure be pressed on core or placement surface, including install
Needle bearing 5-1 in frame 7, the pressure roller shaft 5-3 being engaged with two needle bearing 5-1, on pressure roller shaft 5-3
Pressure roller 5-2；
One receives shaft lining paper device 6：Unnecessary lining paper is collected, including the receipts lining paper axle 6-1 in frame 7 is arranged on by bearing,
The 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 6-7, decelerator is installed on
6-5, for the electric machine support 6-6 for installing servomotor 6-7 and decelerator 6-5 and be fixed on motor cabinet 6-3；
The shear 3 that compresses includes hold-down support 3-11 and is arranged on the air clamper of hold-down support 3-11
With pneumatic shear；
The air clamper includes the first double-acting cylinder 3-1-1, is connected with the first double-acting cylinder 3-1-1 outputs
Compression support 3-10, bearing pin 3-9, be installed on the hold-down roller 3-8 compressed in support 3-10 and bearing pin 3-9, and be arranged on pressure
The fixing roller 3-7 on tight roller 3-8 opposites；
The pneumatic shear includes the second double-acting cylinder 3-2-1, is connected with the second double-acting cylinder 3-2-1 outputs
Shearing knife rest 3-3, be installed on the shear knife 3-4 in shearing knife rest 3-3, and the shearing anvil for being arranged on shear knife 3-4 opposites
Plate 3-6.
The shear 3 that compresses includes hold-down support 3-11 and is arranged on two pneumatic clampings of hold-down support 3-11
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 outputs
Support 3-14, bearing pin 3-15 are compressed, the hold-down roller 3-16 compressed in support 3-14 and bearing pin 3-15 is installed on, and be arranged on pressure
The fixing roller 3-17 on tight roller 3-16 opposites；
The pneumatic shear includes the second double-acting cylinder 3-18, is connected with the second double-acting cylinder 3-18 outputs
Shearing knife rest 3-19, is installed on the shear knife 3-4 in shearing knife rest 3-19, and one is provided between described two air clampers
Individual wedge-shaped separate sheet 3-20 is separated so as to laying with lining paper.
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 by compressing
It is device fixing roller 3-7, lining paper directive wheel 10, pressure roller 5-2, final on paper collecting roller 6-2.；
Wherein bindiny mechanism 8 is used for, by laying head and six-joint robot connection, laying head motion being driven by six-joint robot；
Laying head frame 7 is the basic components of whole placement head, for installing the parts in connection laying head；Tension detecting apparatus 2,
Compress and be arranged in laying head frame with shear 3, heater 4, press-roller device 5, receipts shaft lining paper device 6, fibre can be completed
The tension force detection of band is tieed up, is oriented to, clamped and cut-out, the function of heating, also including collecting the function of lining paper 9；Tension detecting apparatus 2
For detecting the tension force of band in laid course, in the hope of reaching preferable spreading；When core border or rail will be laid
During mark terminal, compress and shear for clamping simultaneously cut staple band；Heater 4 is used for heating fiber band to be laid or
Placement surface；The prepreg tape that press-roller device 5 will be delivered to mandrel surface is compacted on core or placement surface.
Specifically, as shown in figure 1, bindiny mechanism 8 be located at the top center position of placement head frame 7, tension detecting apparatus 2 with
And shearing and clamping device 3 are located at the side of placement head frame 7, heater 4 is located at the left bottom of placement head frame 7 and approaches
Press-roller device 5, delivery device 6 is located at the bottom on the right of placement head frame 7.
In fiber prepreg tape 3-5 laid courses, the tension force of band, heating dress in the detection laid course of tension detecting apparatus 2
Put 4 and heat fiber prepreg tape 3-5 to be laid or placement surface, be compacted for prepreg tape 3-5 heated by press-roller device 5
Core or on placement surface.Before shear 3-2 is entered into, lining paper 9 is separated prepreg tape 3-5 with fiber band 3-5,
And by hold-down gear fast pulley 3-7, lining paper directive wheel 10, pressure roller 5-2, final on paper collecting roller 6-2.
Compressing the structure and operation principle of shear 3 is：Hold-down mechanism 3-1 and cutting mechanism 3-2 is arranged on same
On mounting seat 3-11, cut-out and the power for compressing come from two double-acting cylinders, respectively compression cylinder 3-1-1 and shearing gas
Cylinder 3-2-1.Contact roller 3-8 is installed on compression support 3-10 by bearing pin 3-9, compresses support 3-10 by screw and cylinder 3-
The piston rod connection of 1-1.Shear knife 3-4 is fixed on shearing knife rest 3-3 by screw, and shearing knife rest 3-3 passes through screw and cylinder
The piston rod connection of 3-2-1.When cut staple band 3-5 is needed, control system sends instruction, and clamping cylinder 3-1-1 first is moved
Make, piston rod stretches out, fiber band 3-5 is compacted wheel 3-8 and is pressed on and is fixed on wheel 3-7, then shears cylinder 3-2-1 and moves
Make, piston rod stretches out, shear knife 3-4 is cut off fiber band 3-5 by shearing the shear action between chopping block 3-6.
The structure and working principle of tension detecting apparatus 2 is：As shown in figure 5, tension force detection sensor 2-1 is solid by screw
It is scheduled on mounting bracket 2-2, guide post 2-3 and tension force detection sensor 2-1 is arranged in frame 7 into S types.In laid course,
The tension force F of tension force detection sensor dynamic detection fiber band0, the signal transmission that will be detected to control system, by control system
Magnetic powder brake 1-1 input current I in regulation tape feeding device 1, to keep presoaking the constant of belt tension, improve composite paving
Put the quality of shaping.Shaft lining paper device is now received still to remain a constant speed motion.
Wherein, described magnetic powder brake 1-1 input current regulative modes are 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 F1Correspondence
Initial input current, I2It is input current, K after control system regulationPIt is proportionality coefficient, TiIt is integration time constant, TdFor micro-
Divide time constant.
The structure and working principle of press-roller device 5 is：Press-roller device 5 is installed in frame 7 by needle bearing 5-1, pressure
Roller 5-2 uses flexible material preferably to adapt to placement surface.When fiber band 3-5 is delivered at pressure roller, by adjusting robot
Attitude lays in core or laying surface fiber with 3-5 with certain pressure.
Specific embodiment one：The implementation method of embodiment one is illustrated with reference to Fig. 1,6,7,8,9.In fiber prepreg tape 3-
In 5 laid courses, the tension force of band in the detection laid course of tension detecting apparatus 2, heater 4 heats fiber prepreg to be laid
Be compacted prepreg tape 3-5 in heated core or on placement surface by band 3-5 or placement surface, press-roller device 5.
Before shear 3-2 is entered into, lining paper 9 is separated prepreg tape 3-5 with fiber band 3-5, and by hold-down gear fast pulley 3-
7th, lining paper directive wheel 10, pressure roller 5-2, final on paper collecting roller 6-2.
Specific embodiment two：The implementation method of embodiment one is illustrated with reference to Fig. 1,7,12,13,14.This embodiment
In addition to shearing with hold-down gear, remainder is identical with embodiment one.Prepreg tape 3-5 is entering into shear 3-2
Before, contact roller first compresses prepreg tape 3-5, prevents prepreg tape 3-5 resiliences under tension after shearing.Into shear it
Afterwards, lining paper 9 is attached to the upper and lower surface of wedge 3-12 with fiber respectively with 3-5, is easy to not cut off lining paper during machine cuts.Shearing
After the completion of, contact roller lining paper and fiber band are compressed again with ensure fiber band relative to lining paper in correct position, not partially
Oblique lay is to laying surface.Normal conveying of the fiber with 3-5 that so just can neither cut off lining paper 9 and ensure, low cost,
It is economic and practical.
Specific embodiment described herein is only to the spiritual explanation for example of the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from spirit of the invention or surmount scope defined in appended claims.
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 regulationPIt is proportionality coefficient, TiIt is integration time constant, TdDuring for differential
Between constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510050759.5A CN104626611B (en) | 2015-01-30 | 2015-01-30 | Six-shaft robot-based type automatic tape paving device and six-shaft robot based type automatic tape paving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510050759.5A CN104626611B (en) | 2015-01-30 | 2015-01-30 | Six-shaft robot-based type automatic tape paving device and six-shaft robot based type automatic tape paving method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104626611A CN104626611A (en) | 2015-05-20 |
| CN104626611B true CN104626611B (en) | 2017-05-24 |
Family
ID=53206060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510050759.5A Active CN104626611B (en) | 2015-01-30 | 2015-01-30 | Six-shaft robot-based type automatic tape paving device and six-shaft robot based type automatic tape paving method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104626611B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856587B (en) * | 2016-05-01 | 2017-11-10 | 保定标正机床有限责任公司 | A kind of pendular body turns round Hydraulic Clamping Mechanism |
| CN108621443A (en) * | 2018-04-27 | 2018-10-09 | 武汉大学 | A kind of defeated band device based on composite material laying head |
| CN108819292B (en) * | 2018-07-10 | 2020-09-04 | 长春理工大学 | Automatic laying device and method for thermoplastic composite material |
| CN109278319B (en) * | 2018-08-10 | 2021-02-19 | 南京航空航天大学 | Double-pressure roller automatic laying and winding forming device for ridged revolving body |
| CN109571932A (en) * | 2018-11-14 | 2019-04-05 | 中国科学院福建物质结构研究所 | A kind of device preparing continuous fiber reinforced composites component |
| CN110815863A (en) * | 2019-11-20 | 2020-02-21 | 湖北三江航天红阳机电有限公司 | Industrial robot and end effector for automatic tape laying of prepreg |
| CN111115333B (en) * | 2019-12-31 | 2021-09-03 | 武汉大学 | Automatic laying device for pre-stripping lining paper of composite material prepreg tape |
| CN112180720B (en) * | 2020-09-08 | 2022-03-15 | 武汉大学 | Fiber placement process parameter model construction method and system based on simulation learning |
| CN112590253B (en) * | 2020-11-30 | 2021-09-28 | 浙江大学 | Backing tape supporting device for laying thermosetting composite material prepreg tape |
| CN114851596A (en) * | 2022-04-22 | 2022-08-05 | 合肥工业大学 | Silk laying head and silk laying machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2772348A1 (en) * | 2013-02-27 | 2014-09-03 | Fives Machining Systems, Inc. | Device for fabricating a composite structure |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5700347A (en) * | 1996-01-11 | 1997-12-23 | The Boeing Company | Thermoplastic multi-tape application head |
| US7785433B2 (en) * | 2007-05-31 | 2010-08-31 | The Boeing Company | End effector and methods for constructing composite members |
| WO2009052158A1 (en) * | 2007-10-16 | 2009-04-23 | Cincinnati Machine, Llc. | Rotary clamp mechanism for a fiber placement head |
| US8808490B2 (en) * | 2011-08-04 | 2014-08-19 | The Boeing Company | Methods for laminating composites |
| CN102310571A (en) * | 2011-09-20 | 2012-01-11 | 南京航空航天大学 | Automatic tape-laying forming method for composite material with hollowed-out structure |
| CN103072288B (en) * | 2013-01-11 | 2015-05-27 | 西安交通大学 | Fiber laying head device with plug-in type combined conveying mechanism |
| CN103009637B (en) * | 2013-01-11 | 2014-11-05 | 西安交通大学 | Infrared heating device for preventing transmission system in fiber laying head from being overheated |
-
2015
- 2015-01-30 CN CN201510050759.5A patent/CN104626611B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2772348A1 (en) * | 2013-02-27 | 2014-09-03 | Fives Machining Systems, Inc. | Device for fabricating a composite structure |
Non-Patent Citations (1)
| Title |
|---|
| 复合材料自动铺丝张力测控系统的研究;员莹;《三门峡职业技术学院学报》;20110331;第10卷(第2期);第119-121页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104626611A (en) | 2015-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104626611B (en) | Six-shaft robot-based type automatic tape paving device and six-shaft robot based type automatic tape paving method | |
| CN106185439B (en) | The automatic adhering device of double faced adhesive tape in a kind of paperboard strip | |
| CN207224636U (en) | A kind of plastic composites tablet automated tape-laying equipment | |
| CN101850635A (en) | Production method and equipment for full-automatically aligning and gluing name plate | |
| CN203543281U (en) | Full-automatic digital small-size filming machine | |
| CN105805115B (en) | A kind of automatic welt equipment of air conditioner filter screen | |
| CN209616492U (en) | A kind of two-sided equipment for coating film of regenerated plastics woven bag | |
| CN209368471U (en) | A kind of non-woven fabrics pressing conveyer | |
| US8764921B2 (en) | Apparatus and process for automatic, continuous production of preforms | |
| CN204749451U (en) | Synthetic graphite production facility | |
| CN102491121B (en) | Semi-automatic strip cutting machine | |
| US20200047435A1 (en) | Apparatus for and method of fibre placement for the formation of fibre preforms | |
| CN106698054B (en) | A kind of film roll cutting device and its control method | |
| CN114261037B (en) | Multi-tow carbon fiber width-spread pre-impregnation system | |
| CN105398175B (en) | A kind of laminator | |
| CN111645396A (en) | Equipment for realizing continuous production of workpieces by combining melt-blowing and continuous conveying technologies | |
| CN100463842C (en) | Automatic coiler | |
| CN2808843Y (en) | Automatic lap machine | |
| CN206812105U (en) | Punching cutting apparatus | |
| CN109436442A (en) | A kind of full-automatic sheet butter stripping and slicing equipment for coating film | |
| CN206933445U (en) | A kind of seamless eider down automatic cooling/heating forming machine | |
| CN103879816B (en) | A kind of foil guide induction system and its method of work | |
| CN210029449U (en) | Automatic paper collecting and discharging machine with induction device | |
| CN213962007U (en) | Intelligent sealing machine of protective clothing production usefulness | |
| CN207172194U (en) | Process plastic packing box sheet material station adjustable height monolithic cutting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |