CN105128363B - A kind of system of the rebound phenomenon during solution composite material laying - Google Patents
A kind of system of the rebound phenomenon during solution composite material laying Download PDFInfo
- Publication number
- CN105128363B CN105128363B CN201510292533.6A CN201510292533A CN105128363B CN 105128363 B CN105128363 B CN 105128363B CN 201510292533 A CN201510292533 A CN 201510292533A CN 105128363 B CN105128363 B CN 105128363B
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- auxiliary
- rebound phenomenon
- laying
- compaction apparatus
- pressure roller
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Classifications
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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
-
- 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
Abstract
The present invention relates to a kind of system for solving the rebound phenomenon during composite material laying, the rebound phenomenon on prepreg tape appeared in for solution during composite material laying based on torque/force snesor and three dimensional shape measurement system.The present invention is based on 6 axle robot platforms, it is easy to accomplish the motion control to laying head；Moment/force snesor is installed in the junction of the end of robot and laying head, the pressure of the main pressure roller of real-time detection laying ensures that constant pressure lays, the generation for preventing rebound phenomenon as far as possible；Equipped with three dimensional shape measurement system, video detection technology is used for the profile reconstruct to workpiece the quality control of composite material laying process；Equipped with auxiliary compaction apparatus and auxiliary heating system on original laying head, under the heating of auxiliary heating system, auxiliary compaction apparatus will produce the prepreg tape in rebound phenomenon region to be compacted again, the probability that rebound phenomenon is produced be minimized, so as to realize the full-automatic lay of high quality and high efficiency.
Description
Technical field
It is automatic for composite the present invention relates to a kind of system for solving the rebound phenomenon during composite material laying
Lay field, solves the rebound phenomenon produced in prepreg tape laid course.Realize composite truly it is complete from
It is dynamic to lay.
Background technology
Composite is more and more extensive in aerospace field application, and shows irreplaceable critical role.
Composite with carbon fiber enhancement resin base composite material as representative, with lightweight, high-strength, high-modulus, endurance,
Anticorrosive, structure-function integration and integrated manufacturing system (IMS), it is easy to the shaping outstanding advantages such as large-scale component.Widely apply advanced
Composite is the important channel for improving aerospace flight vehicle, delivery vehicle and effectiveness of weapon equipment, and its consumption turned into already
The advanced important symbol of aerospace flight vehicle.
Advanced composite material is widely used with its excellent combination property in aerospace industry field, but first
Enter the cost of composite far above metal material, high cost has become the major obstacle that composite expands application.
By effort for many years, form by lower cost materials technology, low-cost design manufacturing technology and used
The composite low-cost technologies system of maintenance technology composition.At present, advanced composite material low-cost manufacturing technique mainly includes
Two classes：1) technology such as RTM, VARTM based on liquid molding；2) fiber winding technology, pultrusion based on prepreg tape (material) shaping
Forming technique and automatic placement technology.Wherein, composite automatic placement technology is to increase composite consumption, improve manufacture skill
Art level and efficiency, the key technology for ensureing product quality and reduces cost.
Abroad, automatic placement technology is quite ripe, and is widely used in actual production.The country has been also carried out correlation
The research of technology, also achieves corresponding progress, but also there is very big distance apart from practical engineering application, also exists really
Many problems have to be solved, wherein, the rebound phenomenon in the laid course of composite is exactly on one side.
The rebound phenomenon that the present invention relates to is generally referred to during automatic placement curve surface work pieces, due to pressure roller
The factor such as uneven of pressure causes the prepreg tape to be laid cannot be with core or one layer of prepreg tape below having laid
It is bound tightly together, finally due to the effect of tension force so that the prepreg tape being already coated with is upspring again, i.e., so-called
Rebound phenomenon, as shown in Figure 3, wherein a is mandrel surface or the prepreg tape that has laid, and b is to produce rebound phenomenon
Prepreg tape.
This resilience belongs to the important defect in one, composite material laying field, if do not process will have a strong impact on it is final into
The quality of product so that percent defective is greatly promoted, greatly improves production cost, effectively causes the wasting of resources, it is most important that, this
, in aviation field, this potential mass defect is if it is not detected that come for the workpiece major applications that kind of mode is produced
Words will cause immeasurable loss, therefore it is most important to find a kind of method for solving rebound phenomenon.
At present, it is domestic mainly to be solved using artificial real-time monitoring and the method that is compacted manually, it appears that feasible, actually
But it is a kind of semi-automatic lay, against the original intention of automatic placement, while increased the labour intensity of staff, it is most important that
Spreading and efficiency are had a strong impact on, therefore, seek a kind of generation of prevention rebound phenomenon or after rebound phenomenon generation
Whether its method for producing, and this phenomenon of solution that takes appropriate measures are detected, still with very big researching value.
The content of the invention
The present invention mainly solves the technical problem existing for prior art；There is provided a kind of fully automated inspection of overall process
Survey, analyze, process, artificial participation is not required to substantially, greatly reduce human and material resources cost, be obviously improved spreading and paving
The system for putting the rebound phenomenon during a kind of solution composite material laying of efficiency.
Above-mentioned technical problem of the invention is mainly what is be addressed by following technical proposals：
A kind of system of the rebound phenomenon during solution composite material laying, it is characterised in that including 6 axle robots,
The laying head being arranged in 6 axle robots, the workpiece, the auxiliary pressure for being used to carry out secondary compaction that are arranged on below laying head
Actual load is put and an auxiliary heating system；The workpiece top is provided with a three dimensional shape measurement system；
The auxiliary compaction apparatus and auxiliary heating system are both connected on laying head with first motion of laying, described
Auxiliary compaction apparatus include the cylinder of the free degree that an only one of which moves up and down and are connected to the auxiliary of air cylinder driven bar
Pressure roller, aids in the axis of pressure roller to be more than reaction time and the hair of system with the horizontal range of the axis of the main pressure roller of laying head
The product of time sum and depositing speeds needed for raw rebound phenomenon, i.e.,：Assuming that the distance is d, depositing speeds are v, prepreg tape
It is t1 from being coated with onto workpiece to the time for producing rebound phenomenon to be experienced, the reaction time of system is t2, then d>v*(t1+
t2)；
The auxiliary heating system is located between main pressure roller and auxiliary pressure roller, for being carried out to the prepreg tape under auxiliary pressure roller
Heating, thermal source uses hot blast, can realize the quick heating to needing heating region, softens the prepreg tape in the region, viscosity
Enhancing, is easy to the compacting again for aiding in compaction apparatus to the prepreg tape in generation rebound phenomenon region；
The 6 axle robot, auxiliary compaction apparatus and auxiliary heating system are connected with a controller；
The system also includes a power/torque sensor, installed in six-joint robot end and the connecting portion of laying head,
The lay of constant pressure is controlled for the pressure of main pressure roller in real-time detection laid course and workpiece, prevents the product of rebound phenomenon
Raw, at the same time, three dimensional shape measurement system carries out measuring three-dimensional morphology, detects whether to there occurs rebound phenomenon, then by control
Device processed starts auxiliary compaction apparatus and auxiliary heating system work to solve resilience.
The system of the rebound phenomenon during a kind of above-mentioned solution composite material laying, the measuring three-dimensional morphology system
Unite for the Real-time Feedback to workpiece profile, signal is then sent by master controller and controls auxiliary heating system and auxiliary to be compacted
The work of device, the measuring three-dimensional profile system includes constituting the sensor of workpiece profile detection unit, and the sensor is 3-dimensional
Laser range finder or 3-dimensional rangefinder or two-dimensional grating or binocular camera based on femtosecond laser.
Therefore, the invention has the advantages that：1st, ensure that identical tension lays by the feedback of torque/force snesor first,
Prevent the generation of rebound phenomenon from basic reason, then showed still issuable resilience by a small margin by aiding in compaction apparatus
As eliminating, rebound phenomenon so substantially can be thoroughly solved, so as to ensure that the quality of final finished；2nd, because overall process is complete
Fully-automated synthesis, analysis, treatment, are not required to artificial participation substantially, greatly reduce human and material resources cost, have been obviously improved lay
Quality and lay efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of whole system.
Fig. 2 is the tomograph that middle berth of the present invention is taken the lead, for illustrating to aid in compaction apparatus.
Fig. 3 is the schematic diagram of generation rebound phenomenon in the present invention.
Fig. 4 is the schematic diagram that spring-back area is compacted again in the present invention.
Specific embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：
Fig. 1 is the general structure schematic diagram on whole system of the invention.Positioned at six-joint robot end and laying head
The lay pressure of the torque of junction/main pressure roller of force snesor real-time detection；Three dimensional shape measurement system 106 is taken turns to workpiece 105
Wide Real-time Feedback, then sends signal and controls auxiliary heating system 104 and auxiliary compacting as shown in Figure 4 by master controller
The work of device 103
Laying first 102 lays under the drive of six-joint robot 101 according to predetermined track first, at the same time, is located at
The pressure of main lay on roller in the torque that robot end is connected out with placement head/force snesor real-time detection placement head, and should
To control system, control system is received after the signal with pre-set pressure ratio compared with determining whether to compare signal transmission
Big deviation, is decided whether to adjust pressure, and the feedback signal is passed into cylinder, is adjusted by adjusting the pressure of cylinder
The pressure of pressure roller is saved, ensures that the constant pressure in laid course lays as far as possible, that is, ensure a good consolidation effect, from principle
The generation of upper prevention rebound phenomenon.
At the same time, three dimensional shape measurement system 106 is used for the surface profile of real-time detection workpiece, produces outline data to send
To control system, it is analyzed with the profile for originally setting, the accurate region for judging to produce rebound phenomenon, and then
Moving downward for order control auxiliary compaction apparatus 103 is sent, while order is sent to auxiliary heating system 104, to resilience area
Domain is heated, and softens the composite in the region, is easy to auxiliary compaction apparatus to be compacted it.Solved in rebound phenomenon afterwards
Auxiliary compaction apparatus 103 are controlled to move upwards again afterwards, as shown in figure 4, wherein 100 is main pressure roller；Then normally spread
Put motion.
Aid in axis and the main pressure roller 100 of the pressure roller of compaction apparatus 103 axis projection in the horizontal plane apart from d>
V* (t1+t2), wherein v be depositing speeds, the t1 reaction time of system, can be by t1 if the response speed of system is sufficiently fast
Ignore, t2 is the time required for the prepreg tape being coated with core occurs rebound phenomenon；So can ensure auxiliary
Help the prepreg tape completely densified in the region for having occurred and that resilience that compaction apparatus 103 will detect；Auxiliary heating system 104 is used
High-temperature gas can quickly be heated as thermal source to the prepreg tape for producing rebound phenomenon region, soften it, viscosity enhancing, from
And ensure there is a preferable consolidation effect in the presence of compaction apparatus 103 are aided in, can be completely eliminated in theory produced
Rebound phenomenon.
It is of the invention preferentially to select 3-dimensional laser range finder, the 3-dimensional outline data of workpiece is directly obtained, and with this data as base
Plinth carries out next step action.
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 (2)
1. it is a kind of solve composite material laying during rebound phenomenon system, it is characterised in that including six-joint robot
(101), be arranged on six-joint robot (101) laying head (102), be arranged on laying head (102) below workpiece (105),
One auxiliary compaction apparatus (103) for being used to carry out secondary compaction and an auxiliary heating system (104)；The workpiece (105)
Top is provided with a three dimensional shape measurement system (106)；
Auxiliary compaction apparatus (103) and auxiliary heating system (104) are both connected in laying head (102) as laying is first
Motion is played, the cylinder of the free degree and be connected to that auxiliary compaction apparatus (103) moves up and down including an only one of which
The auxiliary pressure roller of air cylinder driven bar, the axis of auxiliary pressure roller should with the horizontal range of the axis of the main pressure roller of laying head (102)
More than system reaction time with there is rebound phenomenon needed for time sum and depositing speeds product, i.e.,：Define the distance
It is d, depositing speeds are v, and prepreg tape is t1, the reaction of system from being coated with onto workpiece to the time for producing rebound phenomenon to be experienced
Time is t2, then d>v*(t1+t2)；
The auxiliary heating system (104) positioned at main pressure roller and auxiliary pressure roller between, for auxiliary pressure roller under preimpregnation bring into
Row heating, thermal source uses hot blast, can realize the quick heating to needing heating region, softens the prepreg tape in the region, glues
Property enhancing, the compacting again of the prepreg tape for being easy to aid in compaction apparatus to producing rebound phenomenon region；
The six-joint robot (101), auxiliary compaction apparatus (103) and auxiliary heating system (104) with a controller
(107) connect；
The system also includes a power/torque sensor, installed in six-joint robot end and the connecting portion of laying head, is used for
Main pressure roller controls the lay of constant pressure with the pressure of workpiece in real-time detection laid course, prevents the generation of rebound phenomenon, with
This simultaneously, three dimensional shape measurement system (106) carries out measuring three-dimensional morphology, detects whether to there occurs rebound phenomenon, then by control
Device processed starts auxiliary compaction apparatus (103) and auxiliary heating system (104) work to solve resilience.
2. a kind of system for solving the rebound phenomenon during composite material laying according to claim 1, its feature exists
In then the three dimensional shape measurement system (106) sends signal for the Real-time Feedback to workpiece profile by master controller
Control auxiliary heating system (104) and the work of auxiliary compaction apparatus (103), the three dimensional shape measurement system (106) is including structure
Into the sensor of workpiece profile detection unit, the sensor is 3-dimensional laser range finder or the 3-dimensional rangefinder based on femtosecond laser
Or two-dimensional grating or binocular camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510292533.6A CN105128363B (en) | 2015-05-29 | 2015-05-29 | A kind of system of the rebound phenomenon during solution composite material laying |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510292533.6A CN105128363B (en) | 2015-05-29 | 2015-05-29 | A kind of system of the rebound phenomenon during solution composite material laying |
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| CN105128363A CN105128363A (en) | 2015-12-09 |
| CN105128363B true CN105128363B (en) | 2017-06-09 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042413B (en) * | 2016-07-28 | 2018-04-24 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | A kind of system and its laying method towards manual paving process control |
| CN107234817B (en) * | 2017-05-19 | 2019-07-26 | 北京航空航天大学 | It is a kind of can accurate piddler compaction apparatus controllable in real time |
| CN110744842B (en) * | 2019-10-15 | 2021-08-31 | 浙江天梯塑胶科技有限公司 | Production equipment of telescopic braided tube |
| CN111619138B (en) * | 2020-05-27 | 2021-09-24 | 大连理工大学 | Rebound deformation inhibiting method for laser-assisted in-situ forming thermoplastic composite material structural member |
| CN113059825B (en) * | 2021-04-01 | 2022-03-29 | 南京航空航天大学 | Method for asynchronously compacting composite material component |
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| CN202114987U (en) * | 2011-07-06 | 2012-01-18 | 航天材料及工艺研究所 | Automatic belt spreading forming equipment for composite materials of cylindrical structure |
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| CN105128363A (en) | 2015-12-09 |
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