CN107436590B - 由机器人铺放的丝束的检查 - Google Patents

由机器人铺放的丝束的检查 Download PDF

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Publication number
CN107436590B
CN107436590B CN201710328345.3A CN201710328345A CN107436590B CN 107436590 B CN107436590 B CN 107436590B CN 201710328345 A CN201710328345 A CN 201710328345A CN 107436590 B CN107436590 B CN 107436590B
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China
Prior art keywords
tow
end effector
program
robot
laid
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CN201710328345.3A
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English (en)
Chinese (zh)
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CN107436590A (zh
Inventor
A·W·贝克
S·A·多里斯
C·P·贝尔格莱维亚
H·L·泰勒
L·C·英格拉姆
K·P·鲍尔斯
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Boeing Co
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Boeing Co
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Publication of CN107436590A publication Critical patent/CN107436590A/zh
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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
    • B29C70/30—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
    • B29C70/382—Automated fiber placement [AFP]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
    • B29K2105/00—Condition, form or state of moulded material or of the material to be shaped
    • B29K2105/06—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts
    • B29K2105/08—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts of continuous length, e.g. cords, rovings, mats, fabrics, strands or yarns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
    • B29K2307/00—Use of elements other than metals as reinforcement
    • B29K2307/04—Carbon
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32153—Exchange data between user, cad, caq, nc, capp
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37074—Projection device, monitor, track tool, workpiece form, process on display
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39059—Sensor adaptation for robots by software
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45238—Tape, fiber, glue, material dispensing in layers, beads, filling, sealing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Moulding By Coating Moulds (AREA)
CN201710328345.3A 2016-05-27 2017-05-11 由机器人铺放的丝束的检查 Active CN107436590B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/167,681 US10144183B2 (en) 2016-05-27 2016-05-27 Verification of tow placement by a robot
US15/167,681 2016-05-27

Publications (2)

Publication Number Publication Date
CN107436590A CN107436590A (zh) 2017-12-05
CN107436590B true CN107436590B (zh) 2022-04-12

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US (2) US10144183B2 (enExample)
JP (1) JP7014529B2 (enExample)
CN (1) CN107436590B (enExample)

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US10252478B2 (en) * 2016-09-08 2019-04-09 The Boeing Company Dynamic heater control for automated fiber placement machines
US10928340B2 (en) * 2018-06-14 2021-02-23 The Boeing Company Method and apparatus for controlling contact of composite tows
US10981640B2 (en) 2018-07-16 2021-04-20 The Boeing Company Method and system for verification of tow end placement
US11225036B2 (en) 2018-07-16 2022-01-18 The Boeing Company Method and system for tuning a tow placement system
DE102018124080B4 (de) * 2018-09-28 2021-07-01 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Anlage zur Herstellung eines Faserlaminates aus einem Fasermaterial eines Faserverbundwerkstoffes zur Herstellung eines Faserverbundbauteils
US11110667B2 (en) * 2019-04-10 2021-09-07 The Boeing Company Fabrication optimization for composite parts
KR102893415B1 (ko) 2019-11-08 2025-12-01 이노베이티브 오토메이션 인코포레이티드 테이프 도포기 헤드
US12059696B2 (en) 2021-06-02 2024-08-13 The Boeing Company System and method for actuating a treatment device
JP2022185565A (ja) 2021-06-02 2022-12-14 ザ・ボーイング・カンパニー デバイスヘッドを作動させるためのピッチヨー作動システム及び方法
CN114413821A (zh) * 2022-01-10 2022-04-29 红云红河烟草(集团)有限责任公司 用于滤棒成型机的丝束包用量检测装置
CN116183610A (zh) * 2022-12-25 2023-05-30 浙江理工大学 一种基于激光测距技术的丝束铺放缺陷检测方法
CN116968342B (zh) * 2023-07-13 2024-01-05 威海光威精密机械有限公司 一种基于数控布带缠绕机的nc代码自动生成方法

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CN105365227A (zh) * 2014-08-19 2016-03-02 波音公司 制造纤维增强型复合部件期间检查纤维铺放的系统和方法

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JP2501497B2 (ja) * 1991-08-27 1996-05-29 川崎重工業株式会社 ロ―ビング材積層装置
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Also Published As

Publication number Publication date
US20170341314A1 (en) 2017-11-30
US20190070799A1 (en) 2019-03-07
JP2018030226A (ja) 2018-03-01
US10144183B2 (en) 2018-12-04
JP7014529B2 (ja) 2022-02-01
US10377092B2 (en) 2019-08-13
CN107436590A (zh) 2017-12-05

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