CN115476528B - Composite material wire laying robot and wire laying method based on double-arm cooperation - Google Patents
Composite material wire laying robot and wire laying method based on double-arm cooperation Download PDFInfo
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- CN115476528B CN115476528B CN202211077194.6A CN202211077194A CN115476528B CN 115476528 B CN115476528 B CN 115476528B CN 202211077194 A CN202211077194 A CN 202211077194A CN 115476528 B CN115476528 B CN 115476528B
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- 239000002131 composite material Substances 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000036544 posture Effects 0.000 claims abstract description 30
- 230000008859 change Effects 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 43
- 238000001514 detection method Methods 0.000 claims description 15
- 238000010008 shearing Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 230000007547 defect Effects 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 9
- 238000010438 heat treatment Methods 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 239000000835 fiber Substances 0.000 description 16
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B29C70/30—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]
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Moulding By Coating Moulds (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a composite material wire laying robot and a wire laying method based on double-arm cooperation, wherein the robot comprises a wire laying mechanical arm, an auxiliary mechanical arm, a wire laying device, a depth camera and a control device; the wire laying device and the depth camera are arranged at the execution tail end of the wire laying mechanical arm, and the execution tail end of the auxiliary mechanical arm is provided with a mandrel; when the wire is laid, the auxiliary mechanical arm is controlled by the control device to lay the wire on the core mold according to the designed wire laying path, the curvature of the core mold in the wire area to be laid is monitored by the depth camera, the posture of the wire laying device is adjusted in real time according to the curvature change, and when the curvature change is overlarge, the posture of the core mold is controlled and adjusted by the auxiliary mechanical arm, so that the wire laying device always keeps the optimal wire laying posture. According to the invention, the two mechanical arms are used for respectively adjusting the postures of the wire laying device and the core mold, so that the wire laying device can always maintain the optimal wire laying angle, the wire laying efficiency and the wire laying quality are greatly improved, and the method has absolute advantages in efficiency and quality for preparing workpieces with large curvature variation.
Description
Technical Field
The invention belongs to the technical field of robots, relates to an aviation material laying robot, and in particular relates to a composite material wire laying robot based on double-arm cooperation and a wire laying method.
Background
In recent years, robots are rapidly developed in industry, agriculture and service industry, and are also popularized and applied in the aviation field, and particularly, in recent years, aircraft composite material laying robots are rapidly developed. At present, the laying of the composite material of the airplane parts mainly adopts the manual laying and automatic tape laying technology. The manual laying mainly depends on the operation technology and working experience of operators, the laying quality can not be controlled, the production period is long, and the cost is high. Although the automatic tape laying technology has high molding rate, the application range is limited due to the bandwidth and the complexity of the core mold.
Disclosure of Invention
In view of the above-mentioned shortcomings of the existing composite material laying robots, the present invention aims to provide a composite material wire laying robot based on double-arm cooperation, which can independently face mandrels with different complexity to carry out laying operation. The double-arm-coordinated composite material wire laying robot has the characteristics of high material utilization rate, low labor cost, high production efficiency, controllable quality and strong curvature change adaptation capability, and has great application value to the aerospace field.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A composite material wire laying robot based on double-arm cooperation comprises a wire laying mechanical arm, an auxiliary mechanical arm, a wire laying device, a depth camera and a control device;
the wire laying device and the depth camera are arranged at the execution tail end of the wire laying mechanical arm, the depth camera is relatively arranged at the front side of a wire laying path of the wire laying device, and the execution tail end of the auxiliary mechanical arm is provided with a mandrel for laying wires; the auxiliary mechanical arm and the wire laying mechanical arm are arranged oppositely, so that the wire laying mechanical arm can carry the wire laying device to move on the core mould for wire laying;
the control device is used for receiving curvature information on the wire laying path monitored by the depth camera, and controlling the wire laying mechanical arm and the auxiliary mechanical arm to respectively adjust the postures of the wire laying device and the mandrel through the curvature information, so that the wire laying device keeps the optimal wire laying posture relative to the mandrel.
Further, the wire laying mechanical arm and the auxiliary mechanical arm are multiaxial mechanical arms calibrated with a tool coordinate system and a mechanical arm base coordinate system, and the two mechanical arms are respectively installed on respective bases.
Further, the multi-axis mechanical arm is preferably a six-axis mechanical arm.
Further, the control device comprises an industrial personal computer and a display, wherein the industrial personal computer is used for receiving point cloud information monitored by the depth camera, calculating the curvature of the core mould, then controlling the wire laying device to lay wires according to a set path through the wire laying mechanical arm and adjusting the posture of the wire laying device, controlling the posture adjustment of the core mould through the auxiliary mechanical arm, and the display is used for displaying path information.
Further, the wire laying mechanical arm, the auxiliary mechanical arm and the depth camera all establish a real-time communication mechanism with the industrial personal computer, and the transmitted information is provided with a time stamp.
Further, the industrial personal computer can acquire joint angle information of all joints of the wire laying mechanical arm in real time, and pose information of a tool coordinate system at the tail end of the wire laying mechanical arm under a base standard system of the wire laying mechanical arm.
Further, the execution tail end of the auxiliary mechanical arm is provided with a core mold clamping device for fixing the core mold, so that the core mold is convenient to detach and replace.
Further, the three-dimensional posture adjusting device can be directly and independently arranged at the execution tail ends of the mandrel clamping device and the auxiliary mechanical arm, so that the posture of the mandrel can be conveniently adjusted without excessively changing the position of the mandrel in a world coordinate system.
Further, the executing tail ends of the wire laying mechanical arm and the auxiliary mechanical arm are respectively provided with a gesture sensor for correcting the pose, the pose of the executing tail end calculated through the angles of all joints of the mechanical arm can be corrected through the gesture sensors, and the accuracy of pose recognition is improved.
Further, the execution tail end of the wire laying mechanical arm is provided with a wire laying clamping device for installing the wire laying device, so that the wire laying device is convenient to detach, replace and firmly fix.
Further, the wire laying clamping device is arranged at the execution tail end of the wire laying mechanical arm through the three-dimensional posture adjusting device.
Further, the wire laying device comprises a wire laying head, a guide mechanism, a wire feeding mechanism, a tension detection sensor, a shearing mechanism and a compression wheel, wherein the guide mechanism, the wire feeding mechanism, the tension detection sensor, the shearing mechanism and the compression wheel are sequentially arranged in the wire laying head along a wire feeding path; the front side of the wire laying direction of the pressing wheel is provided with a non-contact heating device, and the rear side of the pressing wheel is provided with a defect detection device for detecting the quality of the wire laying; after the wire to be laid sequentially passes through the guide mechanism, the wire feeding mechanism, the tension detection sensor and the shearing mechanism, the wire is fed out from a wire outlet of the wire laying head under the action of wire feeding force of the wire feeding mechanism, and is simultaneously pressed on the core mold through the pressing wheel, the pressing part is heated through the heating device, the wire laying action is completed, whether the wire to be laid has defects or not is detected through the defect detection device after the wire is laid, the tension detection sensor is used for monitoring wire feeding tension, and the shearing mechanism is used for cutting off the wire after the wire feeding is finished.
Further, the wire feeding mechanism is a re-feeding mechanism, can replace and complete wire feeding action,
Further, a clamping mechanism is arranged in front of the shearing mechanism, and after the presoaked fiber tows enter the fiber spreading device, the clamping mechanism clamps the fiber tows, so that the fiber tows are prevented from being sheared to fall back.
Further, a tension detection sensor is arranged between the clamping mechanism and the guide mechanism to detect the internal tension of the fiber tows, so that the working performance of the shearing mechanism is prevented from being influenced by the tension too much.
The invention also provides a composite material wire laying method based on double-arm cooperation, which adopts the composite material wire laying robot and comprises the following steps:
Step 1, building a composite material wire laying robot, mounting a core die at the execution end of an auxiliary mechanical arm, and loading a wire to be laid in a wire laying device;
step 2, correcting a coordinate system, establishing a world coordinate system, and carrying out needle insertion conversion calibration on the end tool coordinate systems of the wire laying mechanical arm and the auxiliary mechanical arm and the world coordinate system so as to realize real-time tracking display of the executing end postures of the wire laying mechanical arm and the auxiliary mechanical arm under the world coordinate system;
step 3, starting a wire laying device, and carrying the wire laying device by using a wire laying mechanical arm to lay wires according to a set path;
and 4, monitoring curvature change of the core mould on the path in real time through a depth camera in the wire laying process, and ensuring that the compacting direction of the wire laying device on the fed wire is in the normal direction of the core mould at the position by adjusting the posture of the wire laying device according to the curvature change by the control device until the wire laying is finished.
Further, the wire laying device is fixed on the wire laying mechanical arm, the position of the wire laying device is known, in the whole wire laying process, the wire laying device is fixed at the execution tail end of the wire laying mechanical arm to carry out pose adjustment along with the mechanical arm, and according to the forward kinematics of the mechanical arm and the pose transformation matrix of the wire laying device relative to the tail end of the mechanical arm, the pose of the wire laying device under the standard system of the wire laying mechanical arm base can be calculated, and the pose of the wire laying device is sent to the industrial personal computer and can be converted into a world coordinate system through the industrial personal computer; and the pose data is system time stamped.
Further, one of the base coordinate system of the wire laying mechanical arm and the auxiliary mechanical arm is used as a world coordinate system, or a coordinate system is created by selecting a reference point as the world coordinate system.
Further, the wire laying mechanical arm and the auxiliary mechanical arm are respectively arranged on the two bases, and the position relationship of the bases can be obtained through actual measurement, so that the relative position relationship of the base coordinate system of the auxiliary mechanical arm and the base coordinate system of the wire laying mechanical arm can be calculated. According to the relative pose relation of the two base coordinate systems and in combination with the coordinate conversion process, the industrial personal computer can solve the relative pose relation of the target point of the wire laying device, namely the compression wheel and the surface of the core die at any moment.
The depth camera is also fixed on the wire laying device and relatively displaces the front part of the wire laying path, so that the pose relation of the camera relative to the wire laying mechanical arm base is known. The depth camera scans the region to be laid of the mandrel, generates a position point cloud and sends the position point cloud to the industrial personal computer, and the point cloud information is provided with a system time stamp. Through calibrating the depth camera, the coordinates and normal vectors of discrete sampling points on the surface of the mandrel under the base coordinate system of the wire laying mechanical arm can be calculated, curvature change can be judged through the coordinate set normal direction, the pose of the wire laying device is adjusted in real time according to the curvature change, the compaction direction of the compaction wheel is ensured to coincide with the normal vectors, and the wire laying device is enabled to be large in the best wire laying pose, so that the best wire laying effect is ensured.
Further, under a certain time stamp, the industrial personal computer processes the received geometric information of the core mold, and the shearing mechanism shears the presoaked fiber tows according to the instruction of the industrial personal computer; when the geometric model change of the core mould is detected and fiber tows need to be added, the industrial personal computer sends out instructions after receiving the signal processing information so that the re-conveying mechanism can convey the fiber tows to the surface of the core mould.
Further, in the process of laying the fiber, the heating device heats the fiber tows, so that the fiber tows keep certain viscosity when being laid, and when the fiber tows reach the surface of the core mold, the fiber tows are pressed on the surface of the core mold through the pressing wheel.
Further, when the fiber tows are compacted on the surface of the core mold, in order to detect internal defects in the wire laying process, a defect detection device is additionally arranged on the wire laying device, and detected information is transmitted to the industrial personal computer in real time.
In step 4, the present invention provides two typical gesture control modes, which are specifically as follows:
First, the control device adjusts the wire laying device through the wire laying mechanical arm to walk according to the wire laying path, adjusts the gesture of the wire laying device according to the curvature change of the core mould, and when the curvature change of the core mould is greater than a threshold value, adjusts the gesture of the core mould through the auxiliary mechanical arm, and keeps the gesture of the wire laying device to ensure that the wire feeding direction is in the normal direction of the core mould at the position.
Secondly, the control device adjusts the gesture of the wire laying device through the wire laying mechanical arm, and simultaneously adjusts the gesture of the mandrel through the auxiliary mechanical arm in real time, so that the depth camera monitors that the curvature change of the wire laying path is within an allowable threshold.
The beneficial effects of the invention are as follows:
1. The automatic wire laying robot system is built by using two mechanical arms, and the advantages of good production adaptability, strong curvature change adaptation capability, high controllability and flexible action of the mechanical arms are utilized, so that the material utilization rate, the production efficiency and the product performance of composite material laying are improved.
2. The auxiliary mechanical arm is utilized to adjust the position of the core mold, so that the composite material laying process is more flexible, closed loop control of the laying process is formed, and the wire laying module of the whole composite material laying system is quite convenient, quick and reliable.
3. The system modules are fixed on the mechanical arm, so that the pose descriptions of the system parts are unified, the position and pose information of any part of the system can be acquired at any time, and the controllability of the system is greatly improved.
4. In the wire laying process, the position of the core mould is adjusted firstly, then the composite material laying operation is executed, the composite material laying operation is executed separately, mutual interference is avoided, and the accuracy and continuity of wire laying are improved.
Drawings
FIG. 1 is an overall outline view of a composite wire laying robot based on double-arm cooperation according to the present invention;
FIG. 2 is a block diagram of a wire laying device of the composite wire laying robot based on double-arm cooperation;
Fig. 3 is a control frame of the composite wire laying robot based on double-arm cooperation according to the invention.
The device comprises a 1-wire laying device, a 2-wire laying mechanical arm, a 3-wire laying device, a 4-display, a 5-keyboard, a 6-industrial personal computer, a 7-wire laying mechanical arm base, an 8-auxiliary mechanical arm base, a 9-auxiliary mechanical arm, a 10-core mold, an 11-depth camera, a 12-wire laying device, a 13-tension detection sensor, a 14-defect detection device, a 15-compression wheel, a 16-heating device, a 17-shearing mechanism, a 18-re-conveying mechanism, a 19-guiding mechanism, a 20-clamping mechanism and a 21-wire laying area.
Detailed Description
In order to make the technical problems and technical solutions to be solved more clear, the following describes the double-arm wire laying robot based on composite material laying according to the present invention in detail with reference to the accompanying drawings and examples, which are illustrative but not limiting.
Example 1.
Referring to fig. 1, a composite material wire laying robot based on double-arm cooperation includes a wire laying mechanical arm 2, an auxiliary mechanical arm 9, a wire laying device 1, a depth camera 11 and a control device, wherein the wire laying mechanical arm 2 and the auxiliary mechanical arm 9 are respectively installed on a wire laying mechanical arm base 7 and an auxiliary mechanical arm base 8, the auxiliary mechanical arm 9 and the wire laying mechanical arm 2 are six-axis mechanical arms, and the joint axes of the two mechanical arms are not limited to the six-axis mechanical arms. And respectively selecting the central positions between the wire laying mechanical arm base 7 and the auxiliary mechanical arm base 8 to establish a coordinate system, wherein the position relation of the coordinate system can be actually measured through the installation position and is defined as a world coordinate system, so that the positions of the execution ends of the wire laying mechanical arm 2 and the auxiliary mechanical arm 9 can be expressed under the world coordinate system, and particularly, the positions of the ends of the two mechanical arms can be tracked in real time under the world coordinate system.
Further, referring to fig. 1, the wire laying device 1 is installed at the execution end of the wire laying mechanical arm 2, the core mold 10 is installed at the execution end of the auxiliary mechanical arm 9, and after the installation and fixation, the position of the core mold is unchanged relative to the end of the mechanical arm.
Further, the wire laying device 1 is mounted on a wire laying clamping device (not shown in the figure, which is of a conventional structure), and the wire laying clamping device is mounted at the execution end of the wire laying mechanical arm 2 through a three-dimensional posture adjusting device (not shown in the figure, which is of a conventional structure) so as to improve the replaceability and posture adjusting flexibility of the wire laying device 1.
Further, the mandrel 10 is mounted on a mandrel holder (not shown in the figure, in a conventional structure), which is mounted at the execution end of the auxiliary mechanical arm 9 through a three-dimensional posture adjustment device (not shown in the figure, in a conventional structure) to improve the replaceability and posture adjustment flexibility of the mandrel 10.
Further, referring to fig. 1, a depth camera 11 is fixed at the front side of the wire laying device 1 in the wire laying direction, so as to conveniently obtain the geometric information of the core mold in the wire laying area.
Further, referring to fig. 2, the wire laying device 1 includes a wire laying head 12, a tension detecting sensor 13, a pinch roller 15, a shearing mechanism 17, a re-feeding mechanism 18, a guiding mechanism 19 and a clamping mechanism 20, which are disposed in the wire laying head 12, and a heating device 16 and a defect detecting device 14 are fixed at suitable positions on the front and rear sides of the wire laying device 1. The heating device 16 is located in the wire laying direction of the wire laying device 1, and the defect detecting device 14 is located in the wire laying opposite direction of the wire laying device 1.
Further, referring to fig. 1 and 2, according to the coordinate transformation relationship, the industrial personal computer 6 can obtain the pose of the wire threading device 1 and the mandrel 10 in real time under the world coordinate system. After data integration and processing, the industrial personal computer 6 can display the relative position images of the mandrel surface 10 and the wire laying device 1 on the display 4, the wire laying path and the geometric information of the mandrel 10 can be observed on the display 4 through the mouse 3, and the industrial personal computer 6 displays the planned path and the acquired geometric information of the mandrel 10 on the display 4; and then observing whether the actual pose of the wire laying mechanical arm and the mandrel is normal, confirming and planning to be matched, and clicking a wire laying starting option through the mouse 3 again after confirming that the pose is correct, so that the wire laying device 1 starts to lay wires.
Further, referring to fig. 1 and 3, during the filament laying process, the profile of the surface of the mandrel 10 may change, and the industrial personal computer 6 controls the re-feeding mechanism 18 and the shearing mechanism 17 in the filament laying device 1 to increase and decrease the number and the length of fiber tows according to the curvature and the complexity of the surface of the mandrel, so that the fiber tows can meet the laying requirements of different mandrel surfaces until the filament laying process is completed.
The above embodiments are only for illustrating the present invention, and are not limiting of the present invention. While the invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, and substitutions can be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A composite material shop silk robot based on both arms cooperation, its characterized in that: the device comprises a wire laying mechanical arm, an auxiliary mechanical arm, a wire laying device, a depth camera and a control device;
the wire laying device and the depth camera are arranged at the execution tail end of the wire laying mechanical arm, the depth camera is relatively arranged at the front side of a wire laying path of the wire laying device, and the execution tail end of the auxiliary mechanical arm is provided with a mandrel for laying wires; the auxiliary mechanical arm and the wire laying mechanical arm are arranged oppositely, so that the wire laying mechanical arm can carry the wire laying device to move on the core mould for wire laying;
The control device is used for receiving curvature information on the wire laying path monitored by the depth camera, and controlling the wire laying mechanical arm and the auxiliary mechanical arm to respectively adjust the postures of the wire laying device and the mandrel through the curvature information, so that the wire laying device keeps the optimal wire laying posture relative to the mandrel;
The wire laying device comprises a wire laying head, a guide mechanism, a wire feeding mechanism, a tension detection sensor, a shearing mechanism and a compression wheel, wherein the guide mechanism, the wire feeding mechanism, the tension detection sensor, the shearing mechanism and the compression wheel are arranged in the wire laying head in sequence along a wire feeding path; the front side of the wire laying direction of the pressing wheel is provided with a non-contact heating device, and the rear side of the pressing wheel is provided with a defect detection device for detecting the quality of the wire laying; after the wire to be laid sequentially passes through the guide mechanism, the wire feeding mechanism, the tension detection sensor and the shearing mechanism, the wire is fed out from a wire outlet of the wire laying head under the action of wire feeding force of the wire feeding mechanism, and is pressed on the core mold through the pressing wheel, and the wire at the pressing position is heated through the heating device at the same time, so that wire laying action is completed, and whether the wire is laid has defects or not is detected through the defect detection device after the wire is laid.
2. The composite wire laying robot of claim 1, wherein: the wire laying mechanical arm and the auxiliary mechanical arm are multiaxial mechanical arms with a tool coordinate system and a mechanical arm base coordinate system calibrated.
3. The composite wire laying robot of claim 1, wherein: the wire laying mechanical arm, the auxiliary mechanical arm and the depth camera all establish a real-time communication mechanism with the control device, and the transmitted information is provided with a time stamp.
4. The composite wire laying robot of claim 1, wherein: and the execution tail ends of the wire laying mechanical arm and the auxiliary mechanical arm are respectively provided with an attitude sensor for correcting the pose.
5. The composite wire laying robot of claim 1, wherein: the control device comprises an industrial personal computer and a display, wherein the industrial personal computer is used for receiving point cloud information monitored by the depth camera, calculating the curvature of the core mould, then controlling the wire laying device to lay wires according to a set path through the wire laying mechanical arm and adjusting the posture of the wire laying device, controlling the posture adjustment of the core mould through the auxiliary mechanical arm, and the display is used for displaying the path information.
6. The composite wire laying robot of claim 1, wherein: the wire laying device is arranged at the execution end of the wire laying mechanical arm through the three-dimensional posture adjusting device, and the core mould is arranged at the execution end of the auxiliary mechanical arm through the three-dimensional posture adjusting device.
7. A composite wire laying method based on double-arm cooperation, which adopts the composite wire laying robot as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps:
Step 1, building a composite material wire laying robot, mounting a core die at the execution end of an auxiliary mechanical arm, and loading a wire to be laid in a wire laying device;
step 2, correcting a coordinate system, establishing a world coordinate system, and carrying out needle insertion conversion calibration on the end tool coordinate systems of the wire laying mechanical arm and the auxiliary mechanical arm and the world coordinate system so as to realize real-time tracking display of the executing end postures of the wire laying mechanical arm and the auxiliary mechanical arm under the world coordinate system;
step 3, starting a wire laying device, and carrying the wire laying device by using a wire laying mechanical arm to lay wires according to a set path;
and 4, monitoring curvature change of the core mould on the path in real time through a depth camera in the wire laying process, and ensuring that the compacting direction of the wire laying device on the fed wire is in the normal direction of the core mould at the position by adjusting the posture of the wire laying device according to the curvature change by the control device until the wire laying is finished.
8. The composite wire laying method according to claim 7, wherein in step 4, the control device adjusts the wire laying device to walk according to the wire laying path through the wire laying mechanical arm, adjusts the posture of the wire laying device according to the curvature change of the mandrel, and adjusts the posture of the mandrel through the auxiliary mechanical arm when the curvature change of the mandrel is larger than a threshold value, and keeps the posture of the wire laying device to ensure that the wire feeding direction is in the normal direction of the mandrel at the position.
9. The composite wire laying method according to claim 7, wherein in step 4, the control device adjusts the posture of the wire laying device through the wire laying mechanical arm while adjusting the posture of the mandrel in real time through the auxiliary mechanical arm, so that the depth camera monitors that the curvature change of the wire laying path is within the allowable threshold.
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| 大型航天复合材料构件自动铺丝机的研发与应用;乔凤斌;张松;王力;袁定新;;航天制造技术;20160825(04);第13-16页 * |
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| CN115476528A (en) | 2022-12-16 |
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