CN205427583U - Device control system is put to automatic shop of integrated form carbon fiber - Google Patents
Device control system is put to automatic shop of integrated form carbon fiber Download PDFInfo
- Publication number
- CN205427583U CN205427583U CN201620379917.1U CN201620379917U CN205427583U CN 205427583 U CN205427583 U CN 205427583U CN 201620379917 U CN201620379917 U CN 201620379917U CN 205427583 U CN205427583 U CN 205427583U
- Authority
- CN
- China
- Prior art keywords
- tow
- module
- cylinder
- resend
- clamping
- 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.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses a device control system is put to automatic shop of integrated form carbon fiber, this system include main control unit, hardware IO connecting plate, main control unit is connected with hardware IO connecting plate, and hardware IO connecting plate is connected with path control module and silk bundle management module respectively, and path control module output is connected with eight main displacement controller, and silk bundle management module's output and eight silk bundle carbon fibers are automatic to be spread and put the device and be connected. The utility model discloses a device control system is put to automatic shop of integrated form carbon fiber, the mode that adopts CNCU to carry out centralized control is favorable to carrying out unified configuration and data monitoring to each minute module, is particularly suitable for the silk bundle and places the integrated fiber placement head of putting the device front end in the shop, is convenient for spread at arbitrary complicated curved surface let slip control of journey silk bundle and motion control.
Description
Technical field
The present invention relates to integrated form carbon fiber automatic placement apparatus control system, belong to piddler field.
Background technology
Fiber placement as a kind of irreplaceable complex fiber material manufacturing technology, automatic fibers layer is the manufacture equipment of a kind of advanced person, comprise the multinomial advanced technologies such as machine-building, composite, control theory, automatization, machine driving and informationization, the composite element using automatic placement method molding has a series of advantages such as laying angle is accurate, interlayer pressure good, stock utilization is high, intralayer defects is few, constant product quality is good, product mechanical property is good, efficiency is high, is the preferred molding mode of Large Complicated Structural Component.Automatic placement method can efficiently against unstable product quality in manual laid course, defect is many, mechanical property is low and human input big, organic solvent is to shortcomings such as the injuries of human body, external since the seventies in last century, the automatic placement technology that begins one's study is to replace artificial lay.Associating Cincinnati company of Boeing Co. succeeds in developing automatic fiber placement system and comes into operation for 1989.American I ngersoll company nineteen ninety-five develops laying loss, uses the various configuration laying loss of FANUC Development of CNC series.External laying loss mostly controls laying loss main body and tow to be separately controlled, and tow is the most all installed on the yarn case of body, control to end laid course path longer from tow, control accuracy is the highest, and a kind of type can only be selected to carry out lay, it is impossible to select different FMM to carry out lay for various configuration is the most complex-curved.And automated tape-laying machine is complicated for structure, require cannot be suitable for when lay angle consecutive variations and lay change width, and each tow can individually be controlled by automatic fiber placement machine, it is capable of large complicated varied angle, Varying-thickness, Trapezoidal lay, is development in recent years rapid composite automatic molding process.
Tow automatic placement device is mainly made up of core clamp system, lay drive mechanism, placement head.And what the process of lay path and molding was mainly controlled by computer program.nullThe laying loss of the most external main flow is with Cincinnati、Forest_line etc. are representative，Main employing industry digital control system carries out multi-axial Simultaneous motor control (other Ye You producer uses motion control card)，And the clamping of tow、Resend、Shearings etc. control to use single PLC to control，Additionally overseas equipment tow is mostly placed on the tail end of motion platform，The temperature of tow is carried out by special sandbox、Humid control，This control mode is comparatively laborious，Control system takes up room greatly，Equipment is the heaviest，Control system response simultaneously is slower，Compare carry out continuous tow lay on the complicated curved surface being continually changing such as curvature time easily precision because of control system the highest、The problems such as redundancy is big cause tow to have little time to cut off or clamping、Resend，Can cause process of producing product needs more human intervention，Occur that local angle is inaccurate、Locally tow defect，Possibly even cause tension system to be reported to the police and cause mechanical disorder shutdown etc..A kind of modularity piddler head for composite automatic placement of application number 201510048582.5 and method, only increase is the degree of freedom i.e. degree of freedom of robot of motion.
And want to carry out lay on the curved surface that some curvature is continually changing, and the molding of the reinforcement of fiber placement part inwall mesh shape, it would be desirable to laid course tow controls to control with the high-precise synchronization of path motion.
In previous patent, the control with TCM that controls of FMM is the most all physically separate, which decreases the difficulty that two modules individually control, can be suitable for for majority of case lay.But high for more complicated product or Performance comparision, in the case of lay angle, tow laying uniformity, planarization and form accuracy are required height, error can be bigger, has a strong impact on the quality of piddler.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of integrated form carbon fiber automatic placement apparatus control system, have simple to operate, system stability good, the advantage such as easy to maintenance.
Technical scheme: for solving above-mentioned technical problem, a kind of integrated form carbon fiber automatic placement apparatus control system of the present invention, including master controller, Hardware I/O connecting plate, described master controller is connected with Hardware I/O connecting plate, Hardware I/O connecting plate manages module with path clustering module and tow respectively and is connected, path clustering module outfan and eight axle main displacement controllers connect, and outfan and the eight tow carbon fiber automatic placement devices of tow management module connect.
As preferably, described eight tow carbon fiber automatic placement devices comprise Tension module, heating module, refrigerating module, shear module, clamp module, resend module and collection modules, described Tension module comprises tension load cell and displacement actuators, described tension load cell includes coiling roll shaft and piezoquartz dynamometry head, described displacement actuators includes servo miniature linear and displacement head, described displacement head is connected with the coiling roll shaft of tension load cell, displacement head is connected with servo miniature linear, tow is wrapped on coiling roll shaft, servo miniature linear is connected with tow management module, when tow tension needs automatically to adjust, the driving head of tow management module control servo miniature linear moves thus displacement head drives coiling roll shaft to move, regulation tow tension.
As preferably, described refrigerating module comprises the gentle stream distribution valves of cold wind shower nozzle, described cold wind shower nozzle is used for cooling down tow, and cold wind shower nozzle is connected with distribution of air flow valve, and distribution of air flow valve is connected with vortex tube by pipeline, vortex tube is connected with compressor by pipeline, compressor is connected with tow management module, and tow management module controls compressor compresses air, produces cold air in vortex tube, cold air enters cold wind spout by distribution of air flow valve, cools down tow.
As preferably, described heating module includes Infrared Heating many fluorescent tubes arranged side by side and temperature transducer, Infrared Heating many fluorescent tubes arranged side by side and temperature transducer are connected with tow management module simultaneously, tow management module is measured tow according to temperature transducer and is laid temperature, controls the heating-up temperature of Infrared Heating many fluorescent tubes arranged side by side.
As preferably, described clamp module comprises clamping wheel shaft, the clamping lower pressure wheel group being positioned on clamping wheel shaft and fixing clamping bent plate on the supporting plate, described clamping bent plate is connected with the plate that is fixedly clamped, it is fixedly clamped on plate and several clamping cylinders are installed, clamping cylinder is connected with tow management module, clamping cylinder is connected with clamping pinch roller, drives clamping pinch roller to move by clamping cylinder thus assembles the tight tow of combined pressure with clamping lower pressure wheel.
As preferably, described resend module comprise resend wheel shaft and fixing on the supporting plate resend bent plate, described resend bent plate and be connected with resending fixed plate, resend to be provided with in fixed plate and resend cylinder, resend cylinder and tow management module to be connected, resend cylinder and be connected with resending to take turns, described in resend and be cased with on wheel shaft resending cylinder, resend cylinder moving and drive that to resend wheel mobile, be clipped in and resend wheel and the tow resending between cylinder drives mobile by resending cylinder.
As preferably, described shear module comprises fixing shearing bent plate on the supporting plate and shears fixed plate, shear, in fixed plate, shearing cylinder is installed, shear cylinder to be connected with tow management module, shear cylinder to be connected with shear-blade, being lined with chopping block below shear-blade, tow passes with chopping block at shear-blade, moves down in air cylinder driven lower shear blade and coordinates shearing tow with chopping block.
In the present invention, described FMM (tow management module) uses PLC, the tow that this controller is arranged controls to include the Tension module of tow, heating module, refrigerating module, shear module, clamp module, resend module and collection modules, realize identical tension and the constant-temperature constant-humidity environment of tow during arbitrarily complicated curved surface automatic placement, and along with path locus motion shearing in advance, clamping and wire feed again to single tow, for ensureing that the gap between each tow meets technological requirement and also to keep constantly tow being carried out solid matter control.
In the present invention, described TCM (path clustering module) uses digital driving controller, it is achieved the multi-shaft interlocked motion platform of xyz type, robot movement platform and the upset of two shaft-like works and the Bit andits control of mobile platform.Described CNCU is integrated with the core processor of FMM Yu TCM, for it is sent internal subcode and outside subcode, and each module data is carried out real-time closed-loop control process, outstanding advantages is to use same NCU therefore error in data little, signal transmission frequency is high, response is fast, it is possible to ensures that in tow laid course, higher tow controls the synchronicity with route matching, thus improves precision and the efficiency of control system.Use same NCU to control brain as central authorities external program compiling of instruction becomes the discernible signal of FMM Yu TCM and uses " front see " (Forsee) to verify the control accuracy of a period of time backward under current state in advance, the front end of fiber placement machine semi-girder it is positioned in combination with fiber automatic placement device, shorten the bang path of control system, and carry out the preferred of fiber automatic placement device according to practical situation.The digital drive core processing unit of TCM is integrated on CNCU, by CNCU receive external program instruction carry out around, up and down, pitching, roll, the motor control of six direction of going off course.
Multiaxis gantry motion platform selection achievement data is determined, normally for the preferred robot movement platform of complex profile workpiece of 2m size range as the path motion body of tow laying device according to work piece；For the size large complicated workpiece preferred xyz multi-shaft interlocked motion platform of type more than 2m as the path motion body of fibroin laying device, coordinate workpiece two axle movement platform if desired；It should be noted that in some cases when workpiece size is more than 2m, line slideway mode can be increased below robot movement platform and increase lay stroke, so can save installing space.
In the present invention, eight axle main displacement controllers can control eight servomotors, and eight servomotors have eight degree of freedom, add two degree of freedom at placement head end, can be suitable for robot, gantry plane, floor boring, bridge-type machine etc..
In the present invention, central numeral control unit (CNCU, CentralNumericalControlUnit), FMM Yu TCM is integrated into CNCU, during every section of path lay, CNCU is synchronized to FMM Yu TCM and provides instruction, and each module will be sent to respective driving controller again after compiling of instruction, realize tow laid course path to control with tow, complete the Collaborative Control of each technological parameter of tow laid course.Real-time data synchronization is returned to CNCU, CNCU and carries out data real-time comparison process by each module, it is achieved closed loop control.Automatic tow laying device control system preferred for this invention and method use integrating control mode by integrated for FMM Yu TCM closed loop control, use same CNCU to carry out instruction and control the closed-loop process with data, the control of the multiple tow automatic placement devices such as gantry structure, truss structure, floor boring and robot movement platform can be applicable to, disclosure satisfy that various complex-curved tow laid course controls, integrated form control system uses same CNCU that precision and the efficiency of piddler process are greatly improved, and reduces the probability made mistakes.
Beneficial effect: compared to existing technology, the invention have the advantages that
1, the control system of the present invention includes CNCU (master controller), FMM and TCM, FMM with TCM is respectively adopted PLC and drives controller to be controlled with industrial digital, the core processor of two controllers is all integrated in CNCU, by CNCU, each module issuing order parameter during every section of path lay and carry out data monitoring and closed-loop process, this integrating control mode can be effectively improved precision and the efficiency of control system；
2, use same NCU to carry out FMM Yu TCM to control, lay process is carried out Uniform compilation by NCU to external program, the code of FMM with TCM good with our predefined for compiled signal is mated one by one with state, controls corresponding driver action according to matching result；
3, our FMM block is integrated in the front end of placement head, the most both can shorten the response time of control system, improves control accuracy, it is to avoid cause tow time delay shearing or clamping to resend due to low-response or set etc. operates；Simultaneously can also replace the FMM block of difference tow quantity in laid course according to product actual complex degree and realize accurate lay；
4, we are when the outside numerical control program of NCU compiling, closed-loop process method is seen before have employed, specifically, NCU always compiles the current state program toward later set time section, and sending it to FMM Yu TCM module, the latter carries out variance analysis in preset progression according to the status information of current location, it may be judged whether meet required precision set in advance, as being unsatisfactory for i.e. using method of least square to be optimized iteration, till meeting precision.
Accompanying drawing explanation
Fig. 1 robot movement platform control principle drawing.
Fig. 2 robot platform Control system architecture composition diagram.
Fig. 3 is FFM module PLC schematic diagram.
Fig. 4 is the structural representation of eight tow carbon fiber automatic placement devices.
Fig. 5 is the structural representation of shear module in Fig. 4.
Fig. 6 is to resend modular structure schematic diagram in Fig. 4.
Fig. 7 is the structural representation of clamp module in Fig. 4.
Fig. 8 is the structural representation of refrigerating module.
Fig. 9 is the structural representation of Tension module.
Figure 10 is FMM block tow control PLC flow chart.
Figure 11 is TCM module path control flow chart.
Figure 12 is robot movement platform motion mode explanatory diagram.
Detailed description of the invention
As depicted in figs. 1 and 2, a kind of integrated form carbon fiber automatic placement apparatus control system of the present invention, including master controller, Hardware I/O connecting plate, described master controller is connected with Hardware I/O connecting plate, Hardware I/O connecting plate manages module with path clustering module and tow respectively and is connected, path clustering module outfan and eight axle main displacement controllers connect, and outfan and the eight tow carbon fiber automatic placement devices of tow management module connect.Eight axle main displacement controllers are connected with working motion platform and six axle gantry motion platforms respectively, workpiece motion s platform is the horizontal servo motor in tow laying apparatus and vertical servomotor, six axle gantry motion platforms are KUKA robot, controller uses KR-C4, FMM uses SIEMENS PLC-S300 controller, path management module uses Siemens S120 digital drive controller, and CNCU uses Siemens 840DSL.
In the present invention, described eight tow carbon fiber automatic placement devices comprise Tension module, heating module, refrigerating module, shear module, clamp module, resend module and collection modules.A kind of structure of eight tow carbon fiber automatic placement devices is as shown in Figure 4, eight tow carbon fiber automatic placement devices comprise a support plate 14, on described support plate 14, tow calorstat 13 is installed, several cartridge modules 12 it are provided with in tow calorstat 13, silk cartridge module 12 rotates around the silk cylinder mandrel 11 being fixed on a support plate 14, described tow calorstat 13 top is provided with vertical piddler head rotary shaft 8, vertically piddler head rotary shaft 8 is connected with vertical servomotor 9, vertically piddler head rotary shaft 8 one end is connected with horizontal piddler head rotary shaft 10, horizontal piddler head rotary shaft 10 is connected with horizontal servo motor, horizontal piddler head rotary shaft 10 is fixing with tow calorstat 13 to be connected；Tow on described silk cartridge module 12 sequentially enters bogie 2, clamp module 3 after being placed through the tow guider below support plate 14, resend module 4, shear module 5 after, by guiding the guide passage groove of tow to assemble silk ribbon, by heating module 7 and pressure module 6, tow is pressed in surface of the work, described clamp module 3, resend module 4, shear module 5 is each attached in gripper shoe, gripper shoe one end is connected with bogie 2, the other end is connected with pressure module 6, tow guider is tow guide roller 15, and bogie 2 is provided with tow track.
In the present invention, described pressure module includes that cylindrical pressure roller and driving moment motor, cylindrical pressure roller are arranged on connecting plate and are rotated around connecting plate by driving moment motor, and connecting plate is connected with gripper shoe 14.Described heating module includes Infrared Heating many fluorescent tubes 20 arranged side by side, temperature transducer, housing outside Infrared Heating many fluorescent tubes 20 arranged side by side is connected with connecting plate, tow management module many fluorescent tubes 20 arranged side by side with Infrared Heating and temperature transducer simultaneously are connected, the temperature that heating module heat produces is detected in real time by temperature transducer, Infrared Heating many fluorescent tubes 20 arranged side by side are controlled by tow management module, the temperature that heating module is produced fluctuates in the range of one so that piddler effect is more preferable.
In the present invention, Tension module as shown in Figure 9, including several tension load cell being positioned on a support plate 14 and displacement actuators, described tension load cell includes coiling roll shaft 21 and piezoquartz dynamometry 22, described displacement actuators includes servo miniature linear 23 and displacement 24, described displacement 24 is connected with the coiling roll shaft 21 of tension load cell, displacement 24 is connected with servo miniature linear 23, servo miniature linear is connected with tow management module, tow is wrapped on coiling roll shaft 21, when tow tension needs automatically to adjust, the driving head of tow management module control servo miniature linear 23 moves thus displacement 24 drives coiling roll shaft 21 to move, regulation tow tension, so can realize tow identical tension, tow is avoided to shake.
In the present invention, cooling system as shown in Figure 8, including several cold wind shower nozzles 61 being positioned in gripper shoe 14, cold wind shower nozzle 61 is connected with distribution of air flow valve 62, distribution of air flow valve 62 is connected with vortex tube 63 by pipeline, vortex tube 63 is connected with compressor 64 by pipeline, compressor 64 is connected with tow management module, by compressor 64 compressed air, cold air is produced in vortex tube 63, cold air enters cold wind spout by distribution of air flow valve 62, tow is cooled down, purpose is to use vortex tube to produce cold wind during tow transmits to cool down tow, purpose is to maintain the intensity that tow keeps certain during transmitting, do not soften.
In the present invention, described silk cartridge module 12 comprises silk cylinder, tow is wrapped in silk cylinder surface, tow is separated by plastic sheeting between layers, silk jacket casing is in silk cylinder mandrel 11, silk cylinder drives motor to drive silk cylinder to rotate by silk cylinder and puts silk, and each cartridge module 12 side is provided with stripping roll shaft 16, and between tow, plastics stripping is wound around collection by stripping roll shaft 16.
In the present invention, as shown in Figure 7, described clamp module 3 comprises clamping wheel shaft 31, the clamping lower pressure wheel group 37 being positioned on clamping wheel shaft 31 and fixing clamping bent plate 32 on the supporting plate, described clamping bent plate 32 is connected with the plate 33 that is fixedly clamped, it is fixedly clamped on plate 33 and several clamping cylinders 34 are installed, clamping cylinder 34 is connected with tow management module, clamping cylinder 34 is connected with clamping pinch roller 36 by clamping pinch roller frame 35, drives clamping pinch roller 36 to move by clamping cylinder 34 thus coordinates compression tow with clamping lower pressure wheel group 37.
In the present invention, as shown in Figure 6, described resend module 4 comprise resend wheel shaft 41 and fixing on the supporting plate resend bent plate 46, described resend bent plate 46 and resend fixed plate and 45 be connected, resend to be provided with in fixed plate 45 and resend cylinder 43, resend cylinder 43 to be connected with tow management module, resend cylinder 43 and resend wheel and 44 be connected, described resending is cased with resending cylinder on wheel shaft 41, resend cylinder 43 drive of moving to resend wheel and 44 move, be clipped in and resend wheel 44 and the tow resending between cylinder drives mobile by resending cylinder.
In the present invention, as shown in Figure 5, described shear module 5 comprises fixing shearing bent plate 53 on the supporting plate and shears fixed plate 52, shear and shearing cylinder 51 is installed in fixed plate 52, shear cylinder 51 to be connected with tow management module, shear cylinder 51 and be connected with shear-blade 54, below shear-blade 54, be lined with chopping block 55, tow passes with chopping block 55 at shear-blade 54, moves down in air cylinder driven lower shear blade 54 and coordinates shearing tow with chopping block 55.
Before every section of path lay, CNCU receives external program NC code, and each axle movement instructions such as xyz and ABC therein are sent to the digital drive controller of TCM, compiled after be sent to each axle servomotor, drive each axle servomotor to move, thus realize the motion of tow laying device；Synchronously, FMM input instruction in NC code is sent to PLC by CNCU, and input reflection register mode area is defined as 1 or 0 according to control instruction by PLC, and (in PLC, 1 represents true, namely connects；0 represents vacation, namely disconnects), thus each sub-module of FMM is such as sheared sub-module, clamping sub-module etc. and is just received corresponding digital output modul signal, thus drive shearing cylinder or electromagnetic valve switch or Guan Bi, and then realize the independent control of tow.During tow laying device moves, PLC constantly scans the control instruction of outside terminal (i.e. CNCU) thus changes the numerical value 1 or 0 of reflection register mode area and control the various states of tow.
1, FMM controls
FMM use PLC realize tow tensioning, heat, cool down, shear, clamp, resend, set etc., its concrete function includes that Tension module torque motor control, heating block temperature control, refrigerating module cold air blast velocity controls, shear module shears that cylinder moving controls, clamp module cylinder moving controls, resend module resends motor control, collection modules solid matter control etc..
Laying device is before every section of path lay, CNCU carries out instruction to outside NC program and identifies, through D/A (D/A switch), the numerical control code that wherein FMMPLC control instruction is relevant is compiled into analogue signal and is sent to the motor driver of each sub-module, electromagnetic valve etc..In laid course, CNCU monitors the reflection register mode area numerical value of each sub-module of FMM in real time, identical with path motor process technological parameter to determine whether.The communication protocol of CNCU (CNCU) and FMMPLC specifically includes that the definition of FMM unit control routine, timing node control to formulate definition and the definition of current time duty.
1-1, FMM control routine defines
FMM unit realize tow tensioning, heat, cool down, shear, clamp, resend, set etc. controls, before every section of path lay, send internal drive subcode in PLC reflection register mode area CNCU reading numerical values and by outside NC program, each control action is defined as follows by NC program.Wherein I0.X, Q0.X are the I/O Address that first tow PLC controls respectively, and I1.X, Q1.X are the I/O Address that second tow PLC controls respectively, and In.x, Qn.x are the I/O Address that n-th tow PLC controls respectively, are shown in Table 1.The code that original control routine T, H, F, C, P, R, I choose when NC programs in Siemens's M code library is replaced, it is simple to digital control system is uniformly controlled.
Table 1FFM module tow code definition
| Control action | Tensioning | Heating | Cooling | Shear | Clamping | Resend | Set |
| Controller | Motor | Infrared Heating | Swirler | Cutting knife | Folder rod | Motor | Motor |
| Control routine | T(MXX) | H(MXX) | F(MXX) | C(MXX) | P(MXX) | R(MXX) | I(MXX) |
| Reflection register mode area | 0/1 | 0/1 | 0/1 | 0/1 | 0/1 | 0/1 | 0/1 |
| PLC inputs address | I0.0 | I0.1 | I0.2 | I0.3 | I0.4 | I0.5 | I0.6 |
| PLC OPADD | Q0.0 | Q0.1 | Q0.2 | Q0.3 | Q0.4 | Q0.5 | Q0.6 |
1-2 unit timing node controls definition
In the laid course of stretch footpath, the unit timing node control routine that FMM performs is stored in the reflection register mode area of PLC, is issued control instruction by CNCU in laid course, and its communication protocol definition is as shown in table 2.
Table 2FMM module time node definition
····
····
1-3FMM (FMM) current operating state defines
For improving tow laid course control accuracy, CNCU unit monitors FMM unit in real time, and its data are carried out closed-loop process.The duty of FFM unit is stored in reflection register mode area, reads for CNCU, and its current operating state defines as shown in the figure.As a example by first tow, table 3 defines various state, and as 0000000 represents that current state is initializing, FMM block waits CNCU instruction；1110001 represent that CNCU has issued instruction to FMM, have assigned instruction the most also to TCM unit, and laying device starts lay；1110001 represent normal lay, and outside FFM module does not works in addition to shearing, clamping and resend mould, other modules normally work；1001100 represent that lay path has reached edge, shear cylinder moving, and cutting knife cuts off tow, simultaneously clamp on cylinder moving folder rod clamping tow, keep tow tension constant in the process, tensile force torque motor continuous firing；1000010 represent that laying device is already prepared to start lay from lay routed edges, resend motor movement, and clamping cylinder unloads, and tow is transported to end effector again；1110001 represent that placement head turns to, and shear in the process, clamp, resend module from service, and other normally work；1000000 represent that one section of lay path is terminated, and keep tow tension, and accompanying drawing 3 controls the schematic diagram of a wherein road tow for PLC.
Table 3FMM current operating state defines
2, TCM controls (TCM)
Gather the geological information of the structure needing lay, then according to the different geometric properties built, select corresponding theoretical model, then according to the technological requirement of lay, carry out the trajectory planning design of piddler, use specific file format to export the track of planning.Importing eight axle main displacement motion controllers, controller is to six axle gantry motion platforms, and two shaft-like work models overturn and the control of moving movement platform.
Existing CAM software such as UG etc. is used to write NC program based on workpiece threedimensional model, the CNCU of CNC System from Siemens reads NC program code, therefrom extract the instruction that path is relevant, it is often expressed as XYZABCUW coordinate figure, XYZ linear movement is converted into, with ABC, the PTP data that robot is readily identified by internal multiaxis algorithm by CNCU, the mxAutomation of myrobot with kuka robot communicates, and by Siemens Digital drive system S120, kuka robot motor's driver is issued movement instruction.The communication protocol of CNCU Yu TCM specifically includes that NC code definition and transmission, and coordinate transform defines, and TCM module current operating state defines.
2-1NC code definition and code transfer
The present invention controls program and uses the CAM software of current main-stream to write, and in its NC code produced, space Point Coordinates value is expressed as (x, y, z, A, B, C), and in robot movement platform, arbitrfary point location presentation is P (A1,A2,A3,A4,A5,A6), carry out mapping relations with transition matrix between the two.
2-2 coordinate transform defines
The features such as the motion controller KR-C4 that KUKA robot carries has robot control accuracy the highest, and programming is complicated inconvenient, and control response speed is slow, when using Siemens CNCU to be controlled, by coordinate transform by the (x in NC codei,yi,zi,Aj,Bj,Cj) it is converted into the point coordinates value (A of robot motion1i,A2i,A3i,A4j,A5j,A6j).Specifically,Robot performs the revolution vector of the i.e. laying device coordinate system of end, p=(px, py, pz) be robot perform the i.e. laying device coordinate system of end current location vector.
2-3TCM module current operating state defines
In lay path process, CNCU reads (the present embodiment is set as 100 row) NC program in advance, identify positional value and position vector that path therein related data becomes robot end to perform by Coordinate Conversion, itself and current operating state are carried out computing, it is determined that path is the most smooth and whether path is consistent with program setting.As shown in Figure 11, each axle motion explanation is as shown in accompanying drawing 12 for TCM module control flow.
As shown in fig. 10 and fig. 12, the control method of a kind of above-mentioned integrated form carbon fiber automatic placement apparatus control system, comprise the following steps:
(1) automatic fiber placement equipment starts, and installs yarn cylinder, and artificial wire feed is to pressure roller；
(2) tow management module controls compressor compresses air, cold wind shower nozzle ejection cooling wind；
(3) inputting preset path in path clustering module, controller starts path clustering module, and path clustering module drive eight axle main displacement controller controls respective motor movement；
(4) piddler head pressure, tow management module controls Tension module, shear module, clamp module, resends module and collection modules work, controls heating module simultaneously and begin to warm up, start piddler；
(5) the need of windowing during piddler, if so, tow cuts off, resends, and then proceedes to piddler, if it is not, continue piddler；
(6) judging whether to be routed to border, if so, tow management module controls shear module cut-out tow, resends module and continues piddler, until piddler terminates, tow management module controls heating module and quits work, and piddler head lifts；If not border, continue piddler, until being routed to border；
(7) judging whether to have spread, the most a certain layer piddler terminates, it may be judged whether all layers have spread, and if so, terminates to shut down, if it is not, enter step (3)；If not spread, piddler head commutates, horizontal servo electric machine rotation 180 °, enters step (4).
The above is only the preferred embodiment of the present invention; it is noted that, for those skilled in the art; under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
1. an integrated form carbon fiber automatic placement apparatus control system, it is characterized in that: include master controller, Hardware I/O connecting plate, described master controller is connected with Hardware I/O connecting plate, Hardware I/O connecting plate manages module with path clustering module and tow respectively and is connected, path clustering module outfan and eight axle main displacement controllers connect, and outfan and the eight tow carbon fiber automatic placement devices of tow management module connect.
nullIntegrated form carbon fiber automatic placement apparatus control system the most according to claim 1，It is characterized in that: described eight tow carbon fiber automatic placement devices comprise Tension module、Heating module、Refrigerating module、Shear module、Clamp module、Resend module and collection modules，Described Tension module comprises tension load cell and displacement actuators，Described tension load cell includes coiling roll shaft and piezoquartz dynamometry head，Described displacement actuators includes servo miniature linear and displacement head，Described displacement head is connected with the coiling roll shaft of tension load cell，Displacement head is connected with servo miniature linear，Tow is wrapped on coiling roll shaft，Servo miniature linear is connected with tow management module，When tow tension needs automatically to adjust，The driving head of tow management module control servo miniature linear moves thus displacement head drives coiling roll shaft to move，Regulation tow tension.
3. require the integrated form carbon fiber automatic placement apparatus control system described in 2 according to power, it is characterized in that: described refrigerating module comprises the gentle stream distribution valves of cold wind shower nozzle, described cold wind shower nozzle is used for cooling down tow, cold wind shower nozzle is connected with distribution of air flow valve, distribution of air flow valve is connected with vortex tube by pipeline, vortex tube is connected with compressor by pipeline, compressor is connected with tow management module, tow management module controls compressor compresses air, cold air is produced in vortex tube, cold air enters cold wind spout by distribution of air flow valve, cools down tow.
Integrated form carbon fiber automatic placement apparatus control system the most according to claim 2, it is characterized in that: described heating module includes Infrared Heating many fluorescent tubes arranged side by side and temperature transducer, Infrared Heating many fluorescent tubes arranged side by side and temperature transducer are connected with tow management module simultaneously, tow management module is measured tow according to temperature transducer and is laid temperature, controls the heating-up temperature of Infrared Heating many fluorescent tubes arranged side by side.
Integrated form carbon fiber automatic placement apparatus control system the most according to claim 2, it is characterized in that: described clamp module comprises clamping wheel shaft, the clamping lower pressure wheel group being positioned on clamping wheel shaft and fixing clamping bent plate on the supporting plate, described clamping bent plate is connected with the plate that is fixedly clamped, it is fixedly clamped on plate and several clamping cylinders are installed, clamping cylinder is connected with tow management module, clamping cylinder is connected with clamping pinch roller, drives clamping pinch roller to move by clamping cylinder thus assembles the tight tow of combined pressure with clamping lower pressure wheel.
Integrated form carbon fiber automatic placement apparatus control system the most according to claim 2, it is characterized in that: described in resend module comprise resend wheel shaft and fixing on the supporting plate resend bent plate, described resend bent plate and be connected with resending fixed plate, resend to be provided with in fixed plate and resend cylinder, resend cylinder to be connected with tow management module, resend cylinder and be connected with resending to take turns, described resending is cased with on wheel shaft resending cylinder, resend cylinder moving and drive that to resend wheel mobile, be clipped in and resend wheel and the tow resending between cylinder drives mobile by resending cylinder.
Integrated form carbon fiber automatic placement apparatus control system the most according to claim 2, it is characterized in that: described shear module comprises fixing shearing bent plate on the supporting plate and shears fixed plate, shear, in fixed plate, shearing cylinder is installed, shear cylinder to be connected with tow management module, shear cylinder to be connected with shear-blade, being lined with chopping block below shear-blade, tow passes with chopping block at shear-blade, moves down in air cylinder driven lower shear blade and coordinates shearing tow with chopping block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620379917.1U CN205427583U (en) | 2016-04-29 | 2016-04-29 | Device control system is put to automatic shop of integrated form carbon fiber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620379917.1U CN205427583U (en) | 2016-04-29 | 2016-04-29 | Device control system is put to automatic shop of integrated form carbon fiber |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205427583U true CN205427583U (en) | 2016-08-03 |
Family
ID=56520909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620379917.1U Withdrawn - After Issue CN205427583U (en) | 2016-04-29 | 2016-04-29 | Device control system is put to automatic shop of integrated form carbon fiber |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205427583U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911909A (en) * | 2016-04-29 | 2016-08-31 | 李军利 | Integrated type carbon fiber automatically laying apparatus controlling system and the controlling method |
| CN108861802A (en) * | 2018-06-11 | 2018-11-23 | 浙江大学 | A kind of yarn rack structrue on the piddler head for being integrated in automatic placement equipment |
-
2016
- 2016-04-29 CN CN201620379917.1U patent/CN205427583U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911909A (en) * | 2016-04-29 | 2016-08-31 | 李军利 | Integrated type carbon fiber automatically laying apparatus controlling system and the controlling method |
| CN108861802A (en) * | 2018-06-11 | 2018-11-23 | 浙江大学 | A kind of yarn rack structrue on the piddler head for being integrated in automatic placement equipment |
| CN108861802B (en) * | 2018-06-11 | 2020-06-30 | 浙江大学 | Creel structure integrated on filament laying head of automatic laying equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105911909B (en) | A kind of integrated form carbon fiber automatic placement apparatus control system and control method | |
| US11579579B2 (en) | Systems and methods for controlling additive manufacturing | |
| US8954180B2 (en) | Manufacturing process and apparatus having an interchangeable machine tool head with integrated control | |
| US7720561B2 (en) | Optimizing non-productive part motion in an automated tape laydown machine | |
| US9764918B2 (en) | Apparatus for laminating composites | |
| AU2013336866B2 (en) | Method and device for producing preforms for producing a rotor blade | |
| CN101254652B (en) | In-situ consolidation fibre laying method and device for producing resin-based compound material component | |
| JP5822696B2 (en) | Method and system for fiber placement using a fixed distributor | |
| CN105690801A (en) | Universal laying device for automatic tow placement of carbon fiber composite | |
| JP5255761B2 (en) | Method for creating a program for operating a machine using a multi-head composite material, a computer program product for programming a machine using a multi-head composite material, and a composite part program post processor for creating a program for operating a machine using a multi-head composite material | |
| US9481158B2 (en) | Short course fiber placement head | |
| CN105538095A (en) | Large wind power blade multi-robot collaboration grinding system and method | |
| CN205427583U (en) | Device control system is put to automatic shop of integrated form carbon fiber | |
| CN104570955B (en) | A kind of composite material automatic fiber placement machine control system and control method | |
| CN205485598U (en) | Large -scale electric machine coil coiling machine control system | |
| CN102642331A (en) | Control system for loading and unloading manipulator of press | |
| CN206316383U (en) | A kind of cutter and the direct-connected cam numerically controlled lathe of servomotor | |
| CN205343845U (en) | Device is put in automatic general shop of silk of spreading of carbon -fibre composite | |
| CN114013068A (en) | Annular wire laying machine tool and wire laying method thereof | |
| CN207839969U (en) | A kind of aluminum alloy clothes hanger fully automatic forming machine | |
| CN106166647A (en) | A kind of optical-fiber laser cutting equipment and cutting method thereof | |
| CN207058563U (en) | A kind of SCARA industrial robot control systems | |
| CN109597382A (en) | Coal machine and manufactures intelligence blanking production system | |
| CN108213287A (en) | A kind of aluminum alloy clothes hanger fully automatic forming machine | |
| CN208645027U (en) | A kind of shuttle core sheath production bottom burnishing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160803 Effective date of abandoning: 20180703 |
|
| AV01 | Patent right actively abandoned |