FR3097157A1 - Depositing module for depositing fiber strip sections for the production of parts in composite materials, depositing head, depositing robot, and depositing method. - Google Patents

Abstract

"Laying module for laying head of sections of fiber tape for the production of parts in composite materials, laying head, laying robot, and laying process. » Laying module (400) on a laying surface for a head for draping sections of strip of fibers for the production of parts in composite materials, comprising a support guide (404) for the section of fibers and a notched downstream roller (402) and an upstream toothed roller (406) equipped with a toothed belt (408) arranged to drive a section of fiber placed on the support guide from the upstream toothed roller to the downstream toothed roller and to deposit the fiber section under pressure on the deposit surface. Fig. 1 2

Description

Laying module for laying head of sections of strip of fibers for the production of parts in composite materials, laying head, laying robot, and laying process.

The present invention relates to a fiber application machine for producing composite material parts, and more particularly a fiber application head, also called a draping head, for such a machine.

State of the prior art

Fiber application machines are known, commonly called fiber placement machines, for the contact application on a draping tool, such as a male or female mold, of a wide strip, formed of several flat fibers continuous, of the ribbon type, dry or impregnated with thermosetting or thermoplastic resin, in particular carbon fibers, consisting of a multitude of carbon threads or filaments.

These machines comprise a system for moving a fiber application head, capable of applying the strip formed on an application surface of the mould, means for storing fibers, and means for conveying the fibers of said means for storage to the application head.

The fiber application head, also called fiber placement head, conventionally comprises an application roller, also called compaction roller, intended to come into contact against the mold along a line of contact to apply the strip of fibers, and means for guiding the fibers in the form of a band on said compacting roller.

The movement system ensures the movement of the application head in at least three directions perpendicular to each other. The displacement system can be formed by a polyarticulated arm of the standard six-axis robot type, placed on the ground or mounted on a linear axis, with an end wrist to which the application head is fixed, or by a Cartesian robot of the gantry equipped with an end wrist carrying the application head. When applying or depositing the strip of fibers, the compacting roller maintains continuous pressure on the application surface of the mold to gradually evacuate the air trapped between the strips of fibers deposited. After applying several layers of superimposed strips, the resulting part is hardened under vacuum by passing through an oven, generally an autoclave. This compacting operation during removal makes it possible to obtain a part before hardening operation whose dimensions correspond substantially to those of the final part obtained after hardening.

The fiber placement head further comprises cutting means for individually cutting each fiber upstream of the application roller. The cutting means comprise a flat blade actuated by a linear actuator which is arranged opposite a fixed counter-tool.

Current fiber laying machines lay down a single layer of fiber but use several fibers in parallel in order to increase the laying capacity of the machine (kg of fiber laid per hour). To deposit on large surfaces, this technique works because the removal of large strips of fiber is not restrictive with respect to the contours to be deposited. When you want to deposit small surfaces with complex contours, it is necessary to reduce the number of fibers in parallel so as not to lose the detail of the deposit. Placing a single or two fibers in parallel instead of eight or twelve greatly reduces the capacity of the machine.

Current fiber laying machines do not have the ability to make angled cuts and are limited to a cut perpendicular to the fiber. This generates contours with aliasing which must be cut afterwards to obtain the desired shape.

Patent US8327743B2 is also known, which has several cutting means arranged at an angle relative to the direction of fiber advancement. This device is suitable for cutting fibers spaced apart from each other to then form a contour that is not perpendicular to the longitudinal direction of the fibers, which will be deposited on the deposition surface. This device also requires cutting each of the fibers sequentially. To this end, it is necessary to manage the angle cut of each of the fibers, and therefore to manage the differences in advance between each of the fibers, which requires, for each of the fibers, to have transfer means managed independently of the each other, comprising at least one roller for feeding the cutting device and one roller for boosting the cut section.

There is no machine aiming to preform contours of a few centimeters to one meter, which makes a post-removal contour cutting step necessary to eliminate this aliasing.

There is a need to miniaturize such machines, for example by using miniature robots, the effector of which, that is to say the draping head, must not exceed a predetermined mass, for example a mass of 10 kg .

Furthermore, at present, the minimum length of a fiber ribbon section deposited by a draping head is of the order of 10 cm. The use of such a machine is not possible when the dimensions of the parts to be manufactured are less than 4 cm.

An object of the invention is in particular to remedy all or part of the aforementioned drawbacks.

According to a first aspect of the invention, there is proposed a module for laying on a laying surface for a laying head for sections of strip of fibers for the production of parts made of composite materials, comprising a support guide for the section of fibers and , a notched downstream roller and an upstream notched roller equipped with a notched belt arranged to drive a section of fiber arranged on the support guide between from the upstream notched roller to the downstream notched roller and to deposit the fiber section under pressure on the deposit surface.

The toothed belt can be made of elastomeric material.

The depositing module can further comprise a linear actuator, for example a cylinder, preferably a pneumatic cylinder, arranged to move the notched downstream roller between a first and a second position.

According to a second aspect of the invention, there is proposed a head for draping sections of strip of fibers for producing parts in composite materials, comprising:

• a feed module arranged to form a strip from one or more fibers,
• a cutting module arranged to cut said strip of fibers to form sections of strip of fibers,
• a laying module according to the first aspect of the invention, or one or more of its improvements, arranged to lay said sections of strip of fibers.

According to a third aspect of the invention, there is proposed a draping robot for producing parts in composite materials comprising a draping head according to the second aspect of the invention.

According to a fourth aspect of the invention, there is proposed a method of depositing by a depositing module for its use within a head for draping sections of strip of fibers for the production of parts in composite materials, comprising a step conveying and depositing under pressure on the depositing surface of a section of strip of fiber implemented by a toothed belt.

According to a fifth aspect of the invention, there is proposed a method of draping by a draping head sections of strip of fibers, comprising the following steps:

• a step of supplying a strip of fibers from one or more fibers,
• a step of cutting said strip of fibers to form sections of strip of fibers,
• a step of depositing according to the fourth aspect of the invention, or one or more of its improvements, said sections of strip of fibers.

Alternatively, or in addition to the foregoing, the invention also proposes a supply module for a head for draping sections of strip of fibers for the production of parts made of composite materials, in which the strip of fiber comprises at least one ribbon of fibers formed by superimposing at least two fibers.

The strip of fiber can be formed from a plurality of strips of fibers joined together along their thicknesses, each of the strips of fiber being formed by superimposing at least two fibers.

The power supply module may include:

• a first device for transferring at least two fibers, at a first point of application at which said at least two fibers are superimposed to form a first half-ribbon,
• a second device for transferring at least two other fibers, at a second point of application at which said at least two other fibers are superimposed to form a second half-ribbon,
• a third device for transferring said first and second half-ribbons, at a third point of application to form the fiber band.

Alternatively, or in addition to the foregoing, the invention also proposes a method for supplying a strip of fibers in the form of a ribbon for its use within a head for draping sections of strip of fibers for the production of parts. made of composite materials, comprising a step of forming the ribbon of fibers by superimposing at least two fibers.

Alternatively, or in addition to the foregoing, the invention also proposes a cutting module for a head for draping sections of strip of fibers for producing parts made of composite materials, comprising a guillotine equipped with a cutting blade arranged to cutting, in a cutting plane, a strip of fibers arranged on a support plane into sections of strip of fibers.

The blade of the guillotine can have an angle of approximately 30° with the support plane.

The guillotine can be fixed in a rotating cage mounted in rotation around an axis perpendicular to the support plane and has an angle, called the cutting angle of the strip, formed between the cutting plane and a longitudinal direction of the fiber strip. The strip cutting angle can be different from 90°. The strip cutting angle can be controlled by value. The tape cutting angle can be selected from +45° and -45°.

The cutting module may also comprise a cavity for discharging sections of fiber strips.

The cutting module may further comprise blowing means arranged to transport a section of strip of fiber from the evacuation cavity to a storage area.

Alternatively, or in addition to the foregoing, the invention also proposes a method of cutting for its use within a head for draping sections of strip of fibers for the production of parts made of composite materials, comprising a step of cutting of the fiber band by guillotine.

The strip of fiber to be cut can be formed from a plurality of fibers joined together along their thicknesses.

The fiber strip may include at least one fiber ribbon formed by superimposing at least two fibers.

Description of figures

Other advantages and particularities of the invention will appear on reading the detailed description of implementations and in no way limiting embodiments, with regard to the appended drawings in which:

is a perspective view of an embodiment of a fiber layup head according to the invention, presenting in particular a supply module, a cutting module and a depositing module,

is another perspective view of the fiber layup head shown in Figure 1, cut away at the power module,

is a perspective view of one embodiment of the fiber feed module of the fiber layup head shown in Figure 1,

is a perspective view of one embodiment of the fiber layup head cutting module shown in Figure 1, the cutting module having a cutting blade in a raised position and disposed perpendicular to the direction of travel fiber,

is a perspective view of the cutting module shown in Figure 4, the cutting blade forming a non-right angle with the direction of fiber advancement,

is a perspective view of the cutting module shown in Figure 5, the cutting blade being in a low position,

is a perspective view of the cutting module shown in Figure 4, in which the counter blade of the cutting blade is retracted,

is a side elevational view of the cutting module shown in Figure 4,

is a perspective view from below of the cutting module shown in Figure 4,

is a schematic illustration in top view of the cutting module shown in Figure 4,

is a side elevational view of a detail at the cutting blade of the cutting module of Figure 4,

is a perspective view of one embodiment of the fiber layup head placement module shown in Figure 1.

Description of embodiment

The embodiments described below being in no way limiting, variants of the invention may in particular be considered comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient. to confer a technical advantage or to differentiate the invention from the state of the prior art. This selection includes at least one feature, preferably functional without structural details, or with only part of the structural details if only this part is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art .

In the figures, an element appearing in several figures retains the same reference.

There is illustrated in Figure 1 an embodiment of a draping head 100, also called application head, sections of strip of fibers according to the invention. The method according to the invention is described at the same time as the device according to the invention.

By fiber, the present description refers to carbon fiber, fiberglass, Kevlar fiber, flax fiber, polyester fiber, NFPP type fiber (for English Natural Fiber Polypropylene ), fiber of the NFPU type (for English Natural Fiber Polyurethan ), hemp, coconut, bamboo, fiber of polymer reinforced with carbon fiber of the CFRP type (for English Carbon Fiber Reinforced Plastic ), fiber of the CFK type (for the German Carbonfaserverstärker Kunstoff ).

The draping head comprises a support plate 102, by which said head is intended to be assembled with a movement system.

In a fiber run direction X, the layup head successively comprises:

• a fiber strip supply module 200 arranged to form a strip of fibers in the form of a ribbon from one or more fibers, supported along a support plane, along the running direction X,
• a cutting module 300, arranged to cut the strip of fibers into a section of strip of fibers,
• a depositing module 400, arranged to deposit the section of strip of fibers resulting from the cutting of the fiber by the cutting module 300.

Description of the power supply module

There is illustrated in Figure 3 an embodiment of a power supply module 200 according to the invention.

As stated above, the fiber tape supply module 200 is arranged to form a fiber tape in ribbon form from one or more fibers.

According to the example shown, the power supply module 200 is arranged to form a strip of fibers B from four fibers F1, F2, F3, F4, with a thickness equal to twice that of one of the fibers entering the module and of a width equal to twice that of one of the fibers entering the module.

According to a first step to form the strip B, two of the four fibers, F1 and F2, are superimposed to form a first half-strip R1 and the other two of the four fibers, F3 and F4, are superimposed to form a second half-strip R2.

According to a second step to form the band B, the two half-ribbons R1 and R2 are joined along their thickness to form said band B.

To this end, the power supply module comprises:

• a first device for transferring said two fibers F1, F2, to a first point of application at which they are superimposed to form the first half-ribbon R1,
• a second device for transferring said two other fibers F3, F4, to a second point of application at which they are superimposed to form the second half-ribbon R2,
• a third device for transferring the first and second half-ribbons, respectively R1 and R2, at the level of a third point of application to form the band.

For this purpose, the power supply module comprises two columns 202, 204, arranged parallel to each other, suitable for being fixed on the support plate 102.

The two columns define a longitudinal direction of the power supply module as well as a longitudinal plane in which the axes of revolution of the two columns are inscribed.

The power supply module comprises successively, in the longitudinal direction of the power supply module:

• an entry module 210 extending transversely between the column 202 and the column 204,
• a first stage 220 extending transversely between the column 202 and the column 204,
• a second floor 230 extending transversely between the column 202 and the column 204,
• an output module 240 extending transversely between the column 202 and the column 204.

Of course, the power supply module can include any other support device for the input 210, first stage 220, second stage 230 and output 240 modules. For example, the cross section of the columns can be rectangular, preferably square.

Each of the modules and stages has a general U-shape in a plane perpendicular to the support plane, and extends axially in the longitudinal direction. Any other form of module can be considered.

At the level of the output module, the second stage and the first stage, two cylinders emerging on either side are bored in the longitudinal direction at the level of each of the ends of the vertical branches of the U.

At the input module, two blind cylinders are bored in the longitudinal direction at each of the ends of the vertical branches of the U.

Thus, the first stage 220, the second stage 230, and the output module 240 are mounted in translation on the columns 202 and 204. This translation is then stopped by a clamping means (not shown) on each of the columns.

The columns 202 and 204 are also inserted into the blind cylinders of the entry module 210, and are thus stopped in translation by the bottom of the cylinders.

The entry module 210 has four pulleys 212, 214, 216 and 218, each mounted around an axis of rotation distinct from the others and perpendicular to the longitudinal plane.

In operation, the pulleys 212 and 214 receive, respectively, the fibers F1 and F2.

In operation, the pulleys 216 and 218 receive, respectively, the fibers F3 and F4.

The first stage 220 comprises 2 pulleys 222, 224, each mounted around an axis of rotation distinct from the other and perpendicular to the longitudinal plane.

In operation, the pulley 222 receives, at the application point P1 (not shown), the fibers F1 and F2 to form the first half-ribbon R1.

In operation, the pulley 224 receives, at the point of application P2 (not shown), the fibers F3 and F4 to form the first half-ribbon R1.

For this purpose the three centers of the pulleys 212, 214 and 222 are arranged in the same first plane of movement, parallel to the longitudinal plane.

The pulleys 212, 214 and 222 form the first transfer device of the two fibers F1, F2, at the first point of application.

In the same way, the three centers of the pulleys 216, 218 and 224 are arranged in the same second plane of movement, parallel to the longitudinal plane.

The pulleys 216, 218 and 224 form the second device for transferring the two fibers F3, F4, to the second point of application.

The second stage 230 also comprises two pulleys 232, 234, each mounted around an axis of rotation distinct from the other and perpendicular to the longitudinal plane.

In operation, pulley 232 receives and redirects half-ribbon R1. Also, the center of pulley 232 is disposed in the first running plane.

In operation, pulley 234 receives and redirects half-ribbon R2. Also, the center of the pulley 234 is placed in the second running plane.

The output module 240 comprises two rollers 242 and 244, arranged to receive the two half-strips R1 and R2, join them along their thickness and form said strip B, at the level of the third point of application P3 (not shown) .

For this purpose, the centers of the two rollers 242 and 244 are arranged on either side of the strip B in a plane.

According to a variant of an embodiment of a draping head according to the invention, the supply module could comprise only one output module, supplying the cutting module with a strip of fibers in the form of ribbon from one fibre, or from two superposed fibres, or even from two fibers placed side by side.

Description of the cutting module

There is illustrated in Figure 4 an embodiment of a cutting module 300 according to the invention.

As stated above, the cutting module 300 is arranged to cut the strip of fibers received from the supply module 200 into a section of strip of fibers.

The cutting module comprises a fixed part 310 intended to be fixed to the support plate 102 and a mobile part 320 in rotation with respect to the fixed part 310 around an axis of rotation Y perpendicular to the support plane of the fiber strip.

In the example shown, the support plane is determined as the tangent plane to the two rollers 242 and 244, and an exit roller 302, also called a recovery roller.

More precisely, the fixed part 310 comprises a fixing plate 312 adapted to be fixed on the support plate 102 and the stator part 314 of a brushless controlled electric motor adapted to be fixed on the fixing plate 312.

The mobile part 320 is fixed to the rotor part 322 of the electric motor defined the Y axis.

The mobile part 320 further comprises a rotating cage 330 fixed to the mobile part 320. Thus, the mobile part can be controlled in angular position with respect to the stator part 314. All the angle values can be selected.

A cylinder body 342 of a pneumatic cylinder 340 (reference not shown) is fixed to the rotating cage 330.

The rotating cage further comprises a cylinder rod 344 (reference not shown) of the cylinder 340 on which is mounted a blade holder 352. A blade 354 is mounted on the blade holder 352, in a high position in FIG .

The rotating cage further comprising a counter blade 356, cooperating with the blade 354. The counter blade 356 participates in the indirect guiding of the blade 354, by guiding the blade holder 352. The counter blade 356 is also an anvil for the blade 354. The guidance is carried out by a vertical under part of the counter blade 356. The anvil is carried out by a horizontal under part of the counter blade 356.

The blade is angled at 30° to make a guillotine cut rather than a shear cut to allow multiple layers of fiber to be cut from a fiber web. The 30° angle is preferred to a 45° angle to limit the lateral forces that shift the strip of fibers out of its way during the cut.

FIG. 5 represents the cutting module 300 in a position in which the mobile part 320 forms an angle of 45° with respect to its arrangement in FIG .

The same elements are still represented in FIG. 6 , the blade holder 352 and the blade 354 being represented in the low position.

As is more visible in Figure 7 , the blade against 356 is retractable. Also, it is possible to easily access the cutting blade for a maintenance operation or to change the cutting blade.

Referring to Figure 8 , the rotating cage 330 includes two discs 332 upstream of the cut to guide the fiber web through the guillotine. To this end, the two discs face each other, parallel to the support plane and extending on either side of the support plane.

At the exit of the guillotine, a system of two discs 334 but perforated with an evacuation cavity 336. The two discs 334 make it possible to guide the fiber at the exit when its length is large enough not to be considered as waste.

This can be better understood by observing Figure 9, which shows the evacuation cavity 336. The waste, of shorter length, falls through the cavity to be evacuated in a storage area using a pulse. of compressed air. The air pulse can be produced by the arrival of a compressed air tube connected to a nozzle which channels the air in order to blow the waste which has fallen on a plane under the cavity. This air pulse sends the waste into a storage cavity (not shown) fixed to the support plate 102, a storage cavity which can be retracted in order to empty the waste.

According to a first variant of an embodiment of a draping head according to the invention, the cutting module could be a conventional guillotine, comprising no means for pivoting the cutting plane relative to the support plane, of which the cutting angle of the cutting blade is 45° with respect to the support plane, and does not include an evacuation cavity.

According to a second variant, only described for its differences with the first variant, the cutting module comprises the means for pivoting the cutting plane with respect to the support plane.

According to a third variant, only described for its differences with the first variant, and possibly combinable with the second variant, the cutting angle of the cutting blade is 30° with respect to the support plane.

According to a fourth variant, only described for its differences with the first variant, and possibly combinable with the second and/or the third variant, the cutting module is provided with a cavity suitable for evacuating the waste in a storage area.

Referring to Figure 10, it can be seen that the cutting plane of the guillotine can have at least three configurations:

• according to a first configuration, the cutting plane of the cutting blade is perpendicular to the direction of advance of the fiber web.
• according to a second configuration, the cutting plane of the cutting blade turned by an angle of - 45° relative to the direction of advance of the fiber web,
• according to a third configuration, the cutting plane of the cutting blade turned by an angle of + 45° with respect to the direction of advance of the fiber web,

Referring to Figure 11, it is observed that the edge of the cutting blade forms an angle with the support plane, for example 45°, to form a cut by guillotine rather than by shear. It is thus possible to cut several thicknesses of fiber in a strip of fibers. Preferably, the angle formed between the cutting edge of the cutting blade and the support plane is 30°, as illustrated in Figure 11 , to limit the lateral forces which shift the strip of fibers out of its way during the cut.

Description of the deposit module

There is illustrated in Figure 12 an embodiment of a deposit module 400 according to the invention.

As stated above, the depositing module 400 is arranged to deposit the section of strip of fibers resulting from the cutting of the fiber by the cutting module 300.

Usually, the laying module 400 comprises a compacting roller, intended to come into contact against the mold along a line of contact to apply the strip of fibers, and means for guiding the fibers in the form of a strip on said roller. of compaction.

Roller 402 of deposit module 400 could be identified with such a compacting roller. Consequently, usually, the length of a section of strip of fibers deposited is at least equal to a characteristic distance, projected in the running plane, between the cutting blade of the cutting module 300 and the point of application of the section of fiber tape at the compaction roller. Indeed, a section of a shorter length could not be trained and guided to the level of the contact line. This is annoying when you want to make small parts, for example smaller than 4 cm.

An idea to shorten the distance would be to move the cutting module 300 to bring it closer to the depositing module 400. This is not possible for reasons of space, because the cutting module could collide with the surface on which the fiber strip sections are deposited.

To this end, the removal module 400 further comprises:

• a support guide 404 for the section of fibers arranged between the cutting module 300 and the roller 402 of the depositing module 400 arranged to support and guide sections of strip of fibers of a length less than the characteristic distance between the cutting module 300 and roll 402,
• a second roller 406, which is toothed, arranged to receive a toothed belt 408 made of elastomeric material and to cooperate with the roller 402 which is a toothed roller so that the belt 408 is stretched between the rollers 402 and 406.

By toothed belt, the present description denotes a belt of which at least one inner part is toothed. In the present description, the outer part of the toothed belt is smooth.

Any flexible material, such as elastomer, rubber, or even foam, can be used to form a belt.

At the entrance to the belt, a section of strip of fibers is conveyed between the belt 408 and a driving roller 410 of small diameter made of elastomeric material.

The angle between the belt 408 and the surface on which the fiber strip sections are deposited can be approximately 60° in order to allow a relative tangency of arrival of the section to the support surface while freeing up space under the support head in order to be able to deposit complex surfaces without collisions.

To ensure the alignment of the strip of fiber on the belt, a guide at least in lateral contact with the belt keeps the strip of fiber aligned.

The roller 402 at the point of application is mounted on a cylinder 412 to allow pressing on the support surface during the application of the fiber strip. The roller 406 is mounted on a pivot to allow the assembly 400 to rotate around the axis of the roller 406. The cylinder can be positioned freely depending on the geometry of the draping head 100 in order to apply a force on the belt resulting in pressure on the deposit surface.

Of course, the invention is not limited to the examples which have just been described and many adjustments can be made to these examples without departing from the scope of the invention. Moreover, the different features, forms, variants and embodiments of the invention may be associated with each other in various combinations insofar as they are not incompatible or exclusive of each other.

Claims (7)

Laying module (400) on a laying surface for draping head (100) of sections of strip of fibers for the production of parts in composite materials, comprising a support guide (404) for the section of fibers and a notched downstream roller (402) and an upstream toothed roller (406) equipped with a toothed belt (408) arranged to drive a section of fiber placed on the support guide from the upstream toothed roller to the downstream toothed roller and to deposit the fiber section under pressure fiber on the deposit surface. Deposit module according to claim 1, in which the toothed belt (408) is made of elastomeric material. Laying module according to claim 1 or 2, further comprising a linear actuator (412) arranged to move the notched downstream roller (402) between a first and a second position. Laying head (100) for sections of fiber tape for producing parts in composite materials, comprising:

• a feed module (200) arranged to form a strip from one or more fibers,
• a cutting module (300), arranged to cut said strip of fibers to form sections of strip of fibers,
• a laying module (400) according to any one of the preceding claims, arranged to lay said sections of strip of fibers.

Draping robot for producing parts in composite materials comprising a laying head according to the preceding claim. Method of depositing by a depositing module for its use within a draping head (100) sections of strip of fibers for the production of parts in composite materials, comprising a step of conveying and depositing under pressure on the surface for depositing a section of strip of fiber implemented by a toothed belt. Method for draping sections of fiber web using a draping head, comprising the following steps:

• a step of supplying a strip of fibers from one or more fibers,
• a step of cutting said strip of fibers to form sections of strip of fibers,
• a step of depositing said sections of strip of fibers according to the preceding claim.