JP2012102268A - Prepreg tape and method for setting tape control data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable sticking and lamination of a prepreg tape on various curved surfaces without forming any wrinkles when sticking the prepreg tape.SOLUTION: The prepreg tape is divided into a plurality of strips of tape divided parts that are equally divided in tape width direction and is stuck onto a three-dimensionally curved surface. A method for setting a tape control data for setting at least one element of the tape control data needed for sticking the prepreg tape comprises: lay-up path generation steps S1 and S6 wherein a lay-up path set on the curved surface onto which the prepreg tape is to be stuck is generated; a calculation starting point setting step S101 wherein a calculation starting point is set on the lay-up path generated in the lay-up path generation steps S1 and S6; and a tape control point setting step S7 wherein a tape control point is set at a point where a transversal line and a longitudinal line intersect with each other, provided that the transversal line passes through the calculation starting point and perpendicularly intersects with the lay-up path along the curved surface, and the longitudinal line passes through the center of a divided zone onto which each tape divided part is to be stuck.

Description

  The present invention relates to a prepreg tape and a tape control information setting method.

  The use of composite materials, particularly prepreg tapes in which fiber materials are impregnated with resin, is increasing in various industries including the automotive, marine and aerospace industries. The prepreg tape is stuck and laminated on the surface of an adherend such as a sticking mold (for example, a mandrel) that constitutes a vehicle casing.

  Tape layup machines that automatically perform this sticking operation are classified into flat layup machines and curved layup machines. The flat layup machine is used for aircraft stringers and the like because it is easy to control when a prepreg tape is attached. On the other hand, the curved surface lay-up machine tends to sag during sticking (lamination) of the prepreg tape, tends to wrinkle, and remains a difficult problem to solve. When a layup machine cannot be applied, the prepreg tape is unavoidably laminated by hand. Therefore, in order to effectively prevent wrinkles, it is necessary to put into practical use a method for calculating a tape path (or also called “lay-up path”) adapted to a curved surface.

  In response to such needs, for example, Patent Document 1 discloses a method for calculating a tape path when sticking a composite material to a curved surface. In the method of Patent Document 1, a curved surface that is curved in three dimensions of a product to be manufactured is mapped to a two-dimensional reference plane including a boundary line of the curved surface, and a tape path is defined on the reference plane. A method of calculating and converting the coordinates into three dimensions to obtain final coordinates is adopted.

JP 2007-185947 A

  The method of Patent Document 1 is not sufficient to eliminate wrinkles and slack.

  Referring to FIGS. 1 and 2, when the curved surface of the product WS to be processed is cylindrical or conical as shown in (A) of each figure, this is shown in (B) of each figure. The curved surface S of the product WS can be developed on a flat surface relatively precisely. When a route that follows the shortest distance on this plane is calculated and a tape route is obtained, the route that follows the shortest distance on this plane is It is set to be substantially linear, and the tape can be attached with a uniform load distribution over the entire width direction of the prepreg tape.

  However, as shown in FIG. 3, many products having a curved surface S that is curved in a complicated manner are increasing depending on recent products WS. Since it is difficult to develop such a curved surface S on a precise two-dimensional plane, automation has not been realized.

  The present invention has been made in view of the above-described problems, and includes a prepreg tape that can be applied and laminated without any problem corresponding to various curved surfaces, and various elements for attaching the prepreg tape. Among them, it is an object to provide a tape control information setting method capable of setting at least one element.

  As a method for solving such a problem, it is conceivable that the prepreg tape can be divided into a plurality of strips of tape, and the sticking length is changed for each tape split of the prepreg tape. As a result of earnest research, the present inventors have succeeded in developing such a prepreg tape. That is, the first aspect of the present invention is a prepreg tape having an adhesive surface that is attached to a curved surface curved in three dimensions on one side, and is divided so as to equally divide the tape width of the adhesive surface. A prepreg tape comprising a plurality of tape divided bodies and a support body that integrally supports the tape divided bodies. In this mode, by setting a tape control point (point to which a pressing load is applied at the time of sticking) for each tape segment of the prepreg tape, the wrinkles generated in the conventional prepreg tape are released and various three-dimensionally curved Even for curved surfaces, it is possible to achieve sticking and lamination without any wrinkles.

  In a preferred aspect, the support body is a mount that is superimposed on the side opposite to the sticking surface of the tape divided body and is integrally wound with each tape divided body. Moreover, you may provide the winding core which serves as the said support body.

  A prepreg tape according to another aspect is a prepreg tape having a sticking surface to be attached to a curved surface curved in three dimensions on one side, and is connected to a plurality of strips that can be divided by perforations that equally divide the tape width. It is characterized by having a tape division body.

  In a preferred embodiment, the prepreg tape includes a mount that is overlapped on the side opposite to the sticking surface of the tape divided body and wound integrally with each tape divided body that is divided in parallel to the longitudinal direction. . In this aspect, the tape divided body is integrally supported by the mount and is easy to handle.

  In a preferred embodiment, the mount of the prepreg tape is divided for each of the tape divided bodies. In this aspect, since the mount can be followed when the tape divided body is divided, it is easy to handle the mount such as protecting the tape divided body with the mount until the next process after sticking.

  In order to put the above-described prepreg tape into practical use, a point for applying an appropriate pressing load (hereinafter referred to as “tape control point”) for each of the tape divided bodies, or the coordinates of the edge of the prepreg tape (these It is indispensable to calculate the coordinates of the tape control points and edges as “tape control information”, and the present inventor succeeded in calculating the tape control information precisely as a result of earnest research.

  That is, another aspect of the present invention is a tape control information setting method for setting at least one element of tape control information required for adhering the prepreg tape, wherein the prepreg tape is adhered to the curved surface. A layup path acquisition step of acquiring a layup path from CAD data of the curved surface, a calculation start point setting step of setting a calculation start point on the layup path acquired in the layup path acquisition step, and the calculation start A tape that sets a tape control point at a point where a crossing line passing through a point and perpendicular to the lay-up path along the curved surface intersects with a longitudinal line passing through the center of the division zone to which each tape division is attached. A tape control information setting method comprising a control point setting step.

  In this aspect, since the tape control point is set for each divided zone set in the layup path, each tape divided body can be finely curved. In addition, when the prepreg tape is curved and pasted, the tape divided bodies that should press the prepreg tape on the inner peripheral side and the outer peripheral side of the curved surface are displaced in the circumferential direction. By changing the feeding amount (sticking amount) of the direction and setting the tape control point at a position corresponding to the above deviation, it is possible to stick the prepreg tape more cleanly. The layup acquisition process may be a process of reading a layup path calculated in advance, or may be a process of calculating a layup path using a given calculation start point as a base point.

  In a preferred aspect, the tape control point setting step includes a search vector calculation step for calculating a search vector having a very small size along the crossing line starting from the calculation start point, and the curved surface from the end point of the calculated search vector. A step of calculating a foot of a perpendicular line, a step of calculating a search point on the curved surface based on the foot of the perpendicular line, and the vector start point until a predetermined end condition is satisfied. And a search step that calculates a new search vector having the search point as a vector start point, and repeats the perpendicular calculation step and the search point calculation step. In this aspect, a curved surface that is curved in various ways can be calculated by searching for a curved surface that is curved variously with a small search vector, and calculating the search vector recursively using the search point as a reference for calculation, It becomes possible to calculate the tape control point accurately.

  A preferable aspect further includes an edge coordinate calculation step of calculating the edge coordinates of the longitudinal line for each of the divided zones. In this aspect, since the coordinates of the edge can be calculated for each longitudinal line, it becomes easier to teach the coordinates of the edge of the prepreg tape attached to the curved surface to the tape attaching device, and the coordinates are more suitable and useless. The prepreg tape can be fed out and cut.

  In a preferred aspect, the edge coordinate calculation step includes a search vector calculation step for calculating a search vector having a very small size along the vertical line, starting from a tape control point closest to the edge of the vertical line, and a calculated search. A vertical calculation step for calculating a vertical foot drawn from the end point of the vector to the curved surface, a search point calculating step for calculating a search point on the curved surface based on the vertical foot, and an edge of the vertical line A new search vector having the search point as the vector start point is calculated from the vector start point and the search point, and the normal calculation step and the search point calculation step are repeated. In this aspect, a path along a curved surface is obtained by searching for a curved surface that is curved in various ways with a small search vector using a tape control point set for each longitudinal line as a base point, and calculating the search point recursively. Can be calculated. As a result, the coordinates of the edge can be accurately calculated for each divided zone.

  As described above, according to the present invention, it is possible to prevent the occurrence of wrinkles by sticking a prepreg tape that can be cut to a curved surface that is curved in three dimensions.

It is a figure explaining the tape layup path | pass with respect to the curved surface of the product used as a process target, (A) is a perspective view of a cylindrical product, (B) is an expanded view of a cylindrical product. It is a figure explaining the tape lay-up path | pass with respect to the curved surface of the product used as a process target, (A) is a perspective view of a cone-shaped product, (B) is an expanded view of a cone-shaped product. It is a figure explaining the tape lay-up path | pass with respect to the curved surface of the product used as a process target, Comprising: It is a perspective view of the product which has a curved surface. It is a perspective view which shows the 1st aspect of the prepreg tape which concerns on embodiment of this invention. It is a perspective view which shows the 2nd aspect of the prepreg tape which concerns on embodiment of this invention. It is a block diagram of the path | route calculation apparatus of the prepreg tape which concerns on this invention. It is a perspective view which shows an example of the tape layup plan of the product which has a curved surface. It is a flowchart which shows the whole flow which concerns on this invention. It is a flowchart which shows the search operation | movement of the navigation module as a regression calculation step. 10 is a flowchart showing a continuation of FIG. 9. It is explanatory drawing which shows the search operation | movement by a navigating module, (A) shows the search on a curved surface, (B) shows the search on the curved surface offset from the curved surface. It is explanatory drawing which shows the search operation | movement by a navigating module. It is explanatory drawing which shows the search operation | movement by a navigating module. It is explanatory drawing which modeled and showed a part of path | route which sticks a prepreg tape. 10 is a flowchart showing a tape control point calculation subroutine in the flowchart of FIG. 9. It is explanatory drawing (perspective view) at the time of performing the tape control point calculation subroutine of FIG. FIG. 16 is an explanatory diagram (plan view schematically) showing an example of the execution result of the tape control point calculation subroutine of FIG. 15; 16 is a view table showing an example of the execution result of the tape control point calculation subroutine of FIG. 10 is a flowchart illustrating an edge coordinate calculation subroutine in the flowchart of FIG. 9. 20 is a flowchart showing a continuation of FIG. FIG. 21 is a flowchart showing distance calculation processing that can be executed by the edge coordinate calculation subroutine of FIGS. 19 and 20. FIG. FIG. 21 is a view table showing an execution process of the edge coordinate calculation subroutine of FIGS. 19 and 20. FIG. FIG. 21 is an explanatory diagram (a schematic plan view of a start point side) when the edge coordinate calculation subroutine of FIGS. 19 and 20 is executed. FIG. 21 is an explanatory diagram (schematic diagram of the end point side plane) when the edge coordinate calculation subroutine of FIGS. 19 and 20 is executed. FIG. 21 is a view table showing an example of execution results of the edge coordinate calculation subroutine of FIGS. 19 and 20. FIG.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

  First, as shown in FIG. 4, a prepreg tape 10 according to the present invention is a prepreg tape 10 that is attached to a curved surface S that is curved in three dimensions, and is a plurality of strips of tape that are equally divided into tape widths d. 11 is divided.

  Each tape divided body 11 is wound with the sticking surface 10a facing inward. The tape divided body 11 is preferably an impregnated tape obtained by impregnating a reinforcing fiber such as carbon fiber or aramid fiber with a thermosetting resin. In the configuration of FIG. 4, the tape divided body 11 is divided in advance for easy handling. However, the tape divided body 11 may be integrated with a perforation or the like so as to be easily separated.

  On the opposite side of each tape divided body 11 from the sticking surface 10a, a mount 12 is superimposed. The mount 12 is attached to the tape divided body 11 with an adhesive that can be easily peeled off, and is wound together with the tape divided body 11 while supporting the tape divided body 11 integrally. As the material of the mount 12, a material having a property that is difficult to expand and contract, for example, a paper coated with a highly releasable resin coating is suitable.

  The prepreg tape 10 shown in FIG. 4 is divided in parallel with the longitudinal direction, and the tape divided body 11 having the sticking surface 10a on one side and the tape split body 11 on the opposite side of the sticking surface 10a, Each tape division body 11 is provided with a mount 12 wound integrally. For this reason, the tape divided body 11 is integrally supported by the mount 12 and is easy to handle.

  Moreover, as another aspect of the prepreg tape 10, the aspect of FIG. 5 is illustrated. In the example shown in FIG. 5, the tape divided body 11 is connected so as to be easily divided at the perforation 11 a, while the mount 12 has a perforation that can be divided along the perforation 11 a. As described above, in the embodiment shown in FIG. 5, the tape divided body 11 which is connected so as to be severable in parallel with the longitudinal direction and has the sticking surface 10 a on one side, and the side opposite to the sticking surface 10 a of the tape divided body 11. And a mount 12 wound integrally with each tape divided body 11, and the mount 12 is divided for each tape divided body 11. For this reason, in this embodiment shown in FIG. 5, since the mount 12 can be made to follow when the tape division | segmentation body 11 is divided | segmented, the tape division | segmentation body 11 is used by the mount 12 after sticking until the following process. For example, it is easy to handle the mount 12, and a suitable tape laminated surface can be obtained.

  As a modification of FIG. 4, a perforation may be made in the mount 12 so that it can be divided together with the tape divided body 11. Alternatively, as a modification of FIG. 5, the mount 12 may be divided in advance. The sticking surface does not necessarily require that the sticking agent is applied. However, an adhesive may be applied according to the specifications of the product.

  The advantage of the prepreg tape 10 shown in FIG. 4 and FIG. 5 is that when the sticking operation is performed along the curved surface S curved in three dimensions as shown in FIG. In other words, the cutting length (or the sticking length) (the length Ly of the longitudinal line Lv described later) can be changed for each tape divided body 11. If such sticking becomes possible, the sticking position of the tape divided body 11 can be shifted according to the curvature of the curved surface, so that the wrinkles close to the width direction can be extended, and the wrinkles as a whole Smooth surface can be obtained. Moreover, since the tape division body 11 can be handled integrally as the prepreg tape 10, handling becomes easier than the method of juxtaposing a plurality of tapes. Furthermore, since the tape division body 11 which divides | segments one tape width is comprised, the tape width per tape division body 11 becomes short, and it can contribute greatly to wrinkle prevention.

  The number of divisions of the prepreg tape 10 is preferably 4 to 6. However, other numbers, for example, odd numbers may be used.

A tape control point CP (see FIG. 14) is set on each tape segment 11 in order to change the cutting length for each tape segment 11 and attach the prepreg tape 10 to a curved surface that is curved in three dimensions. It is preferable. In addition, the cutting length is calculated for each tape divided body 11, and from another viewpoint, each start point coordinate S _cut (an example of edge coordinates) of the base end portion when it is fed out and each end point of the tip end portion It is preferable that the coordinates E _cut (another example of edge coordinates) are precisely calculated.

The prepreg tape 10 having such start point coordinates S _cut and end point coordinates E _cut is preliminarily cut into the tape divided body 11 according to the coordinates of the edges TPs and TPe at the time of feeding, and then the length corresponding to the cutting length. The prepreg tape 10 along the curved surface can be consumed without waste by cutting out according to the start point coordinates S _cut . When the tape control point CP is set for each tape divided body 11, the tape divided body 11 is pressed and deformed individually for each tape control point CP, and each tape divided body 11 is along the curved surface. It becomes possible to carry out the sticking work by pressing down individually individually.

  Therefore, in the present embodiment, a tape control information setting method for calculating tape control information such as these tape control points and edge coordinates is provided.

  Next, a system according to the tape control information setting method of the present embodiment will be described.

  Referring to FIG. 6, the system according to the present invention includes a CAD database 30 and a tape control information calculation module 40 connected so that data can be exchanged from the CAD database 30.

  The CAD database 30 stores CAD data of the product WS to which the prepreg tape 10 is attached, and this CAD data can be transmitted to the tape control information calculation module 40 via an interface (or network). Yes. The CAD data is generally a format such as NURBS (Non-Uniform Rational B-Splines), and data that can define a curved surface in three dimensions is used. In the present embodiment, a later-described tape layup path plan is associated with CAD data. The coordinate data of the layup path TP is associated with the tape layup plan.

  The tape control information calculation module 40 is a logical module realized by a computer such as a factory computer. In terms of hardware, in addition to a CPU, ROM, and RAM (not shown), an input / output device 41, a display device 42, and an external device. A storage device 43 is provided.

  The tape control information calculation module 40 includes a CAD data operation module 24 that reads CAD data from the CAD database 30 and a tape layup plan processing module 25 that processes a predetermined tape layup plan for the read CAD data. And a navigating module 44 that searches for coordinates on a plane or curved surface based on the tape layup plan processing module 25, a tape control point calculation module 45 that calculates a tape control point CP of the prepreg tape 10, and An edge coordinate calculation module 46 for calculating the edge coordinates of the prepreg tape 10 is logically included. These are combinations of hardware resources (for example, CPU, ROM, RAM) constituting the tape control information calculation module 40 and software resources (for example, source code, object code, programming code, etc.) executed by the hardware resources. It is realized by.

  Next, a tape layup plan by the tape layup plan processing module 25 will be described. In the following explanation, elements (vector, distance, number, order, etc.) related to arithmetic processing are marked according to the variable column in Table 1 when it is necessary to represent each element as a variable. Of these, if it is necessary to indicate a value, it shall be marked according to the value column in Table 1.

  With reference to FIG. 7, a product WS illustrated in FIG. 7 is a rectangular part constituting a housing portion of a vehicle. In the process of manufacturing this component, the sticking direction V is input for each i-th layer with respect to the curved surface S defined by a mandrel (not shown). Specifically, first, the prepreg tape 10 is attached along the direction of attachment V (0) along one side of the curved surface S, and then the attachment direction V orthogonal to the first attachment direction V (0). Then, along (1), the prepreg tape 10 is stuck along the sticking direction V (2) that intersects the first sticking direction V (0) at 45 °, and the path is changed for each layer. The setting for forming a tape layer (tape layup) (the setting requirement regarding the attaching procedure of the prepreg tape 10 is referred to as “tape layup plan”) is to be executed. In this case, the tape control information calculation module 40 shown in FIG. 6 reads the tape layup plan of the product WS according to the flowchart shown in FIG. 8 and the subsequent drawings, and the layup path TP of the read tape layup plan (see FIG. 15). ), The tape control point CP and the edge coordinate corresponding to the tape division body 11 are calculated. By referring to the coordinate information associated with the tape layup plan of the CAD data, the tape control information calculation module 40 can uniquely identify each layup path TP set in plural for each layer of the product WS. It is configured.

  With reference to FIG. 8, first, the tape control information calculation module 40 reads the CAD data of the product from the CAD database 30 by the CAD data operation module 24 (step S1). In the present embodiment, this step S1 is a layup path acquisition step for acquiring the layup path TP. By this data reading process, the tape layup plan illustrated in FIG. 7 is input. The tape layup plan processing module 25 displays the input tape layup plan on the display device 42 by GUI.

  Further, the tape layup plan processing module 25 counts the number of tape layup layers ni when reading is completed (step S2). Next, a variable i that uniquely represents the first layer serving as a reference for calculation is initialized (step S3).

  Next, for the i-th layer, the number nj of layup paths TP is counted (step S4). Next, a variable j that uniquely represents the layup path TP is initialized for the i-th layer (step S5). As described above, in this embodiment, the variable i related to the layer and the variable j related to the layup path TP are set in the main routine (steps S3 and S5), and the variables k and c related to the layup path TP are set in a subroutine described later. By doing so, all the calculated coordinates can be uniquely specified in three dimensions. In the following description, based on the legend shown in Table 1, the coordinates P on the layup path TP are denoted as P (i, j, k) as an array variable as necessary. Further, when explanation as data processing is necessary, the value of the array variable P (i, j, k) is also called a tuple. Here, a tuple is a set number representing a set of values of variables i, j, and k constituting one value of an array variable (for example, P (i, j, k)).

  Next, in the i-th layer, data on the j-th layup path TP is referred to (step S6). Next, the tape control point calculation subroutine (step S7) and the edge coordinate calculation subroutine (step S8) are executed based on the referenced data, and the variable j of the layup path TP is incremented (step S9). Next, whether or not all layup paths TP have been completed is determined by comparing the variable j and the number of paths nj (step S10). If not completed, the process returns to step S6 and the above-described processing is repeated. If completed, the variable i for the layer is incremented (step S11). Next, it is determined whether or not all layers have been completed by comparing the variable i with the number of layers ni (step S12). If not completed, the process returns to step S4 and repeats the above-described processing. If so, exit the program. Of course, the flowchart of FIG. 8 is an example. For example, the calculation result may be displayed on the display device 42 using a GUI after the end. Or you may perform the post-process step which teaches the calculated tape control point CP and edge coordinate to NC apparatus after completion | finish of step S12. As will be described in detail later, the calculated tape control points CP and edge coordinates are coordinate data based on CAD data. Therefore, in the post-processing step (not shown), the coordinates that correspond to the coordinate coordinates of the NC device in the post-processing step (not shown). Conversion processing is executed.

  In the tape control point calculation subroutine (step S7) and the edge coordinate calculation subroutine (step S8), the coordinates P spaced apart from the base coordinates P are calculated based on the coordinates P of the layup path TP. For this reason, even when the curved surface S is intricately undulated, it is possible to calculate a layup path that allows the prepreg tape to be formed along the undulation in a state where overlap and wrinkle are unlikely to occur. And in this embodiment, in order to implement | achieve a more precise calculation, the navigation module 44 is called everywhere of each step. The navigating module 44 is a function group for searching for a predetermined coordinate P on the curved surface S on a complex curved surface, and the following processing is possible.

  9 and 11, the navigating module 44 includes an offset amount h, a minute movement amount Δa, an integrated search length m, a unit search vector nV, and the like as arguments. The offset amount h is a floating amount in the normal direction from the curved surface S considering the thickness t of the prepreg tape, and is a variable calculated by i × t for the i-th layer. The minute movement amount Δa is a scalar of a search direction vector (search vector SV), and is set to 0.001 mm, for example. The integrated search length m is an integrated value of the search path from the vector start point P0 as the calculation start point of the first search vector SV to the search point Ps searched from the present. The unit search vector nV is a unit vector for calculating the search vector SV, and is set by a program that calls the navigation module 44. The unit search vector nV is set so as to contact the curved surface S as much as possible (see FIG. 11). These arguments are appropriately changed by a program that calls the navigation module 44, that is, depending on the type of route to be calculated.

  When the navigating module 44 is called, first, initialization of arguments is executed (step S100). In this initial setting, the minute movement amount Δa is set to 0.001 mm, the integrated search length m is set to 0.0 mm, and the variable k is set to 0. Based on the value of the variable k, the vector starting point P0 (i, j , K) is set. The initial setting of the minute movement amount Δa and the integrated search length m can be changed as appropriate on the setting screen by the user displaying the setting screen on the display device 42.

  Next, the search vector SV is calculated (step S101). In this process, the search vector SV is obtained by the product of the small movement amount Δa and the unit search vector nV, and the vector end point Pe that is the end point of the search vector SV is calculated from the vector start point P0 that is the start point of the search vector SV. The vector starting point P0 that is the basis of the calculation is set by a program that calls the navigating module 44. For example, when the calculation of the tape control point CP is started for the j-th layup path TP (i, j) in the i-th layer, the value of the vector start point P0 is set to the tape control point calculation subroutine S7 (FIG. 8, FIG. 15), the value (x, y) of the coordinates P (i, j, b) specified in advance on the layup path TP (i, j). In this case, the vector starting point P0 is preferably the upstream end of the layup path TP in the tape adhering direction V. However, it is not impossible to set the vector starting point P0 as an intermediate point of the layup path TP.

Next, a perpendicular foot p _temp1 is calculated on the curved surface S from the calculated vector end point Pe (step S102), and it is determined whether or not p _temp1 is an operable coordinate (step S103).

If the coordinates P of p _temp1 can be calculated, the vertical foot p _temp1 + (hV * h (i)) is calculated (step S104). Here, hV is the normal unit vector of the curved surface S passing through p _temp1 , and h (i) is the offset amount h calculated by i * t. p _temp1 becomes a coordinate indicated by Ps (see FIG. 11A). On the other hand, for the second and subsequent i-th layers, the offset amount h is larger than 0, so that the calculated coordinate Ps is represented by h (i) from the vertical foot p _temp1 as shown in FIG. ) Only takes the value levitated in the normal direction. The coordinates Ps (i, j, k) calculated from the perpendicular foot p _temp1 are particularly referred to as search points.

  Next, the search length Δm from the starting point coordinate P to the search point Ps (i, j, k) is calculated (step S105).

  Thereafter, it is checked whether or not the search distance Lh is set (step S106). As will be described in detail later, this search distance Lh is calculated as an interval from the coordinate P as the first vector starting point P0 to the coordinate P as the search target when the navigation module 44 calculates the coordinates P as the search target. This value is set by a program that calls the navigation module 44.

  When the search distance Lh is not set, or is set but is less than the update value (m + Δm) of the integrated search length m (step S107), the variable k for registering the search point Ps is incremented. (Step S108), a tuple of a new search point Ps (i, j, k) is added, and its value (x, y) is registered (Step S109).

  Next, from the vector start point P0 and the search point Ps, the next search vector SV is

  (Step S110), and the accumulated search length m is incremented by the search length Δm (step S111).

  Thereafter, the current search point Ps is set as the vector start point P0 of the next calculation (step S112), the process returns to step S101, and the above-described steps are repeated.

  If the search distance Lh exceeds the update value (m + Δm) of the integrated search length m in step S107, it is determined whether or not the integrated search length m is less than the search distance Lh (step S113). If the length m is less than the search distance Lh, the coordinates of the edge that reaches from the vector start point P0 in the direction of the search vector SV and arrives are obtained as the search point Ps (step S114). Next, the variable k is incremented (step S115), a new tuple for registering the search end point Pf (i, j, k) is added, and the value of the search point Ps (in this tuple Pf (i, j, k) ( x, y) are registered (step S116). By these steps S113 to S116, when the search distance Lh is set, the target coordinate P can be accurately calculated up to the end point. Thereafter, the search end point Pf is registered in a predetermined storage area (step S117), and the process returns to the original routine. If the accumulated search length m is equal to the search distance Lh in step S113, the process proceeds to step S115 as it is.

Next, the case where the perpendicular p _ptemp1 cannot be calculated in step S103 will be described with reference to FIGS.

As shown in FIG. 12, for example, when the ridge line RL exists on the curved surface S and is divided into two surfaces Sb and Sn, the vector end point Pe of the search vector SV calculated on the surface Sb is perpendicular to the surface Sb. If the plane L1 on the ridgeline RL is passed, the perpendicular foot _ptemp1 cannot be calculated on the plane Sb. Therefore, if p _temp1 cannot be calculated, as shown in FIG. 10, first, the presence or absence of the adjacent surface Sn is determined (step S120), and if the surface Sn exists, the searched vector A perpendicular foot p _temp2 is calculated from the end point Pe to the surface Sn (step S121). Here, it is further determined whether or not the vertical foot p _temp2 can be calculated on the surface Sn (step S122). If the calculation is possible (for example, as shown in FIG. In the case where the vector end point Pe is in the region sandwiched between the surface L2 on the ridge line RL perpendicular to the surface Sn), an operation is performed based on the foot p _temp2 of the perpendicular drawn to the surface Sn as the curved surface S ( Step S123) and return to Step S105. Here, hV in step S123 is a normal unit vector of the surface Sn at p _temp2 .

On the other hand, as shown in FIG. 13, when the vector end point Pe of the search vector SV is located between the planes L1 and L2, it becomes impossible to calculate a perpendicular foot on any plane Sb or Sn. In this case, it is determined in step S122 that the vertical foot p _temp2 cannot be calculated, and the vertical foot _temp3 is calculated from the vector end point Pe onto the ridge line RL (step S124), and coordinates based on the vertical foot _temp3 are calculated. P is calculated (step S125), and the process proceeds to step S105. Here, hv in step S125 is a vertical unit vector from p _temp3 toward the vector end point Pe of the search vector SV.

  In step S120, when there is no adjacent surface Sn, the vector end point Pe of the search vector SV exceeds the boundary of the surface Sb. In this case, the process proceeds to step S113, and the process is performed. finish.

  Next, a specific example of the calculation of the tape control point CP will be described.

  First, referring to FIG. 14, the lay-up path TP shown in FIG. 14 is a model of a part of the path for attaching the prepreg tape 10 divided into six strips. In the figure, dTP indicates a divided zone to which the tape divided body 11 of the prepreg tape 10 is attached. In the following description, let c be a variable that uniquely identifies the divided zone dTP (and hence the tape divided body 11).

  As shown in the figure, when the prepreg tape 10 has a path that curves counterclockwise, the distribution of stress acting on the prepreg tape 10 in the adhering direction V is larger on the inner peripheral side, as shown by diagonal lines, The outer peripheral side becomes smaller. Therefore, in order to prevent wrinkles, it is possible to relatively shorten the position in the longitudinal direction for each tape segment 11 of the prepreg tape 10 by shortening the cutting length on the inner peripheral side and increasing the cutting length on the outer peripheral side. Necessary. In order to implement such control, the longitudinal center line (longitudinal line) of the tape divided body 11 for each transverse line Lp that crosses the prepreg tape 10 at right angles through the coordinates P scattered on the layup path TP. It is preferable that a coordinate CP (p, c) intersecting with Lv (c) is obtained and used as the tape control point CP. Therefore, in this embodiment, for each coordinate P of the layup path TP, a coordinate CP (p, c) at which the transverse line Lp and the longitudinal line Lv (c) intersect is calculated.

  Next, referring to FIG. 15, when executing the tape control point calculation subroutine S7, the tape control point calculation module 45 sets arguments necessary for calling the navigation module 44 (steps S700 to S707). Specifically, in step S700, the tape control point calculation module 45 initializes the accumulated distance Ln on the layup path and sets the calculation interval ΔLn. The calculation interval ΔLn is set in advance by a program, but the user may be able to set an arbitrary value. In step S700, the tape control point calculation module 45 sets the calculation number NN on the layup path TP. The calculation number NN is obtained by dividing the total length L of the layup path TP by the calculation interval ΔLn. Here, the calculation interval ΔLn is set to a value satisfying MOD (L, ΔLn) = 0 so that the calculation number NN does not become a fraction.

  Next, in step S701, the tape control point calculation module 45 initializes the variable b to 0. The variable b is for counting the number of computations on the layup path TP, and corresponds to the variable k of the coordinate P. In the present embodiment, as shown in FIG. 17, the variable b (and hence the value of k) is set to increase from the upstream side to the downstream side in the sticking direction V.

  Next, in step S702, the tape control point calculation module 45 sets the coordinate P0 of the initial vector start point P0, which is the basis of the calculation by the navigating module 44, to P0 (i, j, b). Also, the variable c is initialized to 0. In the present embodiment, as shown in FIG. 17, the value c is set so as to increase sequentially from the left side toward the downstream side in the sticking direction V.

Next, in step S703, the tape control point calculation module 45 calculates a unit search vector nV. As shown in FIG. 16, the unit search vector nV is obtained by the outer product of the normal vector hV _NL of the coordinate P on the layup path TP and the unit vector nV _NL along the layup path TP.

  Next, in step S704, the tape control point calculation module 45 calculates:

  To calculate the distance to the tape control point CP to be calculated. This equation (2) indicates the distance to the coordinate at which the transverse line Lp passing the coordinate P on the layup path TP is orthogonal to the longitudinal line Lv (c) of each tape divided body 11. In this embodiment, as shown in FIG. 17, the left side is set to − and the right side is set to + from the upstream side to the downstream side in the sticking direction V with the coordinate P on the layup path TP as a boundary. is doing.

  Next, in step S705, the tape control point calculation module 45 determines whether the calculation result of equation (2) is positive or negative. If the calculation result is inverted to +, the tape control point calculation module 45 inverts the sign of the unit search vector nV (step S706) and reverses the search direction of the navigation module 44.

  After executing these setting processes, the tape control point calculation module 45 calls the navigating module 44 (step S707), and as shown in FIG. 17, the crossing line Lp (k) and the longitudinal line Lv (c) The intersection is searched (step S708). At this time, the search is ended by the navigation module 44 in the following two ways.

  The first is when the calculated search end point Pf reaches the vertical line Lv (c) corresponding to the calculation result of the equation (2), and the second is when the calculated search end point Pf is the equation (2). This is a case where the edges TPs and TPe of the prepreg tape 10 are reached before reaching the vertical line Lv (c) corresponding to the calculation result.

  Referring to FIG. 17, the edges TPs and TPe of the prepreg tape 10 are not necessarily parallel to the transverse line Lp passing through the coordinates P of the layup path TP. Therefore, for example, as shown in FIG. 17, in the case of the prepreg tape 10 in which the edges TPs and TPe are oblique to the transverse line Lp, the coordinates P (0, 0) of the layup path TP set in the prepreg tape 10. , 0) and P (0, 0, NN) are interrupted at portions where they do not intersect the crossing lines Lp (0) and Lp (NN). For this reason, when coordinates c (0, 0, 0) of the layup path TP are searched for the tape control point CP with respect to the vertical lines Lv (3) to Lv (5) with the variable c being the fourth or later, For the coordinates P (0, 0, NN) of the layup path TP, when the tape control point CP is searched for the first to third vertical lines Lv (0) to Lv (2) of the variable c, Before reaching the search distance Lh, the search point Ps reaches the edges TPs and TPe of the prepreg tape 10, and the longitudinal lines Lv (3) to Lv (5) and the coordinates regarding the coordinates P (0, 0, 0) The tape control points CP of the longitudinal lines Lv (0) to Lv (2) relating to P (0, 0, NN) are not calculated.

  When the calculation by the navigating module 44 is completed, the tape control point calculation module 45 has an accumulated search length m from the coordinates P of the layup path TP to the search end point Pf searched by the navigating module 44 is equal to or greater than the search distance Lh. It is determined whether or not there is (step S709). If the integrated search length m is greater than or equal to the search distance Lh, the value (x, y) of the search end point Pf is registered as the tape control point CP (p, c) (step S710). On the other hand, if the integrated search length m is less than the search distance Lh, a null tuple is added to the storage area of the tape control point CP (p, c) for the variable c (step S711). For example, when the tape control point CP of the prepreg tape 10 having the coordinates illustrated in FIG. 17 is calculated by such control, as shown in the view table Vt in FIG. 18, some tuples (CP (P (0, 0,0), 3) to CP (P (0,0,0), 5), CP (P (0,0, NN), 0) to CP (P (0,0, NN), 3)) Is set to null. In order to avoid problems due to null setting during data processing, a non-null value that can be distinguished from the tape control point CP when m ≧ Lh may be registered instead of null.

  After completing step S710 or step S711, the tape control point calculation module 45 increments the variable c (step S712), and compares the value of the variable c with the number obtained by subtracting 1 from the division number N of the prepreg tape 10. Then, it is determined whether or not the tape control point CP has been calculated for all the tape divided bodies 11 (step S713). If there is a division zone dTP that has not been calculated yet, the process returns to step S703 and the above-described processing is repeated. If the calculation is completed for all the divided zones dTP, the value of the integrated distance Ln is incremented by the calculation interval ΔLn, and at the same time, the value of the variable b is incremented (step S714).

  Next, the tape control point calculation module 45 compares the value of the variable b with the calculation number NN, and determines whether or not the tape control point CP has been calculated over the entire length of the layup path TP (step S715). If unprocessed coordinates P remain on the layup path TP, the process returns to step S702 and the above-described processing is repeated. If the calculation is completed for all the tape divided bodies 11, the process returns to the main routine.

  With the above calculation, the tape control point CP indicated by the black dot in FIG. 17 is calculated as shown in the view table Vt in FIG. On the other hand, when step S711 is executed, a null tuple CP (p, c) is registered corresponding to the coordinates indicated by the white point in FIG.

  Next, the edge coordinate calculation subroutine will be described.

Referring to FIG. 19, when executing the edge coordinate calculation subroutine S8, the edge coordinate calculation module 46 expands the domain of the variable k and stores the tuple CP (P (i, j) for the start point in the storage area of the tape control point CP. , -1), c) and the end point tuple CP (P (i, j, NN + 1), c) are added. Thus, as shown in FIG. 22, the value (x, y) of the start point coordinate S _{cut and} the value of the end point coordinate E _cut (for each divided zone dTP (c) (c = 0 to 5) of the prepreg tape 10 ( x, y) can be stored respectively.

  Next, the edge coordinate calculation module 46 initializes the variable c to 0 (step S801), and then initializes the variable k to 0 (step S802).

Next, the edge coordinate calculation module 46 determines whether or not the tuple of the c-th array variable CP (p, c) is null for the k-th transverse line Lp (k) (step S803). This determination is for specifying the tape control point CP that can be set to the vector start point P0 when searching for the start point coordinate S _cut using the navigating module 44. If the tuple of CP (p, 0) is null for the kth crossing line Lp (k), the edge coordinate calculation module 46 increments the variable k and returns to step S803 again to return to the cth For the divided zone dTP, the tape control point CP that is the basis of the calculation of the start point coordinate S _cut is searched.

  As shown in FIGS. 22 and 23, when c = 0, the tuple CP (p, 0) is a non-null value (x0, y0). As described above, when there is a tuple of non-null values (x0, y0) as a result of the determination in step S803, the edge coordinate computation module 46 determines the vector start point P0 of the computation of the navigation module 44 as the tuple CP (p , C) is set to the tape control point CP registered in step S805. Further, at the timing of this step S805, the search vector SV is changed from the downstream tape control point CP (P (i, j, k + 1), c) to the upstream tape control point CP (P (i, j, k), The unit search vector nV is set so as to go to c) (see FIG. 23). Further, the search distance Lh is set to a relatively large value so that the search point Ps always reaches the edge TPs.

Next, the edge coordinate calculation module 46 calls the navigating module 44 (step S806), and searches for the edge TPs in the unit search vector nV direction from the coordinate CP (P (i, j, k), c) of the vector start point P0. (Step S807). Thereby, as shown in FIG. 23, the navigating module 44 searches the coordinate P in the direction opposite to the tape sticking direction V from the tape control point CP (p, c), and finally reaches the edge TPs. The edge coordinate calculation module 46 registers the value of the search end point Pf in CP (P (i, j, −1), c) with the search end point Pf reaching the edge TPs as the start point coordinate S _cut (step S808). ).

  Next, with reference to FIG. 20, the edge coordinate calculation module 46 proceeds to the end point coordinate calculation process. Specifically, in order to search for the end point of the longitudinal line Lv (c) along the longitudinal line Lv (c), the edge coordinate calculation module 46 increments the variable k (step S810) and increments the variable k. Whether or not the variable k is larger than the operation number NN (see step S700 in FIG. 15), and whether or not the tuple CP (P (i, j, k), c) corresponding to the incremented variable k is null. Is determined (step S811). When the incremented variable k is larger than the operation number NN and the tuple CP (P (i, j, k), c) corresponding to the incremented variable k is non-null, the process returns to step S810. Repeat the process. As shown in FIG. 17 and FIG. 22, by incrementing the value of the variable k, the edge coordinate calculation module 46 causes the tape control point on the downstream side in the sticking direction V along the vertical line Lv (c). The CP is searched, and finally a tuple of null values (for example, CP (P (0, 0, NN), 0)) is reached.

  When the incremented variable k exceeds the value of the calculation number NN, or when the tuple CP (P (i, j, k), c) related to the incremented variable k is null, the edge coordinate calculation module 46 The vector starting point P0 is set to CP (P (i, j, k-1), c) (step S812). At the timing of step S812, the search vector SV is changed from the upstream tape control point CP (P (i, j, k-1), c) to the downstream tape control point CP (P (i, j, k). ) And c), the unit search vector nV is set (see FIG. 24). Furthermore, the search distance Lh is set to a relatively large value so that the search distance Lh is always reached.

Next, the edge coordinate calculation module 46 calls the navigating module 44 (step S813), and sets the edge Tpe in the unit search vector nV direction from the coordinate CP (P (i, j, k−1), c) of the vector start point P0. Search is performed (step S814). Thereby, as shown in FIG. 24, the navigating module 44 searches for the coordinate P along the tape adhering direction V from the tape control point CP (p, c), and finally reaches the edge Tpe. The edge coordinate calculation module 46 registers the value of the search end point Pf in CP (P (i, j, NN + 1), c) with the search end point Pf reaching the edge Tpe as the end point coordinate E _cut (step S815). .

  Next, the edge coordinate calculation module 46 increments the variable c (step S816), and determines whether all the divided zones dTP have ended (step S817). If there is an unprocessed divided zone dTP, the process proceeds to step S802, and the above-described processing is repeated. If all the divided zones dTP are completed, the process returns to the main routine.

  In the edge coordinate calculation subroutine, the length of the longitudinal line Lv (c) may be obtained for each tape divided body 11 of the prepreg tape 10. The length of the vertical line Lv (c) can be calculated, for example, according to the procedure shown in FIG.

In the procedure of FIG. 21, the edge coordinate calculation module 46 calculates the following equation when the start point coordinate S _cut is calculated.

The basis to calculate the start point coordinates _{S cut,} the length Lx (c) the coordinates P transverse line Lp of (k) crosses the layup path TP through the starting point coordinate _{S cut} (step S820). Next, the edge coordinate calculation module 46 uses this length Lx (c) as the length Lx (s) from the layup path TP to the start point coordinate S _cut along the transverse line, and the end point along the transverse line from the layup path TP. Each is registered as a length Lx (e) up to the coordinate E _cut (step S821). The execution of step S821 may be executed after the start point coordinate S _{cut and the} end point coordinate E _cut have been calculated, or when the start point coordinate S _cut is calculated, the length Lx is set prior to the end point coordinate E _cut. When the calculation of (s) is executed and the end point coordinates E _cut are calculated, the length Lx (c) may be registered as the length Lx (e).

Next, the edge coordinate calculation module 46 sets the value of the variable k to ks (step S822). Here, the value ks is the value of the variable k of the tape control point CP (P (i, j, k), c) employed as an argument when the start point coordinate S _cut is calculated by the navigating module 44. Next, the edge coordinate calculation module 46 calculates the distance Ls from CP (P (i, j, −1), c) to the start point coordinate S _cut based on the history of the navigation module 44 (step S823). The absolute value of Ls is set to the initial value of the length Ly of the vertical line Lv (c) (step S824). Steps S822 to S824 can be suitably executed after the calculation of the start point coordinate S _cut and before the end point coordinate calculation process (between step S808 in FIG. 19 and step S810 in FIG. 20). In that case, step S822 can be omitted.

  Next, the edge coordinate calculation module 46 increments the variable k (step S825). When the length Ly of the vertical line Lv (c) is performed in the edge coordinate calculation subroutine, this step S825 can be replaced with step S810 in FIG.

When the variable k is incremented, the edge coordinate calculation module 46 determines whether or not the tape control point CP is the end point coordinate E _cut (step S826). If the tape control point CP is not the end point coordinate E _cut , the calculation interval ΔLn (see FIG. 17) is added to the length Ly of the longitudinal line Lv (c) (step S827), and the process returns to step S825 to perform processing. repeat. When the length Ly of the vertical line Lv (c) is performed in the edge coordinate calculation subroutine, step S826 can be substituted by the determination of step S811 of FIG. 20, and step S827 is NO (determination of step S811). It can be executed in the case of False).

If it is determined in the step of determining the end point coordinate E _cut that the tape control point CP is the end point coordinate E _cut , the edge coordinate calculation module 46 calculates the distance Le (step S828). The distance Le is the end point coordinate from the tape control point CP adopted as the first vector start point P0 when calculating the end point coordinate E _cut by the navigating module 44, that is, (P (i, j, k-1), c). It is the length up to E _cut . Next, the edge coordinate calculation module 46 adds the calculated distance Le to the length Ly of the longitudinal line Lv (c) (step S829) and registers the value (step S830). Thereby, the length Ly can be precisely calculated for the longitudinal line Lv (c) to be calculated. When the length Ly of the vertical line Lv (c) is performed in the edge coordinate calculation subroutine, the processing after step S828 can be appropriately executed after calculating the end point coordinate E _cut .

  When calculating the distance from the lay-up path TP to each longitudinal line Lv and the length Ly of the longitudinal line Lv, the coordinates of the tape control point CP and the edges TPs and Tpe are set with respect to the control coordinates of the tape sticking device. Teaching work becomes easy.

  As a tape sticking device, the prepreg tape 10 illustrated in FIGS. 4 and 5 is manufactured by applying in principle the one disclosed in Japanese Patent Publication No. 7-25143 previously proposed by the applicant. It becomes possible to adhere suitably to the curved surface of WS. By using the principle of the apparatus, a pressing roller capable of performing a pressing operation for each tape divided body 11 of the prepreg tape 10, a cutter capable of cutting by changing the length for each tape divided body 11, and It will be easily understood that means for collecting the mount 12 from each tape division 11 can be configured. Moreover, an ultrasonic knife is suitable as the cutter.

In the sticking operation, each tape divided body 11 of the prepreg tape 10 is fed out and divided, and each tape divided body 11 is cut with a cutter prior to sticking. At the time of this cutting, precise dimensional control based on the above-described start point coordinates S _cut and end point coordinates E _cut is executed, and the prepreg tape 10 is cut into lengths and coordinates without excess or deficiency.

  The cut prepreg tape 10 is pressed by the pressing roller for each tape control point CP, and is stuck along the curved surface of the product WS. At this time, the tape division bodies 11 of the prepreg tape 10 are displaced along the longitudinal line Lv by the pressing operation by the pressing rollers. Due to this deviation, the prepreg tape 10 as a whole is neatly adhered along the curved surface without any wrinkles. Therefore, the prepreg tape 10 can be neatly adhered to the product WS having a free curved surface that cannot be developed in a plane as in the case of a spherical surface.

  As described above, according to the prepreg tape 10 according to the present embodiment, by setting the tape control point CP (point to which a pressing load is applied at the time of sticking) for each tape divided body 11 of the prepreg tape 10, The wrinkles generated in the prepreg tape 10 can be released, and even various curved surfaces S having a three-dimensionally curved surface can be adhered and laminated without wrinkles.

  The tape control information setting method according to the embodiment of the present invention includes a layup path TP acquisition step (steps S1 and S6) for acquiring a layup path TP set on the curved surface S to which the prepreg tape 10 is attached. A calculation start point setting step (step S101) for setting a vector start point P0 as a calculation start point on the layup path TP acquired in the layup path TP acquisition step (steps S1, S6), and passing through the vector start point P0. A tape control point CP is set at a point where a transverse line Lp perpendicular to the layup path TP along the curved surface S intersects with a longitudinal line Lv passing through the center of the divided zone dTP to which each tape divided body 11 is attached. And a tape control point setting step (step S7).

  For this reason, in this embodiment, since the tape control point CP is set for each divided zone dTP set in the layup path TP, each tape divided body 11 can be finely curved. When the prepreg tape 10 is curved and stuck, the tape divided body 11 that should press the prepreg tape 10 on the inner peripheral side and the outer peripheral side of the curved surface S is displaced in the circumferential direction. Since the feeding amount (sticking amount) in the longitudinal direction is changed for each body 11 and the tape control point CP is set at a position corresponding to the above-described deviation, the prepreg tape 10 can be stuck more beautifully. . The layup acquisition process may be a process of reading a layup path TP calculated in advance, or a process of calculating the layup path TP using a given vector start point P0 as a base point. . In that case, the above-described navigation module 44 is employed, and the lay-up path TP is precisely calculated by calculating a search vector in a direction that can cover the surface S from any point on the surface S. It becomes possible.

  In the present embodiment, the tape control point setting step (step S7) is a search vector calculation step (steps S101 to S111) for calculating a very small search vector SV along the crossing line Lp, starting from the vector start point P0. A vertical leg calculation step (steps S102, S121, and S124) for calculating a vertical foot that descends from the vector end point Pe of the calculated search vector SV to the curved surface S, and a search on the curved surface S based on the vertical foot From the search point calculation step (steps S104, 123, S125) for calculating the point Ps, and the vector start point P0 and the search point Ps until the predetermined end condition is satisfied, a new search point Ps is set as the vector start point P0. A simple search vector SV, a perpendicular calculation step (steps S102, S121, S124) and a search point Calculation step and a (step S104, and 123, S125) repeating the regression calculation step (step S101~S112). For this reason, in the present embodiment, the curved surface S that is curved in various ways is searched with a small search vector SV, and the search vector SV is calculated recursively using the search point Pf as a reference for calculation, thereby precisely following the curved surface S. The path can be calculated, and the tape control point CP can be accurately calculated.

  The present embodiment further includes an edge coordinate calculation step (step S8) for calculating the coordinates of the edges TPs and TPe of the longitudinal line Lv for each divided zone dTP. For this reason, in this embodiment, since the edge coordinates (the coordinates of the edges TPs or Tpe, or the coordinates of the edges TPs and Tpe) can be calculated for each longitudinal line Lv, the prepreg tape 10 attached to the curved surface S can be calculated. It becomes easy to teach the coordinates of the edges TPs and TPe to the tape sticking device, and the prepreg tape 10 can be fed and cut to more suitable and lean coordinates.

  In this embodiment, the edge coordinate calculation step (step S8) uses a tape control point CP closest to the edges TPs and Tpe of the vertical line Lv as a starting point, and uses a search vector SV having a very small size along the vertical line Lv. A search vector calculation step (steps S101 to S111) to be calculated, a vertical leg calculation step (steps S102, S121, and S124) to calculate a perpendicular foot drawn from the vector end point Pe of the calculated search vector SV to the curved surface S; A search point calculation step (steps S104, 123, and S125) for calculating the search point Ps on the curved surface S based on the legs of the perpendicular line, and the search from the vector start point P0 until the edges TPs and Tpe of the vertical line Lv are reached. From the point Ps, a new search vector SV having the search point Ps as the vector start point P0 is Calculated and, and a perpendicular line calculating step (step S102, S121, S124) a search point calculation step (step S104, and 123, S125) repeating the regression calculation step (step S101~S112). For this reason, in the present embodiment, a curved surface S that is curved in various ways is searched with a small search vector SV using the tape control point CP set in each longitudinal line Lv (c) as a base point, and the search point Pf is recursively. By calculating, a route along the curved surface S can be calculated. As a result, the coordinates of the edges TPs and TPe can be accurately calculated for each divided zone dTP.

  The above-described embodiment is merely a preferred specific example of the present invention, and the present invention is not limited to the above-described embodiment. It goes without saying that various modifications are possible within the scope of the claims of the present invention.

DESCRIPTION OF SYMBOLS 10 Prepreg tape 11 Tape division body 11a Perforation 12 Mount 30 CAD database 40 Tape control information calculation module 44 Navigation module 45 Tape control point calculation module 46
Edge coordinate calculation module b variable c variable CP tape control point d tape width dTP division zone E _cut end point coordinate Ln accumulated distance on layup path Lp crossing line Lv longitudinal line N number of divisions of prepreg tape P coordinate S curved surface S7 tape control point Calculation Subroutine S8 Edge Coordinate Calculation Subroutine S _{Cut Start Point} Coordinate SV Search Vector t Tape Thickness p _{temp1-3 Vertical} Foot V Tape _Adhesion Direction WS Product

Claims (10)

A prepreg tape having an adhesive surface on one side, which is attached to a curved surface curved in three dimensions,
A plurality of strips of tape divided so as to equally divide the tape width of the sticking surface;
A prepreg tape characterized by comprising a support body that supports each tape divided body integrally. In the prepreg tape according to claim 1,
The prepreg tape is characterized in that the support body is a mount that is superimposed on the side opposite to the sticking surface of the tape divided body and is wound integrally with each tape divided body. The prepreg tape according to claim 1 or 2,
A prepreg tape comprising a winding core that also serves as the support body. A prepreg tape having an adhesive surface on one side, which is attached to a curved surface curved in three dimensions,
A prepreg tape comprising a plurality of strips of tape that are connected so as to be cut by perforations that equally divide the tape width. In the prepreg tape according to claim 4,
A prepreg tape comprising a mount that is overlapped and integrally wound on the side opposite to the sticking surface of the tape divided body. In the prepreg tape according to claim 5,
The said mount is divided | segmented for every said tape division body. The prepreg tape characterized by the above-mentioned. A tape control information setting method for setting at least one element among tape control information required for adhering the prepreg tape according to any one of claims 1 to 6,
A layup path acquisition step of acquiring a layup path, which is a path for attaching the prepreg tape to the curved surface, from CAD data of the curved surface;
A calculation start point setting step for setting a calculation start point on the layup path acquired in the layup path acquisition step;
A tape control point is set at a point where a transverse line passing through the calculation start point and perpendicular to the lay-up path along the curved surface intersects with a vertical line passing through the center of the divided zone to which each tape divided body is attached. A tape control information setting method comprising: a tape control point setting step for setting. The tape control information setting method according to claim 7,
The tape control point setting step includes:
A search vector calculation step for calculating a search vector having a very small size along the crossing line, starting from the calculation start point;
A droop calculation step of calculating a vertical line drawn from the end point of the calculated search vector to the curved surface;
A search point calculation step for calculating a search point on the curved surface based on the leg of the perpendicular,
Until the predetermined end condition is satisfied, a new search vector having the search point as the vector start point is calculated from the vector start point and the search point, and the regression calculation step and the search point calculation step are repeated. A tape control information setting method comprising: steps. The tape control information setting method according to claim 7 or 8,
A tape control information setting method, further comprising an edge coordinate calculation step of calculating the edge coordinates of the longitudinal line for each of the divided zones. In the tape control information setting method according to claim 9,
The edge coordinate calculation step includes:
A search vector calculation step for calculating a search vector having a minute size along the vertical line, starting from the tape control point closest to the edge of the vertical line,
A droop calculation step of calculating a vertical line drawn from the end point of the calculated search vector to the curved surface;
A search point calculation step for calculating a search point on the curved surface based on the leg of the perpendicular,
Until the edge of the vertical line is reached, a new search vector having the search point as the vector start point is calculated from the vector start point and the search point, and the perpendicular calculation step and the search point calculation step are repeated. A tape control information setting method comprising: steps.

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