JPH05254724A - Automatic laminating device of composite material - Google Patents

Abstract

PURPOSE:To provide an automatic laminating device of composite materials which is capable of improving the positional accuracy in affixing the tape made of composite materials. CONSTITUTION:In a composite material automatic laminating device, a tape 1 made of composite materials to be supplied from a material supplying reel 2 is pressed at the specified position on the composite material laminating member 5 by a material pressing and affixing roller 3, and the tape 1 made of composite materials are automatically and continuously affixed onto the composite material laminating member 5 and laminated. The device is provided with a composite material tape deviation detector 11 to detect the deviation from the center of the material pressing and affixing roller 3 of the composite material tape 1, a feedback control part 12 to execute the feedback of the detected information by this detector 11 and correct the position in the axial direction of the material supplying tape 2, and a mechanical control part 10 to execute the feedback of the detected information of the detector 11 and correct the pressing position on the composite material laminating member 5 of the material pressing and affixing roller 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic composite material laminating apparatus for automatically laminating and molding composite material laminated members such as aircraft main wings and outer shells of fuselage. And an automatic composite material laminating apparatus.

[0002]

2. Description of the Related Art Conventionally, in order to automatically laminate composite material laminated members such as the main wing of an aircraft and the outer skin of a fuselage, a composite material automatic laminating apparatus of a type in which a composite material tape is applied onto the composite material laminated member is used. Has been. The centering control of the composite material tape in this apparatus will be described with reference to FIG.

FIG. 3 shows a composite material tape continuous pressing and attaching mechanism portion of an automatic composite material laminating apparatus. A material supply reel 2 that continuously supplies the composite material tape 1, a material pressing roller 3 that presses and bonds the composite material tape 1 to a regular position P (x, y, z), and further the composite material tape 1 The composite material 4 is attached to the composite material laminated member 5, and the separated material backing paper 6 is wound up.
Are attached to the same frame 8. Then, NC control is performed by the NC device 9 and the machine control unit 10 with the lowermost center R of the material pressing and applying roller 3 as a control point, and the composite material 4 is continuously applied to the regular position P (x, y, z). After stacking, the desired composite material laminated member 5 is automatically formed.

Here, if the center T of the composite material tape 1 deviates from the center R of the material pressing / pasting roller 3 that is NC controlled to the normal position P for some reason, the composite material 4 will have the normal position P. Can not be attached with good dimensional accuracy. In order to prevent this, conventionally, the deviation of the composite material tape 1 from the center R of the material pressing roller 3 is monitored by the material tape deviation detector 11.
The deviation signal D is detected and input to the feedback control unit 12 to correct / operate the axial position S of the material supply reel 2. By such feedback control, the position of the center T of the composite material tape 1 is controlled so that the center T of the composite material tape 1 always coincides with the center R of the material pressing and applying roller 3.

[0005]

However, this type of device has the following problems. That is, while the amount of displacement of the center T of the composite material tape 1 is small, the effect of the conventional feedback control is somewhat recognized,
Due to the feedback control, there was a problem in principle that a partial dimensional defect of the attachment position accuracy due to the delay time occurred.

Further, since the composite material tape 1 is sequentially attached to the composite material laminating member 5 by the pressing pressure of the material press-applying roller 3 and laminated, the friction is large due to the essential structure of the present apparatus, and thus the amount of deviation becomes large. Only by feedback control of the supply reel 2 to the axial position S, the center T of the composite material tape 1 is the center of the material pressing / pasting roller 3 which is a prerequisite for sticking to the regular position P (x, y, z). There was a problem in that the composite material 4 did not return to the position of R and a large defect in the dimensional accuracy of the bonding position of the composite material 4 occurred.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic composite material laminating apparatus capable of improving the accuracy of the composite material tape sticking position. ..

[0008]

In order to solve the above problems, the present invention adopts the following configuration.

That is, according to the present invention, the composite material tape supplied from the material supply reel is pressed to a predetermined position on the composite material laminating member by the material pressing and applying roller, and the composite material tape is automatically placed on the composite material laminating member. In a composite material automatic laminating device that continuously pastes and stacks, a material tape deviation detector that detects the deviation of the composite material tape from the center of the material pressure application roller, and a material supply reel that feeds back the detection information from this detector. And a means for feeding back information detected by the detector to correct the pressing position of the material pressing and applying roller on the composite material laminated member.

[0010]

According to the present invention, not only the axial position of the material supply reel is corrected based on the detection information of the material tape shift detector, but also the position of the material pressing and attaching roller is corrected, so that the feedback control is performed. It is possible to extremely reduce the dimensional defect of the partial pasting position accuracy due to the feeding time of. In addition, since the position of the material pressing roller is corrected, the composite material tape will not be returned to the center position of the material pressing roller even if the displacement amount becomes large, and the composite material tape will be moved to the proper position on the composite material laminated member. It is possible to paste it to

More specifically, the following description will be made with reference to FIGS. 1 and 2. When the center T of the composite material tape 1 deviates from the center R of the material pressing roller 3, the deviation is digitized into X and Y coordinates by the deviation calculator 13, and the deviation numerical signal DD (Δx, Δy) is It is input to the tape deviation correction / calculation unit 14 incorporated in the NC device 9, and the center T of the composite material tape 1 which is displaced is the normal position P (x, y,
z), the NC position input of the material pressing and applying roller 3, that is, the normal position P (x, y, z) is corrected and calculated (P
-DD) to the machine control unit 10 for correction NC control command NN
It is sent as (x-Δx, y-Δy, z).

As a result, the material pressing and applying roller 3 is corrected and moved by an amount corresponding to the deviation of the composite material tape 1 from the normal position P (x, y, z), and the positioning is controlled. The composite material 4 is a regular position P (x,
It is attached to y, z) with high dimensional accuracy.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic diagram showing a composite material automatic laminating apparatus according to an embodiment of the present invention. FIG. 2 is an enlarged plan view of the material pressing and attaching roller portion for explaining the data processing content in the embodiment.

FIG. 1 shows a composite material tape continuous pressing and attaching mechanism of the automatic composite material laminating apparatus. From the material supply reel 2 for continuously supplying the composite material tape 1, the material pressing roller 3 for pressing and pressing the composite material tape at the regular position P (x, y, z), and further from the composite material tape 1. The backing paper take-up reels 7 for winding the separated material backing paper 6 by adhering the composite material 4 to the composite material stacking member 5 are attached to the same frame 8. Then, the composite material 4 is continuously controlled to the regular position P (x, y, z) under NC control by the NC device 9 and the machine control unit 10 with the center point R of the lowermost part of the material pressing and applying roller 3 as a control point. Then, the target composite material laminated member 5 is automatically formed by laminating.

In FIGS. 1 and 2, the deviation between the center T of the composite material tape 1 and the center R of the material pressing / applying roller 3 is
The material tape deviation detector 11 monitors and detects the deviation, and the deviation signal D is input to the feedback control unit 12. Then, the axial position S of the material supply reel 2 is operated and fed back to control the position of the center T of the composite material tape 1 so that the center T of the composite material tape 1 always coincides with the center R of the material pressing and applying roller 3. I do.

On the other hand, the deviation signal D is used as the deviation calculator 13
To the tape deviation correction / arithmetic unit 14 built in the NC unit 9. The deviation numerical value signal DD (Δx, Δy) is input to the X and Y coordinate system. Then, the NC position input of the material pressing and attaching roller 3, that is, the normal position P
(X, y, z) is corrected and calculated (P-DD) so that the center T of the shifted composite material tape 1 becomes the regular position P (x, y, z), and the calculation result is obtained. The machine control unit 10 is used as the corrected NC control command NN (x-Δx, y-Δy, z).
Send to.

As a result, the material pressing and pasting roller 3 is corrected and moved by an amount corresponding to the deviation of the composite material tape 1 from the regular position P (x, y, z), and the positioning is controlled. A composite material 4 has a regular position P (x, y,
It will be attached to z) with high dimensional accuracy. At this time, the processing calculation formula of the tape deviation correction / calculation unit 14 will be described with reference to the enlarged plan view of the material pressing and bonding roller portion of FIG.

A deviation numerical value signal DD (Δx, Δ) digitized by the material tape deviation detector 11 and the deviation calculator 13
The relationship between y) and the center T of the composite material tape 1 and the center R of the material pressing and applying roller 3 is expressed by the following equation. DD (Δx, Δy) = TR (1) From the formula (1), the center R of the material pressing and attaching roller 3 is given by the following formula. R = T-DD (Δx, Δy) (2)

Further, in order to apply the composite material tape with high dimensional accuracy, it is necessary to correct the NC position input so that the center T of the composite material tape 1 coincides with the regular position P (x, y, z). Therefore, the condition below is satisfied. T = P (x, y, z) (3)

Here, when the center R of the material pressing and applying roller 3 in which the deviation of the composite material tape 1 from the material pressing and applying roller 3 is corrected is obtained from the expressions (2) and (3), the following expression is obtained. R = T-DD = P-DD = (x, y, z)-(Δx, Δy) = (x-Δx, y-Δy, z) (4)

Therefore, the tape deviation correction / calculation processing in the arithmetic unit 14 is performed by inputting the NC position of the material pressing and applying roller 3, that is, shifting the normal position P (x, y, z) from the numerical value signal DD (Δ
x, Δy) is subtracted.

As described above, according to this embodiment, based on the detection information of the material tape displacement detector 11, the axial position of the material supply reel 2 and the position of the material pressing and adhering roller 3 are feedback-corrected so that the displacement is caused. Even if the amount of the composite material tape 1 does not return to the central position of the material pressing and applying roller 3 due to the large amount, the composite material tape 1 can be applied to the composite material laminating member 5
It is possible to paste it on the regular position above with high accuracy. Therefore, the composite material tape sticking position accuracy, which is the greatest problem in the sticking / laminating operation of the composite material tape 1, is improved. For this reason, there is no need to redo the automatic lamination work of the composite material laminated members such as the outer plate of the aircraft, and the work efficiency is significantly improved.

Further, compared with the conventional composite material laminated member having a strength design with a margin in consideration of a large variation in pasting position accuracy, the pasting method improved by applying the control method of the present embodiment. By designing the strength based on the positional accuracy, it is possible to reduce the weight. Further, a composite material laminated member having a large curvature and a curved surface, which had been abandoned because the required pasting position accuracy could not be obtained, can be automatically laminated and formed, and the applicable range is expanded.

The present invention is not limited to the above-described embodiments, but can be carried out in various modified forms without departing from the scope of the invention. For example, what is laminated is not limited to the outer skin of an aircraft, but can be applied to automatic lamination of all composite material laminated members. In the future, the outer skin of high-speed boats such as fish electric boats / the outer skin of high-speed vehicles can be considered.

[0026]

As described above, according to the present invention, not only the axial position of the material supply reel is corrected based on the detection information of the material tape shift detector, but also the position of the material pressing and attaching roller is corrected. As a result, it is possible to realize an automatic composite material laminating apparatus capable of improving the accuracy of the composite material tape sticking position.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an automatic composite material laminating apparatus according to an embodiment of the present invention,

FIG. 2 is an enlarged plan view of a material pressing and attaching roller portion used in the embodiment,

FIG. 3 is a schematic configuration diagram showing a conventional automatic composite material laminating apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Composite material tape, 2 ... Material supply reel, 3 ... Material pressing and bonding roller, 4 ... Composite material, 5 ... Composite material laminated member, 6 ... Material backing paper, 7 ... Material backing paper take-up reel, 8 ... Stand, 9 ... NC device, 10 ... Machine control part, 11 ... Material tape shift detector, 12 ... Feedback control part, 13 ... Deviation calculator, 14 ... Tape deviation correction / calculator.

Claims (1)

[Claims] 1. A composite material tape supplied from a material supply reel is pressed to a predetermined position on a composite material laminated member by a material pressing and adhering roller, and the composite material tape is automatically and continuously formed on the composite material laminated member. In a composite material automatic laminating apparatus for sticking and stacking, a material tape deviation detector for detecting deviation of the composite material tape from the center of the material pressing and applying roller, and the material supply reel by feeding back detection information by the detector. And a means for correcting the pressing position of the material pressing and applying roller on the composite material laminated member by feeding back information detected by the detector. Automatic material laminating device.