JPS62144927A - Automatic application process of frp tape and its device - Google Patents

Abstract

PURPOSE:To enhance the application speed of FRP tape by providing a device to absorb tension difference between the right and left edges of FRP tape, detecting the amount of inclination of applied roll and controlling (a) shaft revolution of the whole device applying automatically FRP tape. CONSTITUTION:FRP tape 12 to one side of which the protective sheet 13 is applied is delivered from the supplying reel 10 one by one and cut off in the specified size to comply with the mold 24 at the cutting device. At that time, only FRP tape 12 is applied to a mold 24 without cutting off a protective sheet 13. During said process, the tape 12 moves and applies the whole device to the directions of X axis and Y axis, pressing the application roll 22 to the mold 24 during application to the mold 24, and the application roll 22 makes (a') rotation centering automatically 'P' point in the device following the curving of the mold 24 to fit for the curving face of mold 24. Also, the amount of inclination in the application roll 22 is detected and the whole device follows the amount of inclination of application roll 22 and performs (a) rotation.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a method and apparatus for attaching FRP prepreg tape, and in particular to a method and apparatus for attaching FRP prepreg tape to a predetermined mold. The present invention relates to an automatic FRP tape pasting method and device that can improve the speed of application and simplify the control method of the automatic pasting device.

[Conventional technology]

A conventional FRP prepreg tape (hereinafter referred to as FRP tape) automatic pasting device is composed of a tape supply reel, a tape supply device, a tape cutting cutter, a pasting roll, a protective sheet winding device, a temperature control device, etc. The components are integrally mounted on the frame. In addition, this automatic pasting device is controlled by NC control according to a predetermined program according to the curvature of the surface of a predetermined mold, and the entire device is moved along the X axis (longitudinal direction) and the Y axis (perpendicular to the X axis direction). direction), the Z axis (vertical direction), and rotation around each of the X, Y, and Z axes (a, b, c).

[Problem that the invention seeks to solve]

This type of automatic FRP tape pasting device needs to always press the pasting roll perpendicularly to the surface of a mold in accordance with the curved surface of a predetermined mold surface when pasting the FRP tape. For this reason, a.

Since the entire device is rotated by controlling the b and c axes,
, move in the Y and Z axis directions and stick the FRP tape. Therefore, X, Y, Z, a, b, c
The axes are controlled by an NC control mechanism as a program in advance to operate the device. However, in this case, F
Since the surface of the predetermined mold to which the RP tape is attached is a three-dimensionally curved free-form surface, it is a complicated and troublesome task to express the shape of this mold numerically and to express the results in the equipment operation program. Become. In addition, this type of automatic pasting device is
It is heavy and requires a large amount of force to move in a straight line or in a turning motion, and there is a time delay in the operation of the drive device. As a result, it is extremely difficult for the device to operate in immediate response to a given type of curvature. For this reason, there is a limit to the operating speed of the device, and the more curves the mold has, the slower the adhesion speed must be.

Furthermore, among the six control axes, if a method is adopted in which the a-axis and Z-axis are automatically operated by following the curvature of the surface of a predetermined type, in order to implement the a-axis copying method, It is also possible to detect the inclination of the mold surface and feed back the measurement results to rotate the entire device around the a-axis, but since the device itself is heavy, the a-axis must be rotated immediately according to the inclination of the mold surface. It is difficult to do so, and there is a drawback that there is a time delay in the turning movement.

As mentioned above, when attaching an FRP tape to a mold surface that has many changes in curvature, there is a limit to the attaching speed, and it is difficult to attach at high speed.

Therefore, the purpose of the present invention is to provide a simple method for controlling the a-axis, in order to simplify the program control of the device, although the most important of the six axes to be controlled are the X, Y, Z, a, and c axes. (Turning around the An object of the present invention is to provide an automatic FRP tape application method and device that achieves an improvement in application speed.

[Means for solving problems]

The method for automatically pasting FRP tape according to the present invention involves sequentially feeding out the FRP tape which is wound with a protective sheet pasted on one side, and cutting the FRP tape into predetermined dimensions without cutting the protective sheet. In the automatic pasting method of FRP tape, the FRP tape is transferred to a pasting roll, and the FRP tape cut into a predetermined size is separated from the protective sheet by the pasting roll part and then pressed and pasted to a predetermined mold. , the sticking roll is tilted to follow the slope of the surface of the predetermined mold, and the a-axis rotation of the device for automatically pasting the FRP tape is controlled by detecting the amount of inclination of the sticking roll around 1. When this is done and the adhesion roll is tilted, a difference occurs in the tension between the left and right edges of the FRP tape, which causes the FRP tape to shift to one side. In order to prevent this, FR is removed from the adhesive roll.
A feature is that a tension difference absorbing device for both left and right edges of the FRP tape is installed on the upstream side of the P tape running path.

Furthermore, in this case, if the slope of the surface of a given mold is small,
By only following the inclination of the sticking roll and the tension difference absorbing device without controlling the a-axis rotation of the device that automatically sticks FRP tape, the control operation becomes even simpler and the control speed is improved. do.

Further, in the present invention, when implementing the automatic pasting method, an FRP tape supply reel for winding the FRP tape with a protective sheet pasted on one side, and a feed device for reversibly feeding out the FRP tape are provided. , a cutting device that cuts only the FRP tape to predetermined dimensions without cutting the protective sheet; and an adhesive roll that presses and adheres the cut FRP tape to a predetermined mold while separating it from the protective sheet;
F equipped with a winding roll that winds up and collects the protective sheet.
In the automatic RP tape pasting device, the pasting roll is configured and arranged so as to be able to rotate along the slope of the surface of the prescribed mold, with the central portion in the longitudinal direction of the roll's outer periphery in contact with the prescribed mold as the turning center; Furthermore, this can be achieved by providing a sensor that detects the amount of inclination of the pasting roll and controls the a-axis rotation of the automatic pasting device.

Further, a device for absorbing the tension difference between the left and right edges of the FRP tape is installed upstream of the FRP tape travel path from the pasting roll to prevent the FRP tape from shifting.

[Effect]

According to the present invention, the sticking roll can be rotated around its longitudinal center in an apparatus that automatically sticks FRP tape, and when the surface of a predetermined type is curved, the sticking roll can be rotated. follows the mold surface and automatically rotates around the a-axis due to the force received from the mold surface. As a result, even if the device is moved in the X-axis direction at high speed, the sticking roll retracts according to the curved surface of the mold, making it possible to achieve proper sticking of the FRP tape. Furthermore, by detecting the inclination of the adhesive roll and controlling the control axis of the entire apparatus, the adhesive roll can be appropriately caused to follow any curvature of the surface of the mold.

Therefore, it is possible to realize quick and proper automatic attachment of FRP tape by simple program control without performing program control to set detailed numerical values for each control axis of the device.

〔Example〕

Next, the method for automatically pasting FRP tape according to the present invention will be described in detail below in relation to the apparatus that implements this method.

FIG. 1 is a schematic diagram showing the principle of an automatic pasting device that implements the method of the present invention. That is, in FIG. 1, reference numeral 10 indicates an FRP tape supply reel, and this reel 10 holds a wound FRP tape 12 having a protective sheet affixed to one side thereof. Below this reel 10, an appropriate number of roll pairs consisting of a feed roll 14 for sequentially feeding out the FRP tape 12 and a pressing roll 16 are arranged. Below these roll pairs, a cutting device 18 is provided.
, a heater 20 , and an adhesive roll 22 are sequentially disposed so that the FRP tape 12 is adhered to a mold 24 having a predetermined shape while being cut into a predetermined size.

The FRP tape 12 used in this example is a prepreg tape made by arranging carbon fibers, Kepler fibers, glass fibers, etc. in a certain direction or forming a fabric and impregnating it with a thermosetting resin. A protective sheet 13 made of paper or plastic film is attached to one side of the tape (see Figure 2).
. Further, the cutting device 18 is configured to cut only the FRP tape without cutting the protective sheet 13. Further, the heater 20 is provided as a means for heating the surface of the FRP tape 12 to increase its adhesive strength and to remove residual air inside. In this way, the FRP tape 12 imparted with the required adhesive strength is pressed and stuck to a predetermined mold 24 by the sticking roll 22, while the protective sheet 13 that is not cut is stuck to the sticking roll 22.
After passing through, it is appropriately wound onto a winding roll 26 and recovered.

The automatic FRP tape pasting device having the above-mentioned configuration is as follows:
$1 As shown in the figure, this is coupled to a predetermined driving device W (not shown), and the X-axis and Y-axis are connected.

2 axes and rotation around each of these axes 1 b
By performing time control between the six axes consisting of the axis and the C axis,
The FRP tapes 12 are controlled so that they are always in direct contact with a mold 24 having a predetermined shape, and the FRP tapes 12 are pasted vertically and horizontally on the predetermined mold 24 without gaps, forming a laminate of several to several tens of layers. .

However, the shape of the mold 24, which is the object to which the FRP tape 12 is generally attached, is a three-dimensional free-form surface, and in order to attach the FRP tape 12 to such a mold 24, the entire curved surface shape of the mold was digitized. It is extremely complicated and difficult to express this in a value, program it, and operate the entire automatic pasting device according to this program.

Therefore, in the present invention, the sticking roll 22 is made to be able to freely turn around the center point "P" in the longitudinal direction of the roll in contact with the mold 24, following the slope of the surface of the curved mold. By rotating the entire automatic pasting device vertically by the amount of inclination of
.

6-axis control of C is achieved simply and quickly.

2 and 3 show one embodiment of the device of the present invention, in which FIG. 2 is a schematic diagram showing the arrangement of each component as seen from the front of FIG. 1, and FIG. The figure is m- in Figure 2.
It is a sectional view taken along the m-line, and schematically shows the arrangement of rolls viewed from the side.

That is, in FIG. 3, the adhesive roll 22 is attached to the mold 24
It rotates freely (a/
The entire automatic pasting device is configured so that it can be rotated), and the entire automatic pasting device is
The structure is such that it can be turned (a-turn) with a weight equal to the slope of 2.

In the apparatus of this embodiment, the FRP tape 12 with the protective sheet 13 attached to one side is sequentially fed out from the supply roll 10 under the action of the feed roll 14, and cut into a predetermined shape 24 by the cutting device 18. Cut to set dimensions. At this time, the protective sheet 13 is F without being cut.
Together with the RP tape 12, it is transferred to the adhesive roll 22 via the guide bar 56, and only the FRP tape 12 is adhered to the mold 24. In this case, the FRP tape 12 is stuck to the mold 24 by moving the entire device in the X-axis and Y-axis directions while pressing the pasting roll 22 against the mold 24. The application roll 22 is configured to automatically follow the curvature of the mold 24 and turn a' inside the device around a point 'P'' shown in FIG. 3, so as to conform to the curved surface of the mold 24. , the amount of inclination of the pasting roll 22 inside the device is detected, and the entire device is constructed so as to be weighted on the collective slope of the pasting roll 22 and rotated a.In addition, the degree of curvature of the mold 24 is low; In the case of a shape close to a flat surface, it is not necessary to rotate the entire device a, but by configuring only the sticking roll 22 to rotate a slight amount a', sufficient FR can be achieved.
It is possible to attach the P tape 12.

FIGS. 4 and 5 show an example of how the attachment roll 22 is attached in the automatic applicator of the present invention.

That is, in this embodiment, the adhesive roll 22 is attached to the lower end of the bracket 28, and the adhesive roll 22 is attached to the lower end of the bracket 28.
A bracket 30 is provided adjacent to the platen 8, and the upper end of the bracket 28 is movably suspended and held on a part of the platen 1-30 via a coil spring 54. A curved guide slope 32 is attached to the bracket 30 via a plurality of bolts 34 on the surface facing the bracket 28, and rotating wheels 36 and 38 are attached to the bracket 28 so as to sandwich the curved guide plate 32 from above and below. Can be mounted rotatably. In this case, the curvature of the curved guide plate 32 is set to form a circular arc centered at the center point "P" in the roll longitudinal direction of the portion of the pasting roll 22 that contacts the mold 24. The rotating wheels 36 and 38 are also set to freely rotate about their axes.

Therefore, if the predetermined mold 24 is curved and the surface is inclined, the pasting roll 22 receives the force from the mold 24 and rotates around the rotation center "P" using the curved guide plate 32 as a guide. I will do it.

On the other hand, reference numeral 40 is a cylinder using air pressure or oil pressure, and the piston shaft 42 of this cylinder 40 is
The tip of the cylinder 40 is fastened to the bracket 30.
The piston shaft 42 of the bracket 30. Curved guide plate 32
And the bracket 28 is volatilized downward and the pasting roll 22
is configured to be pressed against the mold 24 with a predetermined force. Further, the cylinder 40 is attached to a frame 46, and the frame 46 is configured to be inserted through two guide shafts 44.degree. 44 and slid in the longitudinal direction. Therefore, these guide shafts 44, 44 act as guides when the bracket 30 moves up and down. Incidentally, reference numeral 48 indicates a frame plate for integrally attaching each component of the automatic pasting device, and the frame body 4 is attached to this frame plate 42 via bolts 50.
6 is installed.

The attachment roll 22 configured as described above is attached to the structure by appropriately providing a sensor 52 on the bracket 30 for detecting the amount of displacement of the bracket 28 to detect the amount of inclination of the bracket 28 with respect to the bracket 30. Configure it like this. In this manner, according to this embodiment, the pasting roll 22 rotates following the mold 24 about the point "P" according to the inclination of the mold 24. In addition, the adhesive roll 22
is pressed against the mold 24 with a predetermined force by the cylinder 40. At this time, the sensor 52 detects the amount of inclination of the bracket 28 with respect to the bracket 30, which occurs in response to the inclination of the mold 24 of the pasting roll 22. Therefore, in the device of this embodiment, the entire device is rotated around the center of rotation according to the inclination m of the bracket 28 detected by the sensor 52.
P” and rotate brackets 28 and 30.
is controlled so that the relative positional deviation of is small. In the device of this embodiment, the coil spring 54 that suspends the upper end of the bracket 28 from the platen 30 is designed so that when the whole 271 rises and the adhesive roll 22 is separated from the surface of the mold 24, the coil spring 54 suspends the upper end of the bracket 28 from the platen 30. It acts to return the slope of 22 to its original state. Furthermore, as means for detecting the extension 4:;) of the bracket 28, it is of course possible to employ various methods other than those shown in the drawings.

FIG. 6 shows a sectional view taken along the line VT-VI in FIG. 2.

As mentioned above, when the pasting roll 22 rotates around the point P, the F-negative P tape 12 twists accordingly, resulting in a difference in tension between the left and right edges of the FRP tape. A phenomenon occurs in which the FRP tape shifts in a direction perpendicular to its length. In order to prevent this, the guide bar 56 is rotated as shown by the arrow in FIG. 6 according to the amount of inclination of the pasting roll 22 to absorb the difference in tension between the left and right edges of the FRP tape. Make it. Although the drive mechanism for turning the guide bar 56 is not shown, it may be similar to the above-described turning mechanism for the pasting roll 22, but a different system may also be adopted, and the drive mechanism may be linked to the amount of inclination of the pasting roll 22. Just move it.

〔Effect of the invention〕

As is clear from the embodiments described above, according to the present invention,
By tilting the pasting roll to follow the curvature of the mold surface, detecting the amount of inclination, and controlling the entire automatic pasting device using AI+H rotation, there is no need for program control during 6-axis rotation as in the past. The control system is simplified, and the adhesion speed is accordingly improved, and it is possible to achieve automatic adhesion of the FRP tape in an appropriate manner that follows the curvature of the mold surface.

In addition, in the case of a mold with a low degree of curvature on the mold surface, which is close to a flat surface, the FR can be achieved by simply tracing the pasting roll (a'hr turns).
The P tape can be properly pasted, and the automatic pasting of the FRP tape can be realized quickly and reliably without performing rotation control of the entire automatic pasting device.

Although the preferred embodiments of the present invention have been described above, it goes without saying that various design changes can be made without departing from the spirit of the present invention.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram showing the basic principle of an apparatus for implementing the automatic FRP tape pasting method according to the present invention, and FIG.
3 is a sectional view taken along the line ■-m of FIG. 2, showing the side arrangement of the rolls; FIGS. 4 and 5 are This shows an example of how the adhesive roll is attached in the invention device.
Figure 4 is a front view of the main part, Figure 5 is a right side view of Figure 4, and Figure 6 is a cross-sectional view taken along the line vr-vr of Figure 2, which shows the operation method of the tension difference absorbing guide bar on both sides of the FRP tape. FIG.

Claims (3)

[Claims] (1) FR made by pasting and wrapping a protective sheet on one side
The P tape is sequentially fed out, and the FRP tape is cut into a predetermined size without cutting the protective sheet, and transferred to a pasting roll. In an automatic pasting method for FRP tape, in which the FRP tape is pressed and pasted onto a predetermined mold while being separated from the mold, the pasting roll is tilted following the slope of the surface of the predetermined mold, and the FRP tape is The FRP is characterized in that it has a device that absorbs the tension difference between the left and right edges, and controls the a-axis rotation of the entire device that automatically sticks the FRP tape by detecting the amount of inclination of the sticking roll. Automatic tape application method. (2) In the method for automatically pasting FRP tape as set forth in claim 1, when the slope of the surface of a predetermined mold is small, the a-axis rotation of the entire apparatus for automatically pasting FRP tape is controlled. An automatic method for pasting an FRP tape, which comprises following only the inclination of a pasting roll and activating a tension difference absorbing device at both left and right edges of the FRP tape. (3) An FRP tape supply reel that winds an FRP tape with a protective sheet attached to one side, a feed device that reversibly feeds out the FRP tape, and a feed device that reversibly feeds out the FRP tape, and only feeds the FRP tape in a specified manner without cutting the protective sheet. FR
In an automatic FRP tape pasting device that is equipped with a tension difference absorbing device between the left and right edges of the P tape and a take-up roll that winds up and collects the protective sheet, the pasting roll is a roll that is in contact with a predetermined mold. The FRP tape is arranged so as to be able to turn around the center in the longitudinal direction of the outer periphery following the inclination of the surface of the predetermined mold, and further includes an edge tension difference absorbing device for the FRP tape according to the amount of inclination of the pasting roll. An automatic FRP tape pasting device, comprising a device that is operated and detects the amount of inclination of the pasting roll to control the a-axis rotation of the entire automatic pasting device.