WO2017072418A1

WO2017072418A1 - Fiber-application machine with specific application head

Info

Publication number: WO2017072418A1
Application number: PCT/FR2016/000162
Authority: WO
Inventors: Alexander Hamlyn; Loïc Gaillard
Original assignee: Coriolis Composites
Priority date: 2015-10-28
Filing date: 2016-10-13
Publication date: 2017-05-04
Also published as: FR3043009B1; EP3368282A1; FR3043009A1

Abstract

The present invention relates in particular to a fiber-application machine including a head (2) with a stationary portion (21) and a movable portion (22) facilitating maintenance operations. The movable portion includes at least one application roller (5, 5'), a guide system (4), and fiber-cutting means, the movable portion (22) being slidably mounted on the stationary portion (21) along a sliding plane (P1), the head being mounted via the stationary portion (21) thereof to a system of movement along an assembly axis (A7). The assembly axis (A7) and the sliding plane (P1) are parallel with one another, and the movable portion (22) is mounted on the stationary portion (21) such that the axis of rotation (A8, A'8) of the compaction roller (5, 5') is arranged perpendicular to the sliding plane and on the side of the sliding plane (P1) that is opposite the assembly axis (A7).

Description

FIBER APPLICATION MACHINE WITH HEAD

OF PARTICULAR APPLICATION

The present invention relates to a fiber application machine and a method for producing composite material parts with such a machine. The invention relates more particularly to a fiber application machine equipped with an application head of particular configuration.

It is known in particular from the patent WO2008 / 132299 of fiber application machines for the contact application on a draping tool, such as a male or female mold, of a wide band formed of one or more continuous flat fibers of the wick type, dry or impregnated with thermosetting or thermoplastic resin, in particular carbon fibers, consisting of a multitude of carbon threads or filaments.

These fiber application machines, also called fiber placement machines, conventionally comprise a fiber application head, a moving system capable of moving the head, storage means for storing the fibers and conveying means. to route the fibers of the storage means to the head.

The head comprises a fixed part and a movable part, the moving part comprising a compacting system comprising at least one application roll for applying a strip formed of one or more fibers to an application surface, and a guiding system for guiding the fibers to said application roller, and fiber cutting means. The movable part is slidably mounted on the fixed part according to a sliding plane and the head is mounted by its fixed part to said displacement system along an assembly axis.

The head architectures proposed so far require the complete disassembly of the guidance system to carry out the maintenance operations. These operations can be long and delicate. It is also known, particularly from the patent document WO2014 / 202845, bidirectional application heads, allowing the application of fibers in two opposite directions, for which it is preferable to have a guidance system having a median plane parallel to the sliding plane. For this type of head, the path of fibers to enter the head is complex, the fibers to circumvent or cross the displacement system.

The object of the present invention is to propose a solution to overcome the aforementioned drawbacks,

For this purpose, the present invention proposes a fiber application machine for producing parts made of composite material comprising:

a fiber application head comprising a support structure or fixed part and a moving part, the moving part comprising a compacting system comprising at least one application roll for applying a strip formed of one or more fibers on an application surface, a guiding system for guiding the fibers to said application roller, and fiber cutting means, and preferably fiber re-routing means and fiber locking means, the portion mobile member being slidably mounted on the fixed part according to a sliding plane, and biased by at least one compacting jack mounted between the fixed part and the moving part

and a displacement system able to move the head, the head being mounted by its fixed part to said displacement system along an assembly axis,

characterized in that the assembly axis and the sliding plane are parallel to each other, and the movable part is mounted on the fixed part so that the axis of rotation of the compaction roller is arranged perpendicularly to the sliding plane, and on the side of the sliding plane which is opposite to the assembly axis.

This specific mounting of the head, with the application roller perpendicular to the sliding plane and the mobile part offset relative to the assembly axis, allows easy access to the movable part placed on one side of the sliding plane, in particular to the cutting means and the possible means of rerouting, to perform maintenance operations. The mobile part offset relative to the assembly axis also facilitates the entry of the fibers directly into the moving part, without being obstructed by the displacement system, in particular the wrist of the displacement system. It is furthermore it is possible to place the possible drive motors for redirecting means on the other side of the sliding plane.

According to one embodiment, the machine comprises fiber storage means and conveying means for conveying the fibers of said storage means to the application head, said conveying means comprise flexible tubes, each tube being suitable receiving in its internal passage a fiber, the flexible tubes being assembled at the end to the fixed part of the fiber application head.

According to the invention, the routing tubes are assembled not to the mobile part, but to the fixed part. The forces induced by the tubes during draping are thus directly taken up by the fixed part, which guarantees a better control of the compaction force and limits the risk of deterioration of the system for the sliding assembly of the moving part on the fixed part. , or possible reduction of draping accuracy in some configurations of the displacement system.

According to one embodiment, said guide system is able to guide a plurality of fibers towards the application roll in the active position in the form of a band, the guide system comprises first and second guide means arranged in staggered rows. in two guide planes preferably approaching each other from upstream to downstream to guide the fibers towards the roller in the active position in the form of two layers of fibers, the first and second guide means preferably comprising first and second main guide channels, said guide system has a mean plane, the two guide planes are arranged symmetrically on either side of said mean plane, said middle plane comprising the assembly axis, and being disposed substantially tangentially to the cylindrical surface of the roll in the active position, or beyond said cylindrical surface with respect to the axis of rotation of said application roll by active position, the guide system preferably comprises a central piece, preferably of generally triangular shape, having two lateral faces defining the two guide planes, an upper face opposite the application roller, a rear face by which said central piece is slidably assembled on the fixed part, and a front face opposite to the rear face.

According to one embodiment, the head comprises redirection means arranged upstream of the cutting means, comprising for each fiber sheet at least one drive roller mounted on the central part, and against-rollers actuated by cylinders of rerouting between a rest position and an active position to press the fibers against the drive roller, the drive rollers being driven by at least one motor disposed on the side of the sliding plane which is opposite to the moving part, the rollers are removably mounted on the central piece and are adapted to be disassembled by the front face of the central piece.

According to one embodiment, the machine comprises two functional modules comprising the cutting means, and the counter rollers and rerouting cylinders of the rerouting means, the functional modules being mounted movable on either side of the central piece, each functional module being movable between an active closed position in which its main face comes against a lateral face of the central part, and an open maintenance position in which the main face of the module is spaced from said side face.

According to one embodiment, the compacting system is assembled on a support module pivotally mounted relative to the guide system about a pivot axis perpendicular to the sliding plane, between a first position for the application of fibers in a first direction and a second position for the application of fibers in a second direction, opposite the first, the compaction system is preferably a two-roll system, the support module is fixedly mounted to at least one arm pivotally mounted about said axis pivoting.

According to one embodiment, the arm is disposed on the side of the front lateral face of the central piece and is fixed to the front end of an axial rod, defining said pivot axis, rotatably mounted on the guide system and adapted to be rotated by a motor disposed on the side of the sliding plane which is opposite to the movable part. According to one embodiment, the fixed part of the head comprises a plate fixed by a first upper face to the displacement system along the assembly axis, its second lower face, opposite to the first face carrying two spaced mounting plates. one of the other and extending perpendicularly to the plate, the movable portion being slidably mounted on the front edges of the mounting plates, the aforesaid motors being disposed between the two mounting plates.

According to one embodiment, the plate extends above the movable part, the tubes are assembled at the end to the plate.

The subject of the present invention is also a method for producing composite material parts, comprising draping fibers on an application surface, characterized in that said draping is carried out by means of a machine for applying fibers such as as previously described.

The invention will be better understood, and other objects, details, features and advantages will become more clearly apparent from the following detailed explanatory description of a particular presently preferred embodiment of the invention, with reference to the schematic drawings. annexed, in which:

- Figure 1 is a schematic view of a fiber placement machine according to the invention;

FIG. 2 is an enlarged partial view of FIG. 1 illustrating the side fiber placement head;

FIG. 3 is a front view of the head of FIG. 2, with the first compaction roller in the active position;

FIG. 4 is a rear view of the head of FIG. 3;

- Figure 5 is a schematic side view of the compaction system of the head comprising the support module carrying the two compaction rollers;

- Figure 6 is a view similar to that of Figure 3, the second compaction roller being in the active position;

- Figure 7 is a view similar to that of Figure 3, the support module of the two compaction rollers in a first maintenance position, the first functional module of the head in the open position; FIG. 8 is a side view of a functional module;

- Figure 9 is a schematic sectional view of the functional module of Figure 8;

FIG. 10 is an enlarged view of the detail D of FIG. 9, illustrating the cutting system;

- Figure 11 is a view along the plane XI-XI of Figure 10; and,

- Figure 12 is a partial schematic sectional view of the head.

With reference to FIG. 1, the placement machine comprises a displacement system 1 formed of a poly-articulated arm 10, of the six-axis robot type, known per se, mounted movably on a linear axis 18, an application head 2 mounted at the end wrist 11 of the poly-articulated arm, storage means 91 for storing fibers, and conveying means 92 for conveying fibers from said storage means to the head.

The poly-articulated arm 10 comprises, in a manner known per se, a first section or base 12, and a second, third, fourth and fifth section, respectively 13, 14, 15 and 16, pivoted together around each other. axes of rotation Al, A2, A3 and A4, and an end wrist 11 comprising the last three sections of the arm. Referring to Figure 2, the end wrist 11 comprises a first section l ia by which the wrist is assembled on the sixth section 16 of the arm, so that the wrist is rotatably mounted about the axis A4, a second section 11b pivotally mounted on the first section about an axis A5, and a third section 11c pivotally mounted on the second section about an axis A6, the third section, or mounting plate, being intended to carry the head. The poly-articulated arm 10 is fixed by its base 12 on a carriage 17 slidably mounted on the linear axis 18, said linear axis consisting of two parallel rails 181 fixed to the ground. The carriage is equipped with drive means, for example motorized rollers, controlled by a control unit of the machine for moving the head along these rails.

The machine is intended for the application of fibers, for example of the carbon fibers or strands, packaged in the form of coils. The storage means are formed of a creel 91, for receive the fiber reels. Each coil is mounted on a mandrel of the creel. The creel is here mounted on a follower carriage 191, disposed on the rails 191 and mechanically connected to the carriage 17 carrying the robot.

The conveying means here comprise flexible conveying tubes equipped with flexible stiffening blades, as described in the patent document WO2012 / 160270. The fibers are conveyed individually in these conveying tubes, from the creel to the head. The tubes are gathered in a bundle, shown schematically under the references 921 in FIG. 1, and are placed in the internal passage of a flexible sheath 922, as described in the patent document WO2010 / 049424. The sheath is assembled by its upstream end and its downstream end respectively to the creel and to the application head. The tubes and the sheath have sufficient length and flexibility so as not to limit the movements of the poly-articulated arm. The conveying tubes are fixed at the end, on the one hand to the creel 91 by upstream fastening systems, shown schematically under the reference 923, and on the other hand to the head by downstream fastening systems shown schematically under the reference 924, as described below.

The application head 2, also called fiber placement head, comprises a support structure or fixed part 21 by which the head is mounted at the end of the wrist 11 of the robot, and a movable portion 22 mounted to move in translation on the fixed part 21 according to a sliding plane Pl.

Referring to Figures 2, 3 and 4, the fixed portion 21 comprises a plate 211 having an upper main face 211a and a lower main face 211b. The plate is equipped on its upper face with a connection system 212 allowing its connection to the end of the wrist of the robot along an assembly axis A7 which corresponds to the sixth axis A6 of the robot. Two fixed mounting plates 213 are mounted spaced from one another on the lower face 211b of the plate for sliding mounting of the movable portion 22 along the plane PI, which is parallel to the axis A7.

The moving part 22 mainly comprises a guiding system 4, a compaction system, and two functional modules 6a, 6b, arranged on either side of the guide system, which integrate the functions of cutting, blocking and re-routing of the fibers. The compaction system is a two roll system, of the type described in the patent WO2014 / 202845, comprising a first roll 5 and a second roll 5 ', each roll is movable between an inactive position and an active layup position, the head using one or other of the rollers in the active position to drape.

The guiding system 4 guides the fibers entering the head towards a roller in the active position in the form of two sheets of fibers F 1 and F 2 (FIG. 12), to form a strip of fibers in which the fibers are disposed substantially edge to edge. The guide system 4 comprises a central piece 40, wedge-shaped, of generally triangular section, having a first and a second lateral faces 4a, 4b defining two guide planes P2, P3, approaching one another from upstream to downstream, an upper face 4c opposite the roller in the active position, and a rear face 4d and a front face 4e substantially parallel. The first functional module 6a and the second functional module 6b respectively come flat by a main face 60a (FIG. 6) against the first and second main faces 4a, 4b of the central part, and form at their assembly interface first and second second guide channels, respectively for guiding the fibers of the first ply and the second ply.

By way of example, with reference to FIG. 12, each main face 4a, 4b of the central piece is equipped with a so-called inner guiding plate 4, which is grooved, provided with grooves 46a, and each main face of a module functional is equipped with an outer guide plate 47, the outer guide plate coming flat against the inner plate to close the grooves and thus form the guide channels. Preferably, the outer guide plate has ribs inserting into the grooves of the inner guide plate to form the guide channels. The first channels and the second channels are arranged in staggered rows, in two plane P2, P3 approaching each other from upstream to downstream, so that the fibers F 1 and F 2 of the two layers are substantially arranged on edge on board at the level of the application roll which is in active position. The planes P2, P3 guide are arranged symmetrically on either side of the plane P4 median symmetry of the guidance system.

In the present embodiment, the head is for example provided for the application of strips of twenty-four fibers, each sheet comprising 12 fibers, the main guide system comprising twelve first guide channels and twelve second guide channels.

The sliding assembly of the movable part 22 on the fixed part 21 is made via two support uprights 41, each upright being slidably assembled on the front edge 213a of a mounting plate. To do this, the front edge of each mounting plate is equipped with a rail 214, and each support post 41 is equipped with two carriages (not shown) sliding on a rail. The central piece 40 is assembled by its rear face 4d to the front face of a first support plate 42 which is assembled to the two support posts 41. The assembly is carried out so that the assembly axis A7 is contained in the plane. median P4 of the guide system 4. The central piece 40 is disposed on the side of the sliding plane which is opposite to the assembly axis A7, its median plane P4 being perpendicular to the sliding plane Pl.

Each support post 41 is connected to the plate 211 by a compacting cylinder 215, the cylinders defining the compaction force with which the fibers are applied to the mold via one of the rollers. Each cylinder 215 is mounted by its cylinder body 215a on the plate 211, and its rod 215b extends parallel to the sliding plane PI and is assembled at the upper end of a support post 41. The cylinders urge the moving part in the opposite direction to the plate, or vertically downwards in the configuration of Figure 2. The compaction cylinders, for example pneumatic type, are controlled pressure to adapt the compaction force.

With reference to FIGS. 2 and 5, the two compacting rollers 5, 5 'of the compaction system are mounted on the same support module 50. The support module 50 has a general U-shaped section with a base or central part 51 and two bars or side walls 52a, 52b. The base 51 is in the form of a plate substantially rectangular. Each side wall 52a, 52b is in the form of a plate with a concave upper edge 521 and a lower edge 522 having a rectilinear central portion 522a extending on each side by a straight end portion 522b disposed at 45 ° the central portion, the two end portions being disposed symmetrically on either side of the symmetry plane P5 of the support module and forming between them an angle of 90 °. The base 52 is attached to the central portions 522a of the lower edges of the two side walls. The rollers 5, 5 'are mounted between the two side walls, on the end portions 522b, about axes of rotation A8, A8', said axes being arranged symmetrically on either side of the plane of symmetry P5. The two side walls are rigidly joined to the base. Alternatively the side walls and the base are formed of a single piece.

Each roll 5, 5 'is for example a flexible roll comprising a cylinder of elastomeric material 53 mounted on a rigid axial rod 54. Each roller is rotatably mounted about its axis A8, A'8 of rotation by the ends of its axial rod between two assembly parts 55, for example forming bearings, by which said roller is removably mounted by means of assembly to the two side walls 52a, 52b, at the end portions 522b. Said assembly means are for example of the pneumatic, magnetic or mechanical type.

The support module 50 is rotatably mounted on the mobile part 22 of the head by means of an arm 56, rotatably mounted on the front face of the central piece about a pivot axis A9 included in the plane P4, and assembled to the side wall 52a, said before, of the support module. The arm 56 is fixed to the front end of an axial rod 57 (FIG. 2) rotatably mounted on the central piece 40. The lateral walls of the support module are disposed on either side of the central piece, the lateral wall 52b rear passing under the convex lower edge of the first support plate 42. The arm is pivotable about the pivot axis A9 to move the support module between two positions, a first position of the support module, in which the second roller is in the inactive position and the first roll 5 is in the active position to drape in a first direction SI, as illustrated in FIG. 4, and a second position of the support module, in which the first roller 5 is in the inactive position and the second roller 5 'in the active position to drape in a second direction S2, opposite to the first direction.

The arm 56 is fixed over a large part of the length of the front side wall of the support module, its section being reduced in the direction of its pivot axis.

The support module is maneuvered between its two positions by an actuating system comprising a motor 58 acting on the axial rod 57 of the arm. With reference to FIG. 4, the motor 58 is mounted, between the two mounting plates 213, on a second support plate43 assembled on the rear edges of the two support uprights 41. The axial rod 57 (FIG. second support plate 42, 43, and its rear end is equipped with a pinion 57a. The rotation drive of the axial rod is provided by the motor 58 via a belt 58a mounted on a pinion of the drive shaft of the motor 58 and the pinion 57a of the rod, a tensioner roller 59 holding the belt tensioned.

In the active position of the first roll illustrated in Figure 3, the fibers exiting the guide system are guided to the right side of the first roll 5 to allow draping of the fibers with this first roll in the direction SI. The axis A8 of the first roller is positioned below the guidance system, and to the left of the plane P4 of symmetry. The plane P4 is for example substantially tangential to the cylindrical surface of the first roll in the active position. The second roll is in the inactive position. The end portions 522b of the side walls, which define the assembly planes of the assembly parts of the first roller, are arranged perpendicular to the sliding plane, ensuring a good recovery by the support module compaction forces transmitted by the roller . The second roll 5 'is brought into the active position and the first roll in the inactive position by rotating the arm about 90 ° about the axis A9 counterclockwise in FIG. 3 by means of the motor 58.

In the active position of the second roll illustrated in FIG. 6, the fibers leaving the guide system are guided towards the left side of the second roll 5 'to allow the draping of the fibers with this first roll in the direction S2. The axis A '8 of the second roller is positioned below the guide system, and to the right of the plane P4 of symmetry. The plane P4 is substantially tangent to the cylindrical surface of the second roller in the active position. The end portions 522b of the side walls, which define the assembly planes of the assembly parts of the second roller, are arranged perpendicularly to the sliding plane, ensuring a good recovery of the compaction forces by the support module. During the maneuver of the support module between its two positions, the base of the support module passes under the downstream edge 4f of the central part.

Locking means 44, illustrated schematically in FIG. 2, are provided for locking the support module in its first and second positions. These locking means comprise two locking rods 441, 442, slidably mounted in the central piece and whose axes are arranged in the plane P4 of symmetry. The locking rods are adapted to be operated by an actuating system 443 between a retracted position in which the locking rods are arranged in the central piece, away from the side walls of the support module, and an active position deployed in which the locking pins protrude with respect to the front and rear faces 4d, 4 ^e of the central part and are inserted in recesses or openings of the side walls of the support module to block rotation of the support module.

According to Figure 5, the side walls 52a, 52b each have a first recess 523a and a second recess 523b disposed symmetrically on either side of the plane P5 and parallel to the latter. When the support module is disposed in its first position, in which the first roller is in the active position, the first recesses are centered in the plane P4. The locking rods are actuated to their active position, a first locking rod 441 is inserted into the first recess 523a of the front side wall 52a, and the second locking rod 442 is inserted into the first recess 523a of the wall rear side 52b, as shown in Figure 2. The rods ensure the rotational locking of the support module in its first position and thus ensure the maintenance of the first roller in its active position. By elsewhere, the locking rods prevent the axial rod 57 from taking up all the compaction forces, and thus protect the axial rod and the motor 58. In the second position of the support module, the second recesses 523b are centered along the plane P4 a first locking pin 441 is inserted into the second recess 523b of the front side wall 52a, and the second locking pin 442 is inserted into the second recess 523b of the rear side wall 52b. The actuating system 443 is for example a parallel gripper cylinder system, each rod 441, 442 being connected to a gripper. Advantageously, the locking studs have a conical end portion fitting into first and second recesses of complementary conical shape.

Each roll may advantageously be equipped with an additional guidance system (not shown), as described in the patent document WO2014 / 202845, for guiding the rollers leaving the guide system 4 as closely as possible to the roll. The additional guidance system is for example mounted between the two assembly parts 55, the two additional guidance systems being arranged symmetrically on either side of the plane P5, the outer side of the rollers.

The support module is furthermore equipped with a heating system capable of emitting thermal radiation towards the fiber band before it is compacted and / or towards the mold or strips of fibers already applied upstream of the roller in the active position. . This heating system makes it possible at least to soften the pre-impregnating resin, in the case of pre-impregnated fibers, or the binder in the case of dry fibers, and thus to promote the adhesion of the strips to one another. The heating system comprises a first set of infrared lamps 45 associated with the first roll, which is used when the head drapes with the first roll in the first direction SI, and a second set of infrared lamps 45 ', associated with the second roll, which is used when the head drapes with the second roll in the second direction SI. The assemblies are assembled between two supports 451 which are mounted on the lateral edges 524 of the two lateral walls 52. With reference to FIGS. 8 and 9, the first functional module 6a comprises for each fiber of the first ply a cutting system 7, a rerouting system 8, and a locking system 69.

The functional module comprises support elements on which are mounted the various components of the aforementioned systems. The support module is movably mounted on the central part via a hinge system 61 (FIG.7) between an active closed position and an open maintenance position, as described below.

Each cutting system 7 comprises a metal movable blade 71, and a metal fixed blade, also called counter blade 72, the blade 71 being operated by a pneumatic cutting cylinder 73 between an extended position of rest and an active cutting position for cut a fiber from the first sheet.

Referring to Figures 9, 10 and 11, the blade 71 is formed of a rectangular flat plate having two parallel main faces, called inner face 71a, and outer face 71b. The blade is fixedly mounted, removably, cantilevered on a blade support 74 by its proximal mounting portion 715, the blade support being assembled at the end of the rod 73a of the cutting cylinder 73. The blade is provided, on the side of its distal end 714, a through aperture opening 710 for the passage of a fiber, opening on each main face. Said opening forms two lateral edges 711, a front edge 712 opposite the jack, disposed on the side of the distal end 714, and a rear edge 713. The front edge is beveled and constitutes the cutting edge of the blade, the bevel being formed on the side of the outer face 71b.

The counter blade 72 is in the form of a rectangular flat plate having an inner main face 72a, an outer main face 72b, and a beveled front edge forming the cutting edge 721 of the counterblade, the bevel being formed on the side of the inner face 72a. The width of the counter blade corresponds substantially to that of the blade. The counterblade is resiliently mounted in abutment against the inner surface of the blade so that the counterblade is in linear abutment by its cutting edge 721a, also called wire or cutting edge, against the blade. For this assembly, a lever 75 is pivotally mounted on the functional module around an axis A10, the axis of pivoting defining a first arm and a second lever arm. The counterblade is mounted at the end of the first arm. A compression spring 76 mounted in a housing of the functional module acts on the second arm to urge against the blade against bearing against the blade, the spring urging the lever clockwise in Figure 9. The counter blade forms an angle with the blade, for example about 2 °.

In the extended position shown in FIG. 9, the counterblade is disposed against the blade so that its cutting edge 721a is positioned at or beyond the rear edge 713 with respect to the cutting edge 712, for example at said rear edge. Maneuvering the cutting cylinder from the blade from its deployed position to its retracted position allows shearing of a fiber passing through the opening. In the retracted position, the cutting edge 721a of the counterblade is positioned between the cutting edge 712a of the blade and the distal end 714 of the blade. As illustrated in FIG. 11, the cutting edge 712 of the blade is advantageously inclined to progressively cut the fiber and reduce the cutting force.

According to an alternative embodiment, the cutting edge 721 of the counter blade is provided with micro-teeth, to maintain the fiber during cutting to avoid lateral displacement of the fiber during cutting.

To ensure a good guiding movement in translation of the blade between its two positions, the support 74 has a branch 741 equipped with a slide 742 slidably mounted on a rail 743 fixed to the body of the cylinder 73, parallel to the rod 73a cylinder .

The blade 71 is removably assembled on the blade support 74 by quick-locking means 77, such as toggle type latches.

The counterblade 72 is assembled on the lever 75 via assembly means 78 of the magnetic type, such as a magnet housed in the lever arm. The against-blade advantageously has notches in which are positioned lugs of the lever arm to ensure proper positioning of the blade against the lever. According to another embodiment, the counterblade is assembled by means of assembly of mechanical type, for example by means of one or more screws. The counterblade advantageously has a second cutting edge 723 on its edge opposite the first cutting edge 721. The counterblade can then be mounted in reverse on the lever to use the second cutting edge when the first cutting edge is worn.

The cutting systems are mounted side by side on the first functional module, a cutting system being provided for each fiber of the first ply. The levers 75 of the cutting systems are rotatably mounted independently of each other on the same axial rod 751, each lever being biased by its own spring.

In the active closed position of the functional module illustrated in particular in Figure 12, the openings 710 of the blades are disposed under the central part 40 under the downstream edge 4f, vis-à-vis the guide channels. The rods of the cutting cylinders which are parallel to the cutting blades, form an angle less than 90 ° with respect to the guide plane P2, for example of the order of 45 °.

Each rerouting system 8 of the first functional module comprises a counter-roller 81 mounted free to rotate at the end of the rod of a pneumatic rerouting cylinder 82a 82 via a yoke. The jack is able to move the counter-roller between a remote inactive position and an active position in which the counter roller comes to press a fiber against a first drive roller mounted on the central piece 40. Referring to FIG. the counter-rollers of the functional module are mounted upstream of the cutting systems with respect to the direction of travel of the fibers, each counter-roller being centered in a guide channel of the first web in the closed position of the functional module. For reasons of space of the counter-rollers, against-rollers are arranged here in two superposed rows, so that the cylinder rods are disposed substantially perpendicularly to the guide plane P2. The counter-rollers of a first row cooperate with a first drive roller 83a, the counter-rollers of the second row, disposed between the first row and the cutting systems cooperating with another first drive roller 83b. The counter rollers and the drive rollers 83a, 83b are disposed at through apertures respectively of the outer guide plate and the inner guide plate. A counter-roller is provided for each fiber of the first ply, two adjacent fibers of the first ply being rerouted by counter-rollers of different rows.

Each locking system 69 comprises a locking stud 691 mounted at the end of the rod 692a of a locking cylinder 692. The stud has a cylindrical distal portion, defining a flat bearing surface perpendicular to the cylinder rod. The stud passes into an opening of the outer guide plate. The functional module comprises a locking system for each fiber of the first ply The locking systems are arranged side by side in a row, upstream of the rerouting systems, so that the stems are centered in the first channels, substantially perpendicular to the first channel. P2 guide plane. The jack is able to move the pad between an inactive position and an active position to block a fiber. In the inactive position, the stud is removed from the guide channel with which it is associated. During its displacement towards the active position, the stud abuts by its bearing surface against a counter-tool, and clamps the fiber. Counter-tools locking systems are formed for example of the same metal bar housed in a recess of the inner guide plate.

The second functional module 6b for the second fiber ply F2 is identical to the first functional module, and comprises, with reference to FIG. 12, cutting systems 7 ', rerouting systems 8' and locking systems 69 '. In its closed active position, the second functional module comes flat by its main surface against the second lateral face 4a of the central piece. The central part is equipped with two second drive rollers 84a, 84b for cooperating with the re-routing counter-rollers of the second functional module re-routing systems. The first and second rolls are positioned symmetrically on either side of the plane P4. The four drive rollers 83a, 83b, 84a, 84b are rotated through a belt by a single motor. The drive rollers are rotatably mounted in bores of the center piece about axes of rotation parallel to the plane P4. The drive rollers are mounted on the central piece 40, removably, by the front face 4e of the central piece. The back end of each roll goes through the first support plate 42 and is provided with coupling means adapted to cooperate with complementary coupling means mounted on a pinion 85 rotatably mounted on the second support plate 43. These coupling means allow automatic coupling, substantially without play, of each drive roller with its associated pinion, when the drive roller is inserted into the center piece by the front face. With reference to FIG. 4, the four gears 85 of the rerouting rollers are arranged between the first support plate 42 and the second support plate 43. A rerouting motor 86 is mounted on the rear face of the second support plate, its drive shaft. driving through said second plate and being equipped with a pinion 86b. A toothed belt 87 is mounted on the motor pinion 86b, the four pinions 85, as well as on the return pulleys 88, so that, with reference to the arrangement of FIG. 7, the first drive rollers 83a, 83b for the first functional module are rotated in the counter-clockwise direction, and the second drive rollers 84a, 84b for the second functional module are rotated in a clockwise direction. The drive motor 86 is driven by the control unit of the machine to drive the rollers, for example so that the peripheral speed of said rollers corresponds to the speed of the central point of the tool, or TCP, defined as being the middle of the line of intersection between the surface of the compaction roller in the active position and the draping surface.

To access the front ends of the first rollers, and in particular to disengage the arm 56, the movable support is brought into its second position. The movable support is brought into its first position to access the second drive rollers.

Each functional module is mounted movably on the central part via two articulation systems 61, a first articulation system is mounted between a first front lateral face of the functional module and the front face 4e of the central part, the second system of articulation being mounted between the second lateral face of the functional module and the rear face 4d of the central piece. With reference to FIGS. 7 and 8, each articulation system is of the type with combined movements of rotation and translation, comprising a a double-link system, the links 611, 612 being pivotally assembled from one side to a lateral face of the module, and on the other side to an assembly part 613 which can be dismountably assembled to a piece of complementary assembly 614 mounted on one of the front and rear faces of the main part.

The articulation systems allow the maneuvering of the module between an active closed position, as illustrated for example in FIGS. 6 and 12, in which the main face 60 a provided with the outer guide plate is pressed against the lateral face of the part. central equipped with its inner guide plate, and an open maintenance position shown in Figure 7, wherein the main face 60a is spaced from the central part, and is disposed at about 70-110 ° from the side face. In FIGS. 7 to 9, the first functional module is shown without its outer guide plate. The module is brought into the open maintenance position to carry out maintenance operations on the functional module, as well as on the guide plate and / or the drive rollers.

For each functional module, the cutting cylinders 73, the rerouting cylinders 82 and the locking cylinders 692 are connected to pneumatic solenoid valves, shown schematically under the references 79, 89 and 693, mounted on the functional module. , and enslaved by a control unit of the head. The pneumatic supply of the cylinders is performed when the module is in the closed position. The inputs and outputs of the electro valves are connected by conduits (not shown) respectively to the chambers of the cylinders and to connection systems arranged on the main face of the module, on either side of the counter rollers and studs. blocking. When the module is in the closed position, these connection systems are able to connect tightly to complementary connection systems 48a, 48b disposed on the main face of the central part and connected to compressed air supply ducts. When closing the module, the hinge systems provides a final translational movement for the pneumatic connection.

Each functional module can also be equipped on its main face or at the top of the module of a connection system electrical connector adapted to cooperate with complementary electrical connection systems on the central part for automatic electrical connection of the electro valves, as well as any other equipment mounted on the module, when the functional module is brought into closed position.

To facilitate the operation of each functional module between its two positions, two assistance cylinders 62 are pivotally mounted between the central part 40 and the functional module. Central part side, the cylinder is pivoted by its cylinder body to a support plate

63 mounted on the upper face of the central piece. Moreover, each functional module is advantageously equipped with a handle

64 to facilitate its maneuver between its two positions. Blocking means are provided for blocking each module in its closed position

To shift the second set of infrared lamps 45 'and allow the operation of the functional module to its open position, the mobile support 50 is moved beforehand to a first maintenance position shown in Figure 6, wherein the support module is further shifted to the right, the arm performing an additional rotation in the counterclockwise direction, for example about 15-30 ° with respect to the second position of the module in which the second roller is in the active position. The support module is also movable in a second maintenance position, in which the support module is arranged on the side of the first functional module, in a position symmetrical to that of the support module in the first maintenance position. The support module 50 is brought into this second maintenance position to carry out maintenance operations on the second functional module in the open position, as well as on the guide plate and / or the drive rollers. According to another embodiment, the sets of infrared lamps 45, 45 'are pivotally mounted the functional modules, about an axis by between an active position shown in the figures and a position apart, in which the lamps are separated from the central piece to allow the operation of the functional modules between their two positions when the support module is in its first and second positions. Each set of lamps I is for example pivotally mounted on a lateral edge 524 of the front side wall 52a about an axis parallel to said lateral edge.

Referring to Figures 2 and 12, the plate has a portion 211c extending beyond the sliding plane PI, above the movable portion 22 of the head. The routing tubes 926, 927 are mounted via the downstream fastening systems 925, for example in the form of cassettes, on the upper face 211a of this part 211c of platinum, in two rows parallel to the plane P4, a first row of tubes 926 for bringing into the head the fibers F1 of the first ply, and a second row of tubes 927 for feeding into the head the fibers F2 of the second ply. The sheath 922 is fixed at the end to a cylindrical mounting piece 928 which is fixed on the upper face of the plate. At the outlet of the tubes, each fiber passes through a central opening 216 of the plate and then onto two rollers in order to be separated from the plane P4 and to be guided in the guide channels along the planes PI and P2. Each fiber passes on a first roller 217 rotatably mounted on the plate, under the lower face thereof, and then on a second roller 461 mounted on the central piece 40 to guide the fiber in its guide channel. A pair of first roller and second roller is provided for each fiber. Advantageously, the rollers 461 for a fiber web are mounted on a support integral with the inner guide plate associated with said web.

The first module and the second module are identical and interchangeable. For calibration operations of the cutting, re-routing and blocking systems, each functional module can be removed from the head and mounted on a calibration bench.

The inner guide plates advantageously comprise two transverse bars, one disposed in the upper part and the other in the lower part, for holding the fibers on said plates when the functional modules are brought into the open position, and ensuring the correct positioning of the fibers. when closing the functional modules.

According to an alternative embodiment, to guarantee the accuracy and robustness of the pivoting mounting of the support module, a second curved arm is assembled to the rear side wall 525 of the support module, said second arm is bent to bypass the mounting plates 213 and come to be mounted on the rear end of the axial rod 57.

The machine comprises a control unit (not shown) for controlling the movements of the robot according to programmed sequences, as well as the fiber placement head, in particular the solenoid valves of the cutting cylinders, rerouting cylinders, and locking jacks, the rod control cylinder 441, 442 for locking the support module, the motor of the drive rollers, and the motor for pivoting the support module.

Although the invention has been described in connection with a particular embodiment, it is obvious that it is not limited thereto and that it comprises all the technical equivalents of the means described and their combinations if they are within the scope of the invention.

Claims

Fiber application machine for producing composite material parts comprising

a fiber application head (2) comprising a fixed part (21) and a mobile part (22), the mobile part comprising

a compacting system comprising at least one application roll (5, 5 ') for applying a strip formed of one or more fibers (F1, F2) to an application surface,

a guiding system (4) for guiding the fibers towards said application roller,

and fiber cutting means,

the movable part (22) being slidably mounted on the fixed part (21) in a plane of sliding (PI),

- and a displacement system (10) able to move the head, the head being mounted by its fixed part (21) to said displacement system along an assembly axis (A7),

characterized in that the assembly axis (A7) and the sliding plane (PI) are parallel to each other, and the movable part (22) is mounted on the fixed part (21) so that the axis of rotation (A8, A '8) of the compaction roller (5, 5') is arranged perpendicular to the sliding plane, and on the sliding plane (PI) side which is opposite to the assembly axis (A7).

2. Machine according to claim 1, characterized in that it comprises means (91) for storing fibers and conveying means (92) for conveying the fibers of said storage means to the application head, said means routing members comprise flexible tubes (926, 927), the flexible tubes being joined at the end to the fixed portion (21) of the fiber application head.

3. Machine according to claim 1 or 2, characterized in that said guide system (4) is adapted to guide a plurality of fibers to the application roller (5, 5 ') in the form of a strip, the guiding system comprises first and second guide means arranged in staggered rows along two guide planes (P2, P3) for guiding the fibers towards the roller in the form of two sheets of fibers, said guiding system having a mean plane (P4 ), the two guide planes (P2, P3) are arranged symmetrically on both sides. other than said middle plane, said middle plane (P4) comprising the assembly axis (A7), the guide system (4) comprises a central piece (40) having two lateral faces (4a, 4b) defining the two guiding planes (P2, P3), an upper face (4c), a rear face (4d) through which said central piece is slidably assembled on the fixed part (21), and a front face (4e) opposite to the back side.

4. Machine according to claim 3, characterized in that the head comprises rerouting means (8), comprising for each fiber web at least one drive roller (83a, 83b; 84a, 84b) mounted on the central piece (40), and counter rollers (81) actuated by rerouting cylinders (82) between a rest position and an active position, the drive rollers being driven by at least one motor (86) disposed on the sliding plane (PI) which is opposite to the movable part (22), the drive rollers being removably mounted on the central part and are able to be disassembled by the front face (4e) of the central piece.

5. Machine according to claim 3 or 4, characterized in that the head comprises rerouting means (8), comprising for each fiber web at least one drive roller (83a, 83b; 84a, 84b) mounted on the central piece (40), and counter-rollers (81) actuated by rerouting cylinders (82) between a rest position and an active position, said machine further comprises two functional modules (6a, 6b) comprising the means for section, and the counter-rollers and rerouting cylinders of the rerouting means, the functional modules being mounted movable on both sides (4a, 4b) of the central piece (40), each functional module being movable between a closed position active in which its main face (60 ') comes against a side face (4a, 4b) of the central piece, and an open maintenance position in which the main face of the module is spaced from said side face.

6. Machine according to one of claims 1 to 5, characterized in that the compaction system is assembled on a support module (50) pivotally mounted relative to the guide system about a pivot axis (A9) perpendicular to the sliding plane (PI), between a first position for the application of fibers in a first direction (SI) and a second position for the application of fibers in a second direction (S2), the support module is fixedly mounted to at least one arm (56) pivotally mounted about said pivot axis.

7. Machine according to claims 3 and 6, characterized in that the arm (56) is disposed on the side of the lateral face (4e) before the central piece and is fixed to the front end of an axial rod (57). ), defining said pivot axis (A9), rotatably mounted on the guide system (4) and adapted to be rotated by a motor (58) disposed on the side of the sliding plane (PI) which is opposed to the part mobile (22).

8. Machine according to one of claims 1 to 7, characterized in that the fixed part (21) of the head comprises a plate (211) fixed by a first upper face (211a) to the displacement system along the axis assembly (A7), its second lower face carrying two mounting plates (213) spaced from each other and extending perpendicularly to the plate, the movable portion (22) being slidably mounted on the front edges ( 213a) mounting plates.

9. Machine according to claims 2 and 8, characterized in that the plate (211) extends above the movable portion (22), the tubes (926, 927) are assembled at the end to the plate.

10. A method of producing composite material parts, comprising draping fibers on an application surface, characterized in that said draping is performed by means of a fiber application machine according to one of claims 1 to 9.