Automatic fiber laying system and planning method of laying track thereof

A laying trajectory and motion trajectory technology, which is applied in the field of automatic fiber laying system and its laying trajectory planning, can solve the problems of unstudied parameter coupling, few studies on laying pressure/position hybrid control, etc. Poor force, avoid wire/pipe entanglement and motion interference, overcome the effect of laying deviation

Active Publication Date: 2021-01-15
WUHAN UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0003] At present, there are many studies on the automatic laying system and its control at home and abroad. The design of the robot automatic laying machine mainly focuses on the ability to complete the laying requirements of automatic laying. There are few studies on the mixed control of laying pressure / position, and no Study the influence of parameter coupling (such as: tension-velocity coupling) on ​​the control effect

Method used

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  • Automatic fiber laying system and planning method of laying track thereof
  • Automatic fiber laying system and planning method of laying track thereof
  • Automatic fiber laying system and planning method of laying track thereof

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Embodiment Construction

[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0037] The invention provides a fiber automatic laying device, such as figure 1 As shown, it includes an automatic fiber placement device 1 based on a collaborative robot arm, a mold carrying device 2 based on a multi-degree-of-freedom motion platform, and a control subsystem for controlling the automatic fiber placement device 1 and the mold carrying platform 2 . Wherein, the automatic fiber placement device 1 includes a cooperative robot arm 1-1 and a placement head 1-2 arranged at the end of the cooperative robot arm 1-1. The mold carrying device 2 includes a multi-degree-of-freedom motion platform 2-1 and an intelligent temperature-controlled mold 2-2 arranged on the multi-degree-of-freedom motion platform 2-1, wherein the laying head 1-2 and the intelligent temperature-c...

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Abstract

The invention discloses an automatic fiber laying system, the system comprises an automatic fiber laying device, a mold bearing device arranged corresponding to the automatic fiber laying device and acontrol subsystem, wherein the control subsystem comprises a compression roller pressure and laying track hybrid control module and a laying tension and speed decoupling control module which are usedfor controlling the automatic fiber laying device, and a temperature fuzzy self-adaptive control module for controlling the temperature of the mold bearing device. The invention further provides a planning method of the laying track of the automatic fiber laying device. According to the automatic fiber laying system and the planning method, precise control over laying process parameters can be achieved, so that laying quality is improved; and the laying track enables a cooperative mechanical arm to avoid singular poses, meanwhile, the joint stress condition of the cooperative mechanical arm is improved, interference is avoided, and the movement efficiency and safety are improved.

Description

technical field [0001] The invention relates to the technical field of laying composite materials. More specifically, the present invention relates to an automatic fiber laying system and a planning method for its laying trajectory. Background technique [0002] Carbon fiber composite materials have excellent properties such as high specific strength, high specific modulus, fatigue resistance and chemical corrosion resistance, and are widely used in aerospace, automobile, ship and sports equipment and other fields. Automatic lay-up technology is one of the important methods to achieve composite molding. According to the shape of fiber reinforced composite materials, automatic laying technology can be divided into two types: automatic tape laying and automatic wire laying. The automatic laying technology combines the advantages of automatic tape laying and fiber winding technology. The laying head combines the independent conveying of multiple prepreg tows in the winding te...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B29C70/38B29C70/54
CPCB29C70/384B29C70/54
Inventor 肖晓晖段宝阁陆伟杨尚尚何思宇王镇李正顺
Owner WUHAN UNIV
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