Automatic fiber laying system and planning method for its laying track

Abstract

The invention discloses an automatic fiber placement system, which includes an automatic fiber placement device, a mold bearing device corresponding to the fiber automatic placement device, and a control subsystem. The control subsystem includes a fiber automatic placement device Controlled press roller pressure-laying track mixing control module and laying tension-speed decoupling control module and temperature fuzzy adaptive control module controlling the temperature of the mold carrying device; the present invention also provides the above-mentioned fiber automatic laying The planning method of the laying track of the laying device. The present invention can realize the precise control of the laying process parameters, thereby improving the laying quality. The laying track of the present invention can make the collaborative manipulator avoid singular poses, and at the same time improve the stress on the joints of the cooperative manipulator, avoid interference, and improve movement efficiency and safety.

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...

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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

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