Short yarn conveying automatic fiber placement system and control method thereof

Abstract

The invention discloses a short yarn conveying automatic fiber placement system and a control method thereof, and belongs to the technical field of robot automatic fiber placement. The short yarn conveying automatic fiber placement system comprises a six-axis industrial robot, a tail end execution assembly and a master control unit, and the master control unit is connected with the six-axis industrial robot and the tail end execution assembly; the six-axis industrial robot runs the laying track according to an instruction of the general control unit and is coupled with a yarn feeding motor to execute a yarn feeding instruction; the tail end execution assembly is used for automatically laying execution actions; the general control unit is used for controlling the six-axis industrial robot and the end execution assembly and monitoring the operation process of the six-axis industrial robot and the end execution assembly. By means of the six-axis industrial robot and the highly-automatic tail end execution system, the wire placement action is accurately controlled, and the operation efficiency and the wire placement quality are improved. Meanwhile, by means of the real-time monitoring and self-adaptive control technology, the stability of the fiber placement process and the optimal use of materials are ensured, and therefore the problems of low production efficiency and high material cost are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic automatic fiber placement, and particularly relates to a short yarn transfer automatic fiber placement system and its control method. Background Art

[0002] In the existing field of automatic fiber placement, with the continuous expansion of the application of composite materials, especially in high-tech industries, the demand for fiber placement technology is increasing day by day. However, traditional automatic fiber placement systems face a series of challenges, such as the limitations of robot operation, material waste during the fiber placement process, and the complexity of system integration. Current fiber placement systems mainly rely on six-axis or more-axis robots to perform tasks. Although these systems achieve a certain degree of automation, they still have problems such as insufficient operation flexibility and difficulty in system reconfiguration. In addition, these systems often lack effective monitoring and control of fiber placement quality, and the fiber placement quality highly depends on the precise control of the robot and the experience of the operator.

[0003] To address these problems, a short yarn transfer automatic fiber placement system and its control method proposed in this paper utilize the highly integrated advanced six-axis industrial robot and end effector system to achieve automatic fiber placement with higher efficiency and precision. This system integrates robot motion control and end fiber placement execution actions through a master control unit, significantly improving the operation flexibility and automation level of the system. The end effector system is equipped with devices such as shearing, clamping, refeeding, heating, and rolling, combined with real-time tension control and temperature adaptive control, greatly optimizing the stability of the fiber placement process and the utilization rate of fiber materials, thereby reducing material costs while ensuring fiber placement quality. In addition, the safety auxiliary devices of the system provide strong safety protection for the operator. This innovative system design not only meets the fiber placement requirements for complex shapes but also provides reliable technical support for the manufacturing of complex structural components. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a short yarn transfer automatic fiber placement system and its control method. The present invention realizes precise control of fiber placement actions through a six-axis industrial robot and a highly automated end effector system, improving operation efficiency and fiber placement quality. At the same time, through real-time monitoring and adaptive control technologies, the stability of the fiber placement process and the optimal use of materials are ensured, thus solving the problems of low production efficiency and high material costs.

[0005] The object of the present invention is achieved by the following technical solutions: A short-fiber automatic fiber placement system, comprising a six-axis industrial robot, an end effector assembly disposed on the six-axis industrial robot, and a master control unit. The master control unit is connected to the six-axis industrial robot and the end effector assembly. The six-axis industrial robot operates a placement trajectory according to an instruction from the master control unit and couples a yarn feeding motor to execute a yarn feeding instruction. The end effector assembly is used for automatically performing a placement action. The master control unit is used for controlling the six-axis industrial robot and the end effector assembly and monitoring the operation process of the six-axis industrial robot and the end effector assembly.

[0006] Preferably, the end effector assembly includes a fiber placement head base, on which a tension control device, a clamping device, a refeeding device, a shearing device, a rolling device, and a heating device are provided. The tension control device is used for monitoring and adjusting the fiber tension. The clamping device is used for fixing the fiber bundle before shearing. The refeeding device is used for refeeding the fiber bundle onto the surface of a workpiece after shearing. The shearing device is used for adjusting the width of the fiber bundle. The rolling device is used for pressing the fiber bundle tightly against the surface of the workpiece. The heating device is used for controlling the viscosity of the fiber bundle.

[0007] Preferably, the master control unit includes a computer installed with master control software and a PLC control cabinet. The master control software is used for controlling and process monitoring of the short-fiber automatic fiber placement system. The PLC control cabinet includes a PLC controller and an IO module, and is used for receiving an instruction from a host computer and controlling the actions of the six-axis industrial robot and the end effector assembly.

[0008] Preferably, a safety auxiliary device is further included, and the safety auxiliary device includes a monitoring component and a safety fence.

[0009] Preferably, the monitoring component includes a system operation monitoring module, a placement process monitoring module, and an ambient temperature monitoring module. The system operation monitoring module includes 5 network dome cameras, which are distributed around the safety fence, and an operator observes the operation condition of the system on a monitoring interface in an operation room. The placement process monitoring module includes 1 monocular camera, which is used for collecting placement surface images in real time and uploading them to the master control unit. The placement temperature monitoring module includes 1 infrared thermometer, which is used for monitoring the temperature of the current placement area on the fiber placement surface in real time and uploading it to the master control unit in real time.

[0010] A control method for a short-fiber automatic fiber placement system includes the following steps: Step 1, system self-check; Step 2, placement preparation; Step 3, trajectory loading; Step 4, adaptively controlling the placement temperature according to the placement speed during the placement process by fitting the relationship between the placement temperature and the placement speed and programming it in the master control unit. Step 5: Control the tension by controlling the current of the electromagnetic tension controller; Step 6: Configure a database and create a data table to record the data during the operation of the storage system, the device status data, and the user data; Step 7: Manually demold the prefabricated parts that have been laid from the mold for subsequent processes.

[0011] Preferably, in Step 1, the system self-check includes the following steps: Step 11: Communication status self-check: Set the IP addresses of the master control unit and the six-axis industrial robot to the same network segment, and read the communication status between the master control unit and the six-axis industrial robot; Step 12: If the communication status is normal, run the self-check program. The self-check program is a simple laying trajectory program that only includes the actions of the end effector and does not include the actions of the six-axis industrial robot itself; Step 13: After the execution is completed, feedback the result to the master control unit.

[0012] Preferably, in Step 2, for laying preparation: Before work, the worker installs the wire laying mold at the specified tooling at the specified position.

[0013] Preferably, in Step 3, the trajectory loading includes the following steps: Step 31: Offline compile the trajectory file, which includes defining the motion path of the six-axis industrial robot, the operating speed, and the spatial coordinates of the workpiece to be processed; Step 32: Transmit the trajectory file to the six-axis industrial robot control system through the network, USB device, or other data transmission methods; Step 33: On the operation interface in the six-axis industrial robot control system, select the "Import Trajectory File" function, browse and select the trajectory file transmitted to the six-axis industrial robot control system.

[0014] Preferably, Step 4 includes the following steps: Step 41: The laying speed of the six-axis industrial robot is read in real time by the master control unit. A non-contact temperature sensor is installed on the end effector to measure the real-time wire laying temperature, and the optimal laying temperature at different laying speeds v is collected T Data points. Let a set of collected data points be , where ; Step 42: Select the linear model as the fitting model for the relationship between the laying temperature and the laying speed, where and b are the parameters to be determined; Step 43: Use the least squares method to solve the parameters and b ; Step 44: Continuously collect the optimal laying temperature T at 20 laying speeds v, and substitute it into the model to verify the accuracy of the model; Step 45: Define temperature and speed variables in the master control unit, obtain the temperature and speed values in real time, and edit the laying temperature and laying speed formulas using ST language or ladder diagram.

[0015] Preferably, in step 43, parameter solving: ; ; wherein, , b are the parameters to be solved; n is the number of data points collected; v is the laying speed; T is the laying temperature.

[0016] Preferably, in step five, it includes the following steps: Step 51: The elastic element conforms to Hooke's law, and the relationship between the tension and the compression amount of the elastic element is F = k * x, where F is the tension of the tow, k is the elastic coefficient, and x is the compression amount of the elastic element; Step 52: Through preliminary experiments, the target tension is measured as , and according to the relationship in step 51, calculate the target compression amount , where k is the elastic coefficient; Step 53: Control the tension by controlling the current of the electromagnetic tension controller: The electromagnetic tension controller reduces the tow tension by actively canceling the tension. When the current is increased, the canceling force will increase, and vice versa; the current compression amount x and the target compression amount The difference , set the threshold as , when , control the tension by increasing or decreasing the current of the electromagnetic tension controller to make it within the target range; Step 54: Define the compression amount and current variables in the master control unit, obtain the compression amount value and current value in real time, and edit the above formulas using ST language or ladder diagram.

[0017] The beneficial effects of this technical solution are as follows: 1. A short transfer yarn automatic fiber placement system provided by the present invention adopts an advanced six-axis industrial robot and an integrated end effector, and effectively improves the accuracy and operation flexibility of automatic fiber placement through a highly integrated master control unit. The system is equipped with multifunctional actuators such as shearing, clamping, refeeding, heating, rolling, and tension control. With precise temperature and tension adaptive control technologies, it realizes precise management of fiber tension and temperature during the fiber placement process, greatly optimizing the material utilization efficiency and reducing waste. In addition, the present invention also introduces a real-time data monitoring and feedback mechanism, ensuring the consistency and repeatability of fiber placement quality during the production process, significantly improving the automation level and production efficiency of composite part production, and effectively meeting the stringent requirements of high-tech industries for the accuracy and reliability of composite material products.

[0018] 2. In the short transfer yarn automatic fiber placement system provided by the present invention, the end effector assembly integrates functions such as shearing, clamping, refeeding, heating, and rolling, which enables the end effector assembly to handle various fiber placement tasks with different complexities, improving the application range and flexibility of the equipment.

[0019] 3. The short transfer yarn automatic fiber placement system provided by the present invention introduces an advanced monitoring component that can real-time monitor and record key parameters during the fiber placement process, such as ambient temperature, machine status, material tension, etc. The real-time feedback of these data can help operators adjust the production process in a timely manner to ensure product quality.

[0020] 4. A control method for the short transfer yarn automatic fiber placement system provided by the present invention can automatically adjust the placement parameters according to the real-time working conditions by introducing adaptive placement temperature control and tension control technologies. This not only ensures the accuracy of the placement process but also optimizes the material utilization efficiency and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the system in the present invention; Figure 2 is a schematic diagram of the structure of the end effector assembly in the present invention; Figure 3 is a schematic diagram of the structures of the tension control device, clamping device, heating device, rolling device, shearing device, and refeeding device in the present invention; Figure 4 is the overall control procedure in the present invention; Figure 5 is the control flow chart of the system self-check process in the present invention; Figure 6 is the adaptive placement temperature control flow chart in the present invention Figure 7 is the fiber bundle tension control flow chart in the present invention; Figure 8 It is a schematic diagram of the action relationship among the tension control device, clamping device, heating device, rolling device, shearing device and refeeding device in the present invention; Figure 9 It is the overall control software architecture diagram in the present invention; Wherein: 1. End effector assembly; 11. Fiber placement head base; 12. Tension control device; 13. Clamping device; 14. Heating device; 15. Rolling device; 16. Shearing device; 17. Refeeding device; 2. Six-axis industrial robot; 3. Overall control unit. Specific embodiments

[0022] The present invention will be further described in detail below in conjunction with embodiments, but the embodiments of the present invention are not limited thereto.

[0023] Embodiment 1 As Figures 1 - 3 shown, a short yarn transfer automatic fiber placement system includes a six-axis industrial robot 2, an end effector assembly 1 provided on the six-axis industrial robot 2, and an overall control unit 3. The overall control unit 3 is connected to the six-axis industrial robot 2 and the end effector assembly 1. The six-axis industrial robot 2 runs a placement trajectory according to the instructions of the overall control unit 3 and couples with a yarn feeding motor to execute a yarn feeding instruction; the end effector assembly 1 is used for automatically performing placement actions; the overall control unit 3 is used to control the six-axis industrial robot 2 and the end effector assembly 1 and monitor the operation processes of the six-axis industrial robot 2 and the end effector assembly 1. The six-axis industrial robot 2 uses mature robot products on the market, such as KUKA, ABB or FANUC brands. The robot consists of a robot body and a control cabinet, and is responsible for executing complex fiber placement trajectories to ensure fiber placement accuracy and repeatability.

[0024] Embodiment 2 A short yarn transfer automatic fiber placement system includes a six-axis industrial robot 2, an end effector assembly 1 provided on the six-axis industrial robot 2, and an overall control unit 3. The overall control unit 3 is connected to the six-axis industrial robot 2 and the end effector assembly 1. The six-axis industrial robot 2 runs a placement trajectory according to the instructions of the overall control unit 3 and couples with a yarn feeding motor to execute a yarn feeding instruction; the end effector assembly 1 is used for automatically performing placement actions; the overall control unit 3 is used to control the six-axis industrial robot 2 and the end effector assembly 1 and monitor the operation processes of the six-axis industrial robot 2 and the end effector assembly 1. The six-axis industrial robot 2 uses mature robot products on the market, such as KUKA, ABB or FANUC brands. The robot consists of a robot body and a control cabinet, and is responsible for executing complex fiber placement trajectories to ensure fiber placement accuracy and repeatability.

[0025] Among them, the end effector assembly 1 includes a fiber placement head base 11, on which a tension control device 12, a clamping device 13, a refeeding device 17, a shearing device 16, a rolling device 15 and a heating device 14 are arranged; the tension control device 12 is used for monitoring and adjusting the fiber tension; the clamping device 13 is used for fixing the fiber bundle before shearing; the refeeding device 17 is used for refeeding the fiber bundle to the workpiece surface after shearing; the shearing device 16 is used for adjusting the width of the fiber bundle; the rolling device 15 is used for pressing the fiber bundle tightly against the workpiece surface; the heating device 14 is used for controlling the viscosity of the fiber bundle.

[0026] As Figure 8 shown, the end effector assembly 1 operates as follows: After the general control software in the general control unit 3 issues a placement instruction, the PLC receives the instruction and issues it. The tension control device 12 is started, the refeeding device 17 is started to release the placement filament bundle, the clamping device 13 locks the filament bundle, the heating device 14 is heated to the initial set value, the rolling device 15 pressurizes the filament bundle and starts to place, and the shearing device 16 cuts off the filament bundle.

[0027] The tension control device 12, the clamping device 13, the refeeding device 17, the shearing device 16, the rolling device 15 and the heating device 14 all adopt modular design and are sequentially fixed on the fiber placement head base 11 by pins and screws. During the placement process, the tension control device 12 is always in the working state, reducing the filament bundle tension from the upstream to below 2N to prevent defects such as bridging during placement. The rolling device 15 presses the filament bundle onto the mold surface, and its placement trajectory and pressure are executed according to the set placement program. The heating device 14 heats the surface of the workpiece to be placed, and its heating power is related to the placement speed, making the surface to be placed have a certain viscosity, and the filament bundle adheres to the workpiece surface under the action of the pressure of the placement roller.

[0028] The clamping device 13, the refeeding device 17, and the shearing device 16 operate as follows during the placement process: (1) When restarting the placement, the refeeding device 17 is in the working state, the clamping device 13 and the shearing device 16 are in the non-working state, and the filament bundle is transported to under the placement roller of the rolling device 15 by the refeeding device 17 to restart the placement. (2) During the placement process, the clamping device 13, the refeeding device 17, and the shearing device 16 are all in the non-working state, and the filament bundle is placed on the workpiece surface under the "dragging" action of the placement roller. (3) When aborting the placement, the refeeding device 17 is in the non-working state, the clamping device 13 clamps the filament bundle to prevent the filament bundle from retracting, and the shearing device 16 cuts off the filament bundle to abort the placement.

[0029] Among them, the general control unit 3 includes a computer equipped with general control software and a PLC control cabinet. The general control software is used for the control and process monitoring of the short transmission yarn automatic fiber placement system. The general control software realizes data interaction with the PLC through the OPC-UA protocol, so as to realize the control and monitoring of each execution device. AsFigure 9 As shown in the figure, the master control software adopts a three-layer architecture design, which is divided into a data access layer, a business logic layer, and a presentation layer. The data access layer is used for data collection and data storage operations. The data access layer includes a device communication module, a variable database, and a historical database. The device communication module is connected to each execution device of the fiber placement system and the variable database. The business logic layer contains logic processes related to the core, mainly realizing logic rules and function designs. The business logic layer includes fiber placement program management, database operation design, and fault data query design. The variable database is connected to the fiber placement program management and database operation design. The sorting database is connected to the fault data query design. The presentation layer mainly completes the task of interacting with users and submits relevant data to the business logic layer for processing. The presentation layer includes a human-machine interface module, device monitoring operations, user management, data storage query, and fault alarm query. The human-machine interface module is connected to device monitoring operations, user management, data storage query, and fault alarm query. The device monitoring operations are connected to the fiber placement program management. The user management is connected to the database operation design. The fault alarm query is connected to the fault data query design. The PLC control cabinet includes a PLC controller and an IO module, which are used to receive instructions from the upper computer and control the actions of the six-axis industrial robot 2 and the end effector 1.

[0030] Among them, a safety auxiliary device is also included. The safety auxiliary device includes a monitoring component and a safety fence. The monitoring component monitors the working area and equipment status in real time, and the safety fence ensures that the operator operates within a safe area to prevent accidents.

[0031] Among them, the monitoring component includes a system operation monitoring module, a fiber placement process monitoring module, and an environmental temperature monitoring module. The system operation monitoring module includes 5 network dome cameras, which are distributed around the safety fence. The operator observes the system operation situation on the monitoring interface in the operation room. The fiber placement process monitoring module includes 1 monocular camera, which is used to collect the fiber placement surface image in real time and upload it to the master control unit 3. The fiber placement temperature monitoring module includes 1 infrared thermometer, which is used to monitor the temperature of the current fiber placement area on the fiber placement surface in real time and upload it to the master control unit 3 in real time.

[0032] Embodiment 3 As Figures 4 - 7 shown, this embodiment adopts the control method of a short transfer yarn automatic fiber placement system described in Embodiment 2, including the following steps: Step 1: System self-check; Step 2: Fiber placement preparation; Step 3: Trajectory loading; Step 4: By fitting the relationship between the fiber placement temperature and the fiber placement speed and programming it in the master control unit 3, adaptively control the fiber placement temperature according to the fiber placement speed during the fiber placement process; Step 5: Control the tension by controlling the current of the electromagnetic tension controller. Step 6: Configure the database (configure the database using SQLServer software), create data tables for recording the data during the operation of the storage system, the device status data, and the user data. Step 7: Manually demold the prefabricated parts that have been laid from the mold and perform subsequent processes (such as curing processes).

[0033] Among them, in the above-mentioned Step 1, the system self-check includes the following steps: Step 11: Communication status self-check: Set the IP addresses of the master control unit 3 and the six-axis industrial robot 2 to the same network segment, and read the communication status between the master control unit 3 and the six-axis industrial robot 2. Step 12: If the communication status is normal, run the self-check program. The self-check program is a simple laying trajectory program that only includes the actions of the end effector 1 and does not include the actions of the robot body. Step 13: After the execution is completed, feedback the result to the master control unit 3.

[0034] Preferably, in the above-mentioned Step 2, laying preparation: Before work, the worker installs the fiber placement mold at the specified tooling at the specified position (in order to lay an ideal composite shape, when the system operates, the fiber bundle needs to be laid on the mold).

[0035] Among them, in the above-mentioned Step 3, trajectory loading (loading the fiber placement trajectory program compiled offline programming into the controller of the six-axis industrial robot 2 is a key step in the automated fiber placement operation to ensure that the six-axis industrial robot 2 can execute the fiber placement task according to accurate instructions) includes the following steps: Step 31: Offline compile the trajectory file (use specialized robot programming software, such as RoboDK, RobotStudio, etc. to compile the fiber placement trajectory offline on the computer). The trajectory file includes defining the motion path of the robot, the operating speed, and the spatial coordinates of the workpiece to be processed. Step 32: Transmit the trajectory file to the control system of the six-axis industrial robot 2 through the network (Ethernet), USB device, or other data transmission methods. Step 33: On the operation interface in the control system of the six-axis industrial robot 2, select the "Import Trajectory File" function, browse and select the trajectory file transmitted to the control system of the six-axis industrial robot 2.

[0036] Among them, the above-mentioned Step 4 includes the following steps: Step 41: The laying speed of the six-axis industrial robot 2 is read in real time by the master control unit 3. The end effector 1 is equipped with a non-contact temperature sensor for measuring the real-time fiber placement temperature, and different laying speeds are collected. vOptimal laying temperature below T Data points, assuming a set of collected data points is , where ; Step 42: Select a linear model As the fitting model for the relationship between laying temperature and laying speed, where and b are parameters to be determined; Step 43: Use the least squares method to solve for the parameters and b ; Step 44: Continue to collect the optimal laying temperature at 20 laying speeds v below T , and substitute it into the model to verify the accuracy of the model; Step 45: Define temperature and speed variables in the master control unit 3, obtain temperature and speed values in real time, and edit the laying temperature and laying speed formula using ST language or ladder diagram.

[0037] Among them, in the above step 43, parameter solution: ; ; Among them, , b are parameters to be determined; n is the number of collected data points; v is the laying speed; T is the laying temperature.

[0038] Among them, in the following step five, it includes the following steps: Step 51: The elastic element conforms to Hooke's law, and the relationship between the tension and the compression amount of the elastic element is F = k * x, where F is the tension of the tow, k is the elastic coefficient, and x is the compression amount of the elastic element (obtained through a displacement sensor); Step 52: Through preliminary experiments, the target tension is measured to be , and according to the relationship in step 51, calculate the target compression amount , where k is the elastic coefficient (calculate the target compression amount based on the target tension ); Step 53: Control the tension by controlling the current of the electromagnetic tension controller: The electromagnetic tension controller reduces the tow tension by actively canceling the tension. When the current increases, the cancellation force increases, and vice versa; the difference between the current compression amount x and the target compression amount , set the threshold to , when When the time comes, the tension is controlled by increasing or decreasing the current of the electromagnetic tension controller to keep it within the target range; Step 54: Define the compression amount and current variable in the master control unit 3, obtain the compression amount value and current value in real time, and edit the above formula using ST language or ladder diagram.

[0039] The beneficial effects of this technical solution are as follows: First, the short-fiber automatic fiber placement system provided by the present invention adopts an advanced six-axis industrial robot 2 and a comprehensive end effector, and through a highly integrated master control unit 3, effectively improves the accuracy and operation flexibility of automatic fiber placement. The system has multifunctional actuators such as shearing, clamping, refeeding, heating, rolling, and tension control. With precise temperature and tension adaptive control technology, it realizes precise management of fiber tension and temperature during the fiber placement process, greatly optimizing the material usage efficiency and reducing waste. In addition, this solution also introduces a real-time data monitoring and feedback mechanism, ensuring the consistency and repeatability of the fiber placement quality during the production process, significantly improving the automation level and production efficiency of composite part production, and effectively meeting the stringent requirements of high-tech industries for the accuracy and reliability of composite material products.

[0040] Second, for the short-fiber automatic fiber placement system provided by the present invention, the end effector assembly 1 integrates functions such as shearing, clamping, refeeding, heating, and rolling. This enables the end effector assembly 1 to handle various fiber placement tasks with different complexities, improving the application range and flexibility of the equipment.

[0041] Third, for the short-fiber automatic fiber placement system provided by the present invention, an advanced monitoring component is introduced, which can real-time monitor and record key parameters during the fiber placement process, such as ambient temperature, machine status, material tension, etc. The real-time feedback of these data can help the operator adjust the production process in a timely manner to ensure product quality.

[0042] Fourth, for the control method of the short-fiber automatic fiber placement system provided by the present invention, by introducing adaptive placement temperature control and tension control technologies, the system can automatically adjust the placement parameters according to the real-time working conditions. This not only ensures the accuracy of the placement process but also optimizes the material utilization efficiency and reduces production costs.

[0043] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any simple modification or equivalent change made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A short transfer yarn automatic fiber placement system, characterized in that: It includes a six-axis industrial robot, an end effector assembly set on the six-axis industrial robot, and a master control unit. The master control unit is connected to the six-axis industrial robot and the end effector assembly. The six-axis industrial robot operates the laying trajectory according to the instructions of the master control unit and couples with the yarn feeding motor to execute the yarn feeding instruction. The end effector assembly is used for automatically laying and executing actions. The master control unit is used to control the six-axis industrial robot and the end effector assembly and monitor the operation process of the six-axis industrial robot and the end effector assembly.

2. The automatic fiber placement system for short transfer yarn according to claim 1, wherein: The end effector assembly includes a fiber placement head base, on which a tension control device, a clamping device, a refeeding device, a shearing device, a rolling device, and a heating device are arranged. The tension control device is used to monitor and adjust the fiber tension. The clamping device is used to fix the fiber bundle before shearing. The refeeding device is used to refeed the fiber bundle to the surface of the workpiece after shearing. The shearing device is used to adjust the width of the fiber bundle. The rolling device is used to press the fiber bundle tightly against the surface of the workpiece. The heating device is used to control the viscosity of the fiber bundle.

3. The automatic fiber placement system for short transfer yarn according to claim 2, characterized in that: The master control unit includes a computer installed with master control software and a PLC control cabinet. The master control software is used for the control and process monitoring of the short yarn automatic fiber placement system. The PLC control cabinet includes a PLC controller and an IO module, which are used to receive instructions from the upper computer and control the actions of the six-axis industrial robot and the end effector assembly.

4. The automatic fiber placement system for short transfer yarn according to claim 3, wherein: It also includes a safety auxiliary device, which includes a monitoring component and a safety fence.

5. A short transfer yarn automatic fiber placement system according to claim 4, characterized in that: The monitoring component includes a system operation monitoring module, a laying process monitoring module, and an environmental temperature monitoring module. The system operation monitoring module includes 5 network dome cameras, which are distributed around the safety fence. The operator observes the system operation status on the monitoring interface in the operation room. The laying process monitoring module includes 1 monocular camera, which is used to collect the laying surface image in real time and upload it to the master control unit. The laying temperature monitoring module includes 1 infrared thermometer, which is used to monitor the temperature of the current laying area on the fiber placement surface in real time and upload it to the master control unit in real time.

6. The control method of an automatic fiber placement system for short transfer yarn according to any one of claims 1-5, characterized in that It includes the following steps: Step 1: System self-check. Step 2: Laying preparation. Step 3: Trajectory loading. Step 4: By fitting the relationship between the laying temperature and the laying speed and programming it in the master control unit, adaptively control the laying temperature according to the laying speed during the laying process. Step 5: Control the tension by controlling the current of the electromagnetic tension controller. Step 6: Configure the database, establish a data table, and use it to record and store system operation process data, equipment status data, and user data. Step 7: Manually demold the prefabricated part completed by laying from the mold and perform subsequent processes.

7. The control method of an automatic fiber placement system for short transfer yarn according to claim 6, characterized in that, In the said Step 1, the system self-check includes the following steps: Step 11: Communication status self-check: Set the IP addresses of the master control unit and the six-axis industrial robot to the same network segment, and read the communication status between the master control unit and the six-axis industrial robot. Step 12: If the communication status is normal, run the self-check program. The self-check program is a simple laying trajectory program, which only includes the actions of the end effector assembly and does not include the actions of the six-axis industrial robot body. Step 13: After the execution is completed, the result is fed back to the master control unit.

8. The control method of an automatic fiber placement system for short transfer yarn according to claim 7, characterized in that, In Step 2, laying preparation: Before work, the worker installs the fiber placement die on the specified tooling at the specified position.

9. The control method of an automatic fiber placement system for short transfer yarn according to claim 8, characterized in that, In Step 3, trajectory loading includes the following steps: Step 31: Offline programming of the trajectory file, which includes defining the motion path, operating speed of the six-axis industrial robot, and the spatial coordinates of the workpiece to be processed. Step 32: Transmit the trajectory file to the six-axis industrial robot control system through the network, USB device, or other data transmission methods. Step 33: On the operation interface in the six-axis industrial robot control system, select the "Import Trajectory File" function, browse and select the trajectory file transmitted to the six-axis industrial robot control system.

10. The control method of an automatic fiber placement system for short transfer yarn according to claim 9, characterized in that, The following steps are included in Step 4: Step 41: The laying speed of the six-axis industrial robot is read in real time by the master control unit. A non-contact temperature sensor is installed on the end effector assembly to measure the real-time wire laying temperature, and the optimal laying temperature at different laying speeds v is collected T Data points. Let a set of collected data points be , where ; Step 42: Select a linear model as the fitting model for the relationship between the laying temperature and the laying speed, where and b are parameters to be determined; Step 43: Solve for the parameters using the least squares method and b ; Step 44: Continue to collect the optimal laying temperature T at 20 sets of laying speeds v and substitute it into the model to verify the accuracy of the model. Step 45: Define the temperature and speed variables in the master control unit, obtain the temperature and speed values in real time, and edit the laying temperature and laying speed formulas using ST language or ladder diagram.

11. The control method of an automatic fiber placement system for short transfer yarn according to claim 10, characterized in that, In Step 43, parameter solving: ； ； Among them, , b are the parameters to be determined; n is the number of data points collected; v is the laying speed; T is the laying temperature.

12. The control method of an automatic fiber placement system for short transfer yarn according to claim 11, wherein, The following steps are included in Step 5: Step 51: The elastic element conforms to Hooke's law, and the relationship between the tension and the compression amount of the elastic element is F = k * x, where F is the tension of the fiber bundle, k is the elastic coefficient, and x is the compression amount of the elastic element. Step 52: After preliminary experiments, the target tension is measured as . According to the relationship in Step 51, calculate the target compression , where k is the elastic coefficient. Step 53: Control the tension by controlling the current of the electromagnetic tension controller. The electromagnetic tension controller reduces the tow tension by actively counteracting the tension. When the current is increased, the counteracting force increases, and vice versa; the current compression amount x and the target compression amount difference , set the threshold value to , when , control the tension by increasing or decreasing the current of the electromagnetic tension controller to keep it within the target range; Step 54: Define the compression amount and current variables in the master control unit, obtain the compression amount value and current value in real time, and edit the above formula using ST language or ladder diagram.

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