A short tows automatic fiber placement system and control method

Abstract

The application discloses a kind of short yarn automatic laying system and control method thereof, belong to robot automatic laying technical field, including six-axis industrial robot, end execution component and general control unit, general control unit is connected with six-axis industrial robot and end execution component, six-axis industrial robot is according to the operation laying track of instruction of general control unit and couples with yarn feeding motor to execute yarn feeding instruction;End execution component is used to automatically lay out and execute action;General control unit is used to control six-axis industrial robot and end execution component, and monitors the running process of six-axis industrial robot and end execution component.The application realizes accurate control laying action by six-axis industrial robot and highly automated end execution system, improves operating efficiency and laying quality.Simultaneously, through real-time monitoring and adaptive control technology, the stability of laying process and the optimal use of material are ensured, so as to solve the problem of low production efficiency and high material cost.

Description

Technical Field

[0001] This invention belongs to the field of robotic automatic yarn placement technology, specifically relating to an automatic yarn placement system and control method for short yarn feed. Background Technology

[0002] In the current field of automated fiber placement, the demand for fiber placement technology is increasing with the expanding applications of composite materials, especially in high-tech industries. However, traditional automated 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 robots to perform tasks. While these systems achieve a degree of automation, they still suffer from insufficient operational flexibility and difficulties in system reconfiguration. Furthermore, these systems often lack effective monitoring and control of fiber placement quality, making the quality highly dependent on the precise control of the robot and the experience of the operator.

[0003] To address these issues, this paper proposes an automated short-yarn placement system and its control method. Utilizing the high integration of an advanced six-axis industrial robot and an end-efficiency system, it achieves more efficient and precise automated yarn placement. This system integrates robot motion control and end-efficiency yarn placement actions through a central control unit, significantly improving the system's operational flexibility and automation level. The end-efficiency system is equipped with shearing, clamping, refeeding, heating, and rolling devices, combined with real-time tension control and temperature adaptive control, greatly optimizing the stability of the yarn placement process and the utilization rate of fiber materials, thereby reducing material costs while ensuring yarn placement quality. Furthermore, the system's safety auxiliary devices provide strong safety protection for operators. This innovative system design not only adapts to the needs of yarn placement in complex shapes but also provides reliable technical support for the manufacture of complex structural components. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an automated yarn placement system and control method for short yarn feed. This invention utilizes a six-axis industrial robot and a highly automated end effector to achieve precise control of the yarn placement action, improving operational efficiency and yarn placement quality. Simultaneously, through real-time monitoring and adaptive control technology, the stability of the yarn placement process and optimal material utilization are ensured, thereby solving the problems of low production efficiency and high material costs.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An automatic yarn placement system for short yarn feeding includes a six-axis industrial robot, an end effector mounted on the six-axis industrial robot, and a central control unit. The central control unit is connected to the six-axis industrial robot and the end effector. The six-axis industrial robot runs a placement trajectory according to the instructions of the central control unit and couples a yarn feeding motor to execute yarn feeding commands. The end effector is used for automatic placement and execution actions. The central control unit is used to control the six-axis industrial robot and the end effector, and to monitor the operation process of the six-axis industrial robot and the end effector.

[0007] Preferably, the end effector 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 disposed; the tension control device is used to monitor and adjust 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 workpiece surface after shearing; the shearing device is used to adjust the fiber bundle width; the rolling device is used to press the fiber bundle tightly against the workpiece surface; and the heating device is used to control the viscosity of the fiber bundle.

[0008] Preferably, the central control unit includes a computer equipped with central control software and a PLC control cabinet. The central control software is used for the control and process monitoring of the short yarn automatic yarn laying system. The PLC control cabinet includes a PLC controller and an I / O module, which are used to receive instructions from the host computer and control the actions of the six-axis industrial robot and the end effector.

[0009] Preferably, it also includes safety auxiliary devices, which include monitoring components and safety fences.

[0010] Preferably, the monitoring components include a system operation monitoring module, a laying process monitoring module, and a laying temperature monitoring module. The system operation monitoring module includes five network dome cameras distributed around the safety fence, allowing operators to observe the system's operation from the monitoring interface in the control room. The laying process monitoring module includes one monocular camera for real-time acquisition of images of the laying surface and uploading them to the central control unit. The laying temperature monitoring module includes one infrared thermometer for real-time monitoring of the temperature of the current laying area on the yarn laying surface and uploading it to the central control unit.

[0011] A control method for an automatic yarn-laying system for short yarn feeders includes the following steps:

[0012] Step 1: System self-check;

[0013] Step 2: Laying preparation;

[0014] Step 3: Track loading;

[0015] Step 4: By fitting the relationship between the laying temperature and the laying speed and programming it in the central control unit, the laying temperature is adaptively controlled according to the laying speed during the laying process.

[0016] Step 5: Control the tension by controlling the current of the electromagnetic tension controller;

[0017] Step 6: Configure the database and create data tables to record and store system operation data, device status data, and user data;

[0018] Step 7: The precast components are manually removed from the mold for subsequent processes.

[0019] Preferably, in step one, the system self-test includes the following steps:

[0020] Step 11, Communication Status Self-Check: Set the IP addresses of the central control unit and the six-axis industrial robot to the same network segment, and read the communication status between the central control unit and the six-axis industrial robot;

[0021] Step 12: If the communication status is normal, run the self-test program. The self-test program is a simple trajectory laying program, which only includes the actions of the end effector and does not include the actions of the six-axis industrial robot body.

[0022] Step 13: After execution, the results will be fed back to the central control unit.

[0023] Preferably, in step two, the laying preparation involves the worker installing the filament laying mold at the designated tooling location before work begins.

[0024] Preferably, in step three, trajectory loading includes the following steps:

[0025] Step 31: Create a trajectory file offline. The trajectory file includes the motion path, operating speed, and spatial coordinates of the workpiece to be processed for the six-axis industrial robot.

[0026] Step 32: Transfer the trajectory file to the six-axis industrial robot control system via network, USB device, or other data transmission methods;

[0027] Step 33: On the operation interface of the six-axis industrial robot control system, select the "Import trajectory file" function, browse and select the trajectory file to be transferred to the six-axis industrial robot control system.

[0028] Preferably, step four includes the following steps:

[0029] Step 41: The laying speed of the six-axis industrial robot is read in real time by the central control unit. The end effector is equipped with a non-contact temperature sensor to measure the real-time filament laying temperature and collect data at different laying speeds.v Optimal laying temperature T Data points, let a set of collected data points be ( ) ,in ;

[0030] Step 42: Select a linear model As a fitting model for the relationship between laying temperature and laying speed, where and b These are the parameters to be determined;

[0031] Step 43: Solve for the parameters using the least squares method. and b ;

[0032] Step 44: Continue to collect 20 sets of optimal laying temperatures T at laying speed v, and substitute them into the model to verify the accuracy of the model;

[0033] Step 45: Define temperature and speed variables in the main control unit, obtain temperature and speed values ​​in real time, and edit the laying temperature and laying speed formulas using ST language or ladder diagram.

[0034] Preferably, in step 43, the parameters are solved as follows:

[0035] ;

[0036] ;

[0037] in, , b Here are the parameters to be determined; n is the number of data points collected. v For deployment speed; T The laying temperature.

[0038] Preferably, step five includes the following steps:

[0039] Step 51: The elastic element conforms to Hooke's Law. The relationship between tension and compression of the elastic element is F=k*x, where F is the tension of the filament bundle, k is the elastic coefficient, and x is the compression of the elastic element.

[0040] Step 52: The target tension was measured through preliminary experiments as follows: Based on the relationship in step 51, calculate the target compression amount. ,in k The elastic coefficient;

[0041] Step 53: Control the tension by controlling the current of the electromagnetic tension controller: The electromagnetic tension controller reduces the tension of the yarn bundle by actively counteracting the tension. When the current is increased, the counteracting force increases, and vice versa; current compression amount. xWith the target compression amount The difference Set the threshold to ,when At the same time, the tension is controlled by increasing or decreasing the current of the electromagnetic tension controller to keep it within the target range;

[0042] Step 54: Define compression and current variables in the main control unit, obtain compression and current values ​​in real time, and edit the above formulas using ST language or ladder diagram.

[0043] The beneficial effects of this technical solution are as follows:

[0044] I. This invention provides an automated short-yarn placement system that utilizes an advanced six-axis industrial robot and a comprehensive end effector. Through a highly integrated central control unit, it effectively improves the accuracy and operational flexibility of automated yarn placement. The system features multi-functional actuators for shearing, clamping, refeeding, heating, rolling, and tension control. Combined with precise temperature and tension adaptive control technology, it achieves accurate management of fiber tension and temperature during the placement process, significantly optimizing material utilization efficiency and reducing waste. Furthermore, this invention introduces a real-time data monitoring and feedback mechanism, ensuring the consistency and repeatability of yarn placement quality during production. This significantly improves the automation level and production efficiency of composite material production, effectively meeting the stringent requirements of high-tech industries for the accuracy and reliability of composite material products.

[0045] II. The present invention provides an automatic yarn laying system for short yarn feeding, in which the end-effector integrates functions such as shearing, clamping, refeeding, heating, and rolling. This enables the end-effector to handle yarn laying tasks of varying complexity, thereby improving the applicability and flexibility of the equipment.

[0046] Third, the automatic yarn placement system for short yarn feeding provided by this invention incorporates advanced monitoring components that can monitor and record key parameters during the yarn placement process in real time, such as ambient temperature, machine status, and material tension. This real-time feedback of data helps operators adjust the production process promptly, ensuring product quality.

[0047] IV. The present invention provides a control method for an automatic yarn placement system for short yarns. By introducing adaptive placement temperature control and tension control technology, the system can automatically adjust placement parameters according to real-time working conditions. This not only ensures the accuracy of the placement process but also optimizes material utilization efficiency and reduces production costs. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the system in this invention;

[0049] Figure 2This is a schematic diagram of the end-effector component in this invention;

[0050] Figure 3 This is a schematic diagram of the tension control device, clamping device, heating device, rolling device, shearing device, and refeeding device in this invention.

[0051] Figure 4 This refers to the overall control steps in this invention;

[0052] Figure 5 This is a flowchart of the system self-test process control in this invention;

[0053] Figure 6 This is a flowchart of the adaptive layup temperature control in this invention.

[0054] Figure 7 This is a flowchart of the fiber bundle tension control process in this invention;

[0055] Figure 8 This is a schematic diagram showing the operational relationship between the tension control device, clamping device, heating device, rolling device, shearing device, and refeeding device in this invention.

[0056] Figure 9 This is a diagram of the overall control software architecture in this invention;

[0057] The components include: 1. End effector; 11. Wire placement head base; 12. Tension control device; 13. Clamping device; 14. Heating device; 15. Rolling device; 16. Shearing device; 17. Re-feeding device; 2. Six-axis industrial robot; 3. Central control unit. Detailed Implementation

[0058] The present invention will be further described in detail below with reference to embodiments, but the implementation of the present invention is not limited thereto.

[0059] Example 1

[0060] like Figures 1-3 As shown, an automated yarn placement system for short yarn feed includes a six-axis industrial robot 2, an end effector 1 mounted on the six-axis industrial robot 2, and a central control unit 3. The central control unit 3 is connected to the six-axis industrial robot 2 and the end effector 1. The six-axis industrial robot 2 executes a yarn placement trajectory according to the instructions of the central control unit 3 and couples a yarn feeding motor to execute yarn feeding commands. The end effector 1 is used for automatic yarn placement. The central control unit 3 controls the six-axis industrial robot 2 and the end effector 1 and monitors their operation. The six-axis industrial robot 2 uses commercially available robot products, such as those from KUKA, ABB, or FANUC. The robot consists of a robot body and a control cabinet, and is responsible for executing complex yarn placement trajectories, ensuring yarn placement accuracy and repeatability.

[0061] Example 2

[0062] An automated yarn placement system for short yarn feed includes a six-axis industrial robot 2, an end effector 1 mounted on the six-axis industrial robot 2, and a central control unit 3. The central control unit 3 is connected to the six-axis industrial robot 2 and the end effector 1. The six-axis industrial robot 2 executes a yarn placement trajectory according to the instructions of the central control unit 3 and couples a yarn feeding motor to execute yarn feeding commands. The end effector 1 is used for automatic yarn placement. The central control unit 3 controls the six-axis industrial robot 2 and the end effector 1 and monitors their operation. The six-axis industrial robot 2 uses commercially available robot products, such as those from KUKA, ABB, or FANUC. The robot consists of a robot body and a control cabinet, and is responsible for executing complex yarn placement trajectories, ensuring yarn placement accuracy and repeatability.

[0063] The end-effector 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 provided. The tension control device 12 is used to monitor and adjust fiber tension; the clamping device 13 is used to fix the fiber bundle before shearing; the refeeding device 17 is used to refeed the fiber bundle to the workpiece surface after shearing; the shearing device 16 is used to adjust the fiber bundle width; the rolling device 15 is used to press the fiber bundle tightly against the workpiece surface; and the heating device 14 is used to control the viscosity of the fiber bundle.

[0064] like Figure 8 As shown, the end-effector 1 operates as follows: after the central control software in the central control unit 3 issues the laying instruction, the PLC receives the instruction and issues it, the tension control device 12 starts, the refeeding device 17 starts to release the laid yarn bundle, the clamping device 13 locks the yarn bundle, the heating device 14 heats up to the initial set value, the rolling device 15 pressurizes the yarn bundle and starts laying, and the shearing device 16 cuts the yarn bundle.

[0065] The tension control device 12, clamping device 13, refeeding device 17, shearing device 16, rolling device 15, and heating device 14 all adopt a modular design and are sequentially fixed to the filament laying head base 11 using pins and screws. During the laying process, the tension control device 12 remains operational, reducing the tension of the filament bundle from upstream to below 2N to prevent bridging and other defects during laying. The rolling device 15 lays the filament bundle onto the mold surface, executing the laying trajectory and pressure according to a pre-set laying program. The heating device 14 heats the surface of the workpiece to be laid, and its heating power is related to the laying speed, giving the surface a certain degree of viscosity. Under the pressure of the laying rollers, the filament bundle adheres to the workpiece surface.

[0066] The clamping device 13, the re-feeding device 17, and the shearing device 16 operate as follows during the laying process: (1) When the laying is restarted, the re-feeding device 17 is in working condition, while the clamping device 13 and the shearing device 16 are in non-working condition. The filament bundle is conveyed to the laying roller of the rolling device 15 under the action of the re-feeding device 17 to restart the laying. (2) During the laying process, the clamping device 13, the re-feeding device 17, and the shearing device 16 are all in non-working condition. The filament bundle is laid to the surface of the workpiece under the "dragging" action of the laying roller. (3) When the laying is stopped, the re-feeding device 17 is in non-working condition, the clamping device 13 clamps the filament bundle to prevent it from retracting, and the shearing device 16 cuts the filament bundle to stop the laying.

[0067] The central control unit 3 includes a computer equipped with central control software and a PLC control cabinet. The central control software is used for the control and process monitoring of the short yarn automatic yarn laying system. The central control software interacts with the PLC via the OPC-UA protocol, thereby enabling the control and monitoring of each actuator. For example... Figure 9 As shown, the central control software adopts a three-layer architecture: a data access layer, a business logic layer, and a presentation layer. The data access layer is used for data acquisition and storage operations. It includes a device communication module, a variable database, and a historical database. The device communication module is connected to each execution device of the yarn laying system and the variable database. The business logic layer contains core-related logical processes, mainly implementing logical rules and functional designs. It includes yarn laying program management, database operation design, and fault data query design. The variable database is connected to the yarn laying program management and database operation design, and the yarn laying database is connected to the fault data query design. The presentation layer mainly completes user interaction tasks and submits relevant data to the business logic layer for processing. It includes a human-machine interface module, device monitoring operation, user management, data storage query, and fault alarm query. The human-machine interface module is connected to the device monitoring operation, user management, data storage query, and fault alarm query. The device monitoring operation is connected to the yarn laying program management, the user management is connected to the database operation design, and the fault alarm query is connected to the fault data query design. The PLC control cabinet includes a PLC controller and an I / O module, which are used to receive instructions from the host computer and control the movements of the six-axis industrial robot 2 and the end effector 1.

[0068] This also includes safety auxiliary devices, which consist of monitoring components and safety fences. The monitoring components monitor the work area and equipment status in real time, while the safety fences ensure that operators work within a safe area to prevent accidents.

[0069] The monitoring components include a system operation monitoring module, a laying process monitoring module, and a laying temperature monitoring module. The system operation monitoring module includes five network dome cameras distributed around the safety fence, allowing operators to observe the system's operation through a monitoring interface in the control room. The laying process monitoring module includes one monocular camera for real-time acquisition of images of the laying surface and uploading them to the central control unit 3. The laying temperature monitoring module includes one infrared thermometer for real-time monitoring of the temperature of the current laying area on the yarn laying surface and uploading it to the central control unit 3.

[0070] Example 3

[0071] like Figures 4-7 As shown, this embodiment adopts the control method of the short yarn automatic yarn placement system described in Embodiment 2, which includes the following steps:

[0072] Step 1: System self-check;

[0073] Step 2: Laying preparation;

[0074] Step 3: Track loading;

[0075] Step 4: By fitting the relationship between the laying temperature and the laying speed, and programming it in the main control unit 3, the laying temperature is adaptively controlled according to the laying speed during the laying process.

[0076] Step 5: Control the tension by controlling the current of the electromagnetic tension controller;

[0077] Step 6: Configure the database (using SQL Server software), create data tables to record and store system operation data, device status data, and user data;

[0078] Step 7: The precast components are manually removed from the mold for subsequent processes (such as curing).

[0079] In step one, the system self-test includes the following steps:

[0080] Step 11, Communication Status Self-Check: Set the IP addresses of the central control unit 3 and the six-axis industrial robot 2 to the same network segment, and read the communication status between the central control unit 3 and the six-axis industrial robot 2;

[0081] Step 12: If the communication status is normal, run the self-test program. The self-test program is a simple trajectory laying program, which only includes the actions of the end effector 1 and does not include the actions of the robot body.

[0082] Step 13: After execution, the results will be fed back to the central control unit 3.

[0083] Preferably, in step two, the laying preparation is as follows: before work, the worker installs the filament laying mold at the designated tooling location (in order to lay out the ideal composite shape, the filament bundle needs to be laid on the mold during system operation).

[0084] In step three, trajectory loading (loading the offline-programmed fiber placement trajectory program into the controller of the six-axis industrial robot 2 is a crucial step in automated fiber placement operations, ensuring that the six-axis industrial robot 2 can execute the fiber placement task according to precise instructions), includes the following steps:

[0085] Step 31: Offline trajectory file creation (using specialized robot programming software, such as RoboDK, RobotStudio, etc., to create the filament placement trajectory offline on a computer). The trajectory file includes the definition of the robot's motion path, operating speed, and spatial coordinates of the workpiece to be processed.

[0086] Step 32: Transfer the trajectory file to the control system of the six-axis industrial robot 2 via network (Ethernet), USB device or other data transmission methods;

[0087] Step 33: On the operation interface of the six-axis industrial robot 2 control system, select the "Import trajectory file" function, browse and select the trajectory file to be transferred to the six-axis industrial robot 2 control system.

[0088] Step four includes the following steps:

[0089] Step 41: The laying speed of the six-axis industrial robot 2 is read in real time by the central control unit 3. The end effector 1 is equipped with a non-contact temperature sensor to measure the real-time filament laying temperature and collect data at different laying speeds. v Optimal laying temperature T Data points, let a set of collected data points be ( ),in ;

[0090] Step 42: Select a linear model As a fitting model for the relationship between laying temperature and laying speed, where and b These are the parameters to be determined;

[0091] Step 43: Solve for the parameters using the least squares method. and b ;

[0092] Step 44: Continue collecting 20 sets of laying speed data. v Optimal laying temperature T Substitute the values ​​into the model to verify its accuracy;

[0093] Step 45: Define temperature and speed variables in the main control unit 3, obtain temperature and speed values ​​in real time, and edit the laying temperature and laying speed formulas using ST language or ladder diagram.

[0094] In step 43, the parameters are solved as follows:

[0095] ;

[0096] ;

[0097] in, , b Here are the parameters to be determined; n is the number of data points collected. v For deployment speed; T The laying temperature.

[0098] Step five includes the following steps:

[0099] Step 51: The elastic element conforms to Hooke's Law. The relationship between tension and compression of the elastic element is F=k*x, where F is the tension of the filament bundle, k is the elastic coefficient, and x is the compression of the elastic element (obtained by a displacement sensor).

[0100] Step 52: The target tension was measured through preliminary experiments as follows: Based on the relationship in step 51, calculate the target compression amount. Where k is the elastic coefficient (based on the target tension) The target compression amount is calculated using the formula in step 51. );

[0101] Step 53: Control the tension by controlling the current of the electromagnetic tension controller: The electromagnetic tension controller reduces the tension of the yarn bundle 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... The difference Set the threshold to ,when At the same time, the tension is controlled by increasing or decreasing the current of the electromagnetic tension controller to keep it within the target range;

[0102] Step 54: Define compression and current variables in the main control unit 3, obtain compression and current values ​​in real time, and edit the above formulas using ST language or ladder diagram.

[0103] The beneficial effects of this technical solution are as follows:

[0104] I. This invention provides an automated short-yarn placement system, employing an advanced six-axis industrial robot 2 and an integrated end effector. Through a highly integrated central control unit 3, it effectively improves the accuracy and operational flexibility of automated yarn placement. The system features multi-functional actuators for shearing, clamping, refeeding, heating, rolling, and tension control. Combined with precise temperature and tension adaptive control technology, it achieves accurate management of fiber tension and temperature during the placement process, greatly optimizing material utilization efficiency and reducing waste. Furthermore, this solution introduces a real-time data monitoring and feedback mechanism, ensuring the consistency and repeatability of yarn placement quality during production, significantly improving the automation level and production efficiency of composite parts production, and effectively meeting the stringent requirements of high-tech industries for the accuracy and reliability of composite material products.

[0105] II. The present invention provides an automatic yarn laying system for short yarn feeding. The end-effector 1 integrates functions such as cutting, clamping, refeeding, heating, and rolling, which enables the end-effector 1 to handle yarn laying tasks of various degrees of complexity, thereby improving the applicability and flexibility of the equipment.

[0106] Third, the automatic yarn placement system for short yarn feeding provided by this invention incorporates advanced monitoring components that can monitor and record key parameters during the yarn placement process in real time, such as ambient temperature, machine status, and material tension. This real-time feedback of data helps operators adjust the production process promptly, ensuring product quality.

[0107] IV. The present invention provides a control method for an automatic yarn placement system for short yarns. By introducing adaptive placement temperature control and tension control technology, the system can automatically adjust placement parameters according to the real-time workpiece. This not only ensures the accuracy of the placement process but also optimizes material utilization efficiency and reduces production costs.

[0108] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes 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 control method for a short yarn delivery automatic yarn placement system, characterized in that, Includes the following steps: Step 1: System self-check; Step 2: Laying preparation; Step 3: Track loading; Step 4: By fitting the relationship between laying temperature and laying speed and programming it in the central control unit, the laying temperature is adaptively controlled according to the laying speed during the laying process; this includes the following steps: Step 41: The laying speed of the six-axis industrial robot can be read in real time through the central control unit. The end effector is equipped with a non-contact temperature sensor to measure the real-time filament laying temperature and collect data at different laying speeds. v Optimal laying temperature T Data points, let a set of collected data points be ( ),in ; Step 42: Select a linear model As a fitting model for the relationship between laying temperature and laying speed, where and b These are the parameters to be determined; Step 43: Solve for the parameters using the least squares method. and b ; ； ； in, , b Here are the parameters to be determined; n is the number of data points collected. v For deployment speed; T For laying temperature; Step 44: Continue to collect 20 sets of optimal laying temperatures T at laying speed v, and substitute them into the model to verify the accuracy of the model; Step 45: Define temperature and speed variables in the central control unit, obtain temperature and speed values ​​in real time, and edit the laying temperature and laying speed formulas using ST language or ladder diagram; Step 5: Control the tension by controlling the current of the electromagnetic tension controller; Step 6: Configure the database and create data tables to record and store system operation data, device status data, and user data; Step 7: The precast components are manually removed from the mold for subsequent processes.

2. The control method for an automatic yarn placement system for short yarn feeders according to claim 1, characterized in that, In step one, the system self-test includes the following steps: Step 11, Communication Status Self-Check: Set the IP addresses of the central control unit and the six-axis industrial robot to the same network segment, and read the communication status between the central control unit and the six-axis industrial robot; Step 12: If the communication status is normal, the self-test program can be run. The self-test program is a simple trajectory laying program, which only includes the actions of the end effector and does not include the actions of the six-axis industrial robot body. Step 13: After execution, the results will be fed back to the central control unit.

3. The control method for an automatic yarn placement system for short yarn feeders according to claim 2, characterized in that, In step two, the laying preparation is as follows: before work begins, the worker installs the filament laying mold at the designated tooling location.

4. The control method for an automatic yarn placement system for short yarn feeders according to claim 3, characterized in that, Step three, trajectory loading, includes the following steps: Step 31: Create a trajectory file offline. The trajectory file includes the motion path, operating speed, and spatial coordinates of the workpiece to be processed for the six-axis industrial robot. Step 32: Transfer the trajectory file to the six-axis industrial robot control system via network, USB device, or other data transmission methods; Step 33: On the operation interface of the six-axis industrial robot control system, select the "Import trajectory file" function, browse and select the trajectory file to be transferred to the six-axis industrial robot control system.

5. The control method for an automatic yarn placement system for short yarn feeders according to claim 4, characterized in that, Step five includes the following steps: Step 51: The elastic element conforms to Hooke's Law. The relationship between tension and compression of the elastic element is F=k*x, where F is the tension of the filament bundle, k is the elastic coefficient, and x is the compression of the elastic element. Step 52: The target tension was measured through preliminary experiments as follows: Based on the relationship in step 51, calculate the target compression amount. ,in k The elastic coefficient; Step 53: Control the tension by controlling the current of the electromagnetic tension controller: The electromagnetic tension controller reduces the tension of the yarn bundle by actively counteracting the tension. When the current is increased, the counteracting force increases, and vice versa; current compression amount. x With the target compression amount The difference Set the threshold to ,when At the same time, 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 compression and current variables in the main control unit, obtain compression and current values ​​in real time, and edit the above formulas using ST language or ladder diagram.

6. The automatic yarn placement system for short yarn feeding, as described in any one of claims 1-5, is characterized in that: The system includes a six-axis industrial robot, an end effector mounted on the six-axis industrial robot, and a central control unit. The central control unit is connected to the six-axis industrial robot and the end effector. The six-axis industrial robot runs a laying trajectory according to the instructions of the central control unit and couples a yarn feeding motor to execute yarn feeding commands. The end effector is used for automatic laying and performing actions. The central control unit is used to control the six-axis industrial robot and the end effector and monitor the operation process of the six-axis industrial robot and the end effector.

7. The automatic yarn placement system for short yarn feed according to claim 6, characterized in that: The end effector includes a fiber placement head base, on which are mounted a tension control device, a clamping device, a refeeding device, a shearing device, a rolling device, and a heating device. The tension control device monitors and adjusts fiber tension; the clamping device secures the fiber bundle before shearing; the refeeding device refeeds the fiber bundle to the workpiece surface after shearing; the shearing device adjusts the fiber bundle width; the rolling device presses the fiber bundle tightly against the workpiece surface; and the heating device controls the viscosity of the fiber bundle.

8. The automatic yarn placement system for short yarn feed according to claim 7, characterized in that: The central control unit includes a computer equipped with central control software and a PLC control cabinet. The central control software is used for the control and process monitoring of the short yarn automatic yarn laying system. The PLC control cabinet includes a PLC controller and an I / O module, which are used to receive instructions from the host computer and control the actions of the six-axis industrial robot and the end effector.

9. The automatic yarn placement system for short yarn feed according to claim 8, characterized in that: It also includes safety aids, which include monitoring components and safety fences.

10. The automatic yarn placement system for short yarn feed according to claim 9, characterized in that: The monitoring components include a system operation monitoring module, a laying process monitoring module, and a laying temperature monitoring module. The system operation monitoring module includes five network dome cameras distributed around the safety fence, allowing operators to observe the system's operation from the monitoring interface in the control room. The laying process monitoring module includes one monocular camera for real-time acquisition of images of the laying surface and uploading them to the central control unit. The laying temperature monitoring module includes one infrared thermometer for real-time monitoring of the temperature of the current laying area on the yarn laying surface and uploading it to the central control unit.

Images