WO2008149004A1 - Fibre application machine with a tool changing system - Google Patents

Fibre application machine with a tool changing system Download PDF

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Publication number
WO2008149004A1
WO2008149004A1 PCT/FR2008/050808 FR2008050808W WO2008149004A1 WO 2008149004 A1 WO2008149004 A1 WO 2008149004A1 FR 2008050808 W FR2008050808 W FR 2008050808W WO 2008149004 A1 WO2008149004 A1 WO 2008149004A1
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WO
WIPO (PCT)
Prior art keywords
storage means
head
application head
application
fiber
Prior art date
Application number
PCT/FR2008/050808
Other languages
French (fr)
Inventor
Alexander Hamlyn
Yvan Hardy
Original Assignee
Coriolis Composites
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Coriolis Composites filed Critical Coriolis Composites
Publication of WO2008149004A1 publication Critical patent/WO2008149004A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28—Shaping operations therefor
    • B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
    • B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
    • B29C70/382—Automated fiber placement [AFP]

Definitions

  • the present invention relates to a fiber application machine for producing parts made of composite materials, and more particularly to such a machine equipped with a tool change system for the automatic change of its fiber application head, and possibly the fiber storage system associated with the application head.
  • fiber application machines commonly called fiber placement machines
  • fiber placement machines for the application on a male or female mold of a wide band formed of several flat fibers, of resin-impregnated ribbons type, in particular carbon fibers impregnated with a thermosetting or thermoplastic resin.
  • These machines as described in the patent document WO2006 / 092514, conventionally comprise a fiber application head, a displacement system of said fiber application head, fiber storage means, and conveyance means. fibers for feeding the fibers of said storage means to the application head.
  • the fiber application head also referred to as a fiber placement head, typically comprises an application roller for contacting the mold to apply the web, and fiber guiding means on said application roller.
  • the displacement system ensures the displacement of the application head in at least three directions perpendicular to each other.
  • the displacement system can be formed by a standard six-axis robot-type poly-articulated arm, arranged on the ground or mounted on a linear axis, with an end wrist to which the application head is fixed, or by a Cartesian robot of gantry type equipped with an end wrist carrying the application head.
  • the fiber storage means conventionally comprise a creel.
  • the creel is placed on the ground in the case of a standard fixed six-axis robot, or can be mounted on an element of the displacement system, for example on one of the carriages of the Cartesian robot or on a follower carriage sliding on the linear axis of the robot six axes.
  • the conveying means are advantageously formed of flexible tubes connecting the storage means to the application head, each flexible tube being able to receive a fiber in its internal passage.
  • the fiber application head tends to become clogged and the machine has to be regularly stopped to clean the application head.
  • the creel must be reloaded regularly with new fiber reels. These cleaning and loading operations are relatively long and require extended shutdowns of the machine.
  • the aim of the present invention is to propose a solution aimed at increasing the performance of fiber application machines, and in particular at facilitating cleaning operations of the head and the reloading operations of the storage means, and at limiting the times. stopping the machine to perform these cleaning and reloading operations.
  • the subject of the present invention is a fiber application machine, for application to a surface of a broad band formed of a plurality of fibers, comprising at least one fiber application head, a displacement system said fiber application head, fiber storage means, and fiber delivery means for feeding the fibers of said storage means to the application head, characterized in that it comprises
  • first application head connected to first storage means by first routing means and a second application head connected to second storage means by second conveying means
  • an automatic tool change system comprising
  • said head changer comprising a main part, mounted on the displacement system and a tool part mounted on each of the application heads, said main portion and said tool portions being equipped with coupling and automatic disconnection means to allow automatic change of application head on the displacement system, and
  • At least two application head supports adapted to receive the application heads, said head supports being served by the displacement system.
  • the machine comprises at least two fiber application heads, each fed with fibers by its own conveying means, for example flexible tubes, and its own fiber storage system, for example a creel of fiber reels, and each equipped with a tool part of a head changer to ensure the interchangeability of the application heads on the displacement system, which allows to automatically and quickly change a fouled application head and / or an application head associated with an empty or partially empty creel by a cleaned head and a full creel.
  • its own conveying means for example flexible tubes
  • its own fiber storage system for example a creel of fiber reels
  • the first and second conveying means comprise first and second flexible tubes, each flexible tube being able to receive a fiber in its internal passage and being fixedly mounted by its ends between storage means and a head of application.
  • the machine comprises, for each application head, power supply and electrical and / or pneumatic control means of the application head which extend from the application head to the storage means. along the conveying means, in particular along the flexible tubes for controlling the application head.
  • the heads are controlled via their storage system, so that the head changer must ensure only a mechanical coupling of the heads on the displacement system.
  • the tool change system further comprises a storage means changer comprising at least a first main portion mounted on the displacement system. and at least one first tool part mounted on each of the storage means, said first main part and first tool parts being equipped with automatic coupling and uncoupling means, to allow the automatic changing of the storage means on the displacement system, and two storage medium supports adapted to receive the storage means, said storage means supports being served by the displacement system.
  • a storage means changer comprising at least a first main portion mounted on the displacement system. and at least one first tool part mounted on each of the storage means, said first main part and first tool parts being equipped with automatic coupling and uncoupling means, to allow the automatic changing of the storage means on the displacement system, and two storage medium supports adapted to receive the storage means, said storage means supports being served by the displacement system.
  • the first main part and the first tool parts of the storage means changer are equipped with electrical and / or pneumatic connection means for controlling the storage means and the associated application head by a unit of storage means. main control of the machine during fiber application operations.
  • the storage means changer furthermore comprises at least a second main part mounted on each of the storage medium supports for the mechanical coupling of the storage means on their respective support, as well as the electrical and / or pneumatic connection of the storage means. storage means and the associated application head.
  • each medium of storage means is equipped with a secondary control unit, advantageously associated with a human-machine interface, for controlling the storage means and the associated placement head on their respective support.
  • the displacement system is a gantry-type, preferably three-axis, Cartesian displacement system with a single or multi-axis end wrist mounted at the end of a gantry trolley.
  • vertically movable classically called flowing, and equipped with the main part of the head changer.
  • the first main part of the storage means changer is fixed on the vertically movable carriage of the gantry.
  • the first and second storage means are each formed of a creel.
  • the fibers for example of fiberglass type, are packaged in the form of balls taking place in the center.
  • the fiber storage means are formed by simple shelves, the balls of fibers being placed side by side on the shelves of the shelves.
  • the shelves, integrated into a cabinet, are then equipped with the tool parts of the storage means changer.
  • Textile fibers can also be packaged in cartons arranged on the shelves of the shelves.
  • each creel is equipped with at least a first tool part, preferably at least two first tool parts, for its coupling to at least a first main part fixed to the vertically movable carriage of the gantry, preferably at least two first main parts.
  • a second tool part preferably at least two, for coupling to at least a second main part, preferably at least two, attached to a storage means support.
  • the creel is equipped laterally with at least a first tool part for its lateral coupling to the vertically movable carriage, and equipped with at least a second tool part for its coupling from below to a support of means. storage.
  • FIG. 1 shows a schematic perspective view of a fiber application machine according to the invention.
  • FIG. 2 is a front view of the machine of FIG.
  • the figures illustrate an embodiment in which fiber placement heads may be mounted on a gantry type moving system.
  • the placement machine comprises a gantry type moving system 1 with an end wrist 15, a first placement head 2a and a second placement head 2b, each adapted to be mounted on the end wrist.
  • the first head is connected by first conveying means 4a to first fiber storage means 3a, while the second head 2b is connected by second conveying means 4b to second fiber storage means.
  • the gantry-type displacement system 1 comprises a first carriage 11 mounted to move in a first horizontal direction X between the two parallel support bars 12a of a gantry 12, a second carriage 13 mounted to move on the first carriage 12 in a second horizontal direction Y perpendicular to the first, and a third carriage 14, also called sliding, movably mounted on a vertical rail secured to the second carriage 13 in a third vertical direction Z.
  • the movements of the three carriages are provided by drive means on each of them, and enslaved by a main control unit of the machine.
  • the wrist 15, of the three-axis robot wrist type is pivotally mounted at the lower end of the third carriage 14. According to FIG.
  • the wrist comprises three sections, a first section 15a through which the wrist is pivotally mounted on the third carriage about a vertical axis A1, a second section 15b pivotally mounted on the first section about an axis A2, and a third section 15c pivotally mounted on the second section about an axis A3, this third section being intended to carry a fiber placement head, for the displacement of the latter above a mold M placed between the amounts 12b of the gantry.
  • Each fiber placement head comprises, in known manner, an application roller adapted to come into contact with the mold M to apply a strip formed of several fibers pre-impregnated with resin, and a guiding system for guiding the fibers. towards the roll, for example in two layers of fibers.
  • the head further comprises cutting and blocking systems for individually cutting and blocking each fiber upstream of the roll, and rerouting systems upstream of the cutting systems to individually reroute each fiber that has just been cut.
  • the machine is intended for the application of fibers, for example carbon fiber type, packaged in the form of coils.
  • the first and second storage means are formed respectively of a first creel 3a and a second creel 3b to receive the fiber reels, each creel being adapted to be mounted on the third carriage.
  • the creel comprises a support frame carrying a plurality of mandrels on which the coils are mounted, each mandrel being advantageously equipped with an automatic braking system controlled in a closed loop according to the tension of the fiber, as described in the patent document. EP 697990.
  • the creel is integrated in a cabinet that will be advantageously controlled hygrometry and temperature.
  • the conveying means are formed by flexible tubes as described in WO2006 / 092514.
  • the fibers stored in a reel on the first creel are individually conveyed to the first head by first flexible tubes.
  • These first flexible tubes are fixed by their ends to the first application head 2a and the first creel 3a respectively by upstream and downstream fixing means, for example in the form of ramps.
  • These flexible tubes have a length and flexibility sufficient not to limit the movement system in its movements, and are collected by one or more rings in a beam, shown schematically under references 4a in the figures.
  • second flexible tubes, gathered in a second beam 4b allow the fiber routing of the second creel 3b to the second placement head 2b.
  • a voltage limiter as described in detail in the aforementioned patent document, comprising a set of motorized parallel cylinders on which the fibers pass without circling, may be provided between each application head and its associated creel to reduce the fiber tension at the roller.
  • a voltage limiter system is integrated into the cabinet at the outlet of the creel.
  • the machine comprises a main control unit (not shown), with a man-machine interface, for controlling the movements of the carriages and the wrist according to programmed sequences, and for controlling the equipment of the wrist-mounted placement head, in particular the actuators of the cutting, blocking and re-routing systems, as well as the equipment of its associated creel, in particular the actuators of its voltage limiter system.
  • the electrical, pneumatic and / or hydraulic circuits for its supply and its control are arranged in a pipe extending from the creel to the head, along its bundle of flexible tubes.
  • the machine includes a tool change system for automatically changing the placement head and associated creel.
  • This system comprises a head changer allowing the coupling of each placement head with the wrist, a creel changer allowing the coupling of each creel with the third carriage, and two receiving benches for receiving and delivering each head and its creel. associated, the creel changer also allowing the coupling of each creel on its reception bench.
  • changers and canisters can be constituted by tool changers, known per se, conventionally used in robotic applications, such as those marketed by Applied Robotics for example.
  • the head changer comprises a main part 5, also called robot part or main adapter, equipped with fixing means for attachment to the wrist, and two tool parts 61, 62 each equipped with fixing means for attachment to a placement head fiber.
  • This main part and these tool parts are equipped with automatic coupling / uncoupling means, for example pneumatic type, controlled by the main control unit of the machine to automatically disconnect or couple the wrist and a head of the machine. placement.
  • This head changer ensures a simple mechanical coupling of the heads on the wrist.
  • the creel changer comprises two first main parts 71, 72 fixed on the third carriage 15c, and two first tool parts 81a, 82a and 81b, 82b on each creel for coupling to the third carriage.
  • the creel changer further comprises two second main portions 73a, 74a and 73b, 74b attached to the cradle supports 91a 91b of each receiving bench 9a, 9b and two second tool parts 83a, 84a, and 83b and 84b on each creel for the coupling of the creels on their respective creel support.
  • the main parts and tool parts of this creel changer are equipped with pneumatic coupling / disengaging means for automatically coupling a creel to the carriage or its support.
  • These parts of the canter changer are also equipped with electrical and pneumatic connection means to control the equipment of the creels and heads when they are on the displacement system for fiber placement operations, or on their reception bench for the operations of cleaning and / or loading of coils.
  • Each creel 3a, 3b thus comprises four tool parts: the first two tool parts 81a, 82a and 81b, 82b are arranged laterally on the creel, offset vertically from one another, for coupling to the first main parts 71 , 72 of the third carriage 14 disposed laterally on this carriage, and the two second tool parts are arranged in the lower part, on the bottom of the cabinet for coupling to the second main parts arranged 73a, 74a and 73b, 74b on the creel support.
  • Each receiving bench 9a, 9b includes a cradle support 92a, 92b for receiving a placement head and a creel holder 91a, 91b provided with the second main portions of the tool changer 73a, 74a and 73b, 74b.
  • Each bench is also equipped with a secondary control unit or controller connected to the second main parts and a man-machine interface for controlling the creel and the head.
  • the tool parts are connected to the electrical and pneumatic circuits of the creel and the electrical and pneumatic circuits of the associated placement head.
  • the first major parts are connected to pneumatic and electrical circuits of the main control unit 71, 72, and the second main portions 73a, 74a and 73b, 74b are connected to the electrical and pneumatic circuits of the secondary control unit of the main control unit. their respective bench.
  • connection means When a creel is coupled by its first tool parts to the first main parts of the carriage, their connection means provide the electrical and pneumatic connection of the creel and the head associated with the main control unit, and the control of the means of coupling / uncoupling is performed by the main control unit.
  • connection means When a creel is coupled by its second tool parts to the second main parts of its receiving bench, their connection means provide the electrical and pneumatic connection of the creel and its head associated with the secondary control unit of said bench, the control coupling / uncoupling means is provided by this secondary control unit.
  • the canter changer thus provides mechanical, electrical (power and control) and pneumatic coupling of the creel and its head associated with the main control unit when they are on the displacement system for performing the fiber placement operations, as well as a mechanical, electrical (power and control) and pneumatic coupling of the creel and its head associated with the secondary control unit of a bench when they are on their reception bench to carry out the cleaning operations and / or loading reels.
  • the wrist 15 of the machine is equipped with the first fiber placement head 2a, its creel 3a being mounted on the third carriage 14.
  • the feed and the control of the creel and the head are made by the means connections of the first tool parts and the first main parts of the canter changer.
  • the machine is controlled by the main control unit to remove the head and the creel on their support 9a and replace them with the second placement head 2b cleaned and associated with a full creel.
  • the first head 2a and its creel 3a are for example deposited in two stages.
  • the creel is brought over its support 91a, and the third carriage is lowered to bring the second tool parts 83a, 84a to the second main portions 73a, 74a.
  • These second parts are coupled by controlling their coupling / uncoupling means via the secondary control unit of the reception bench 9a and substantially simultaneously the coupling / uncoupling means of the first main parts 71, 72 and the first tool parts 81a.
  • the creel are controlled by the control unit to uncouple.
  • the carriages are controlled to put the head on its support 92a. Once the head is placed, the coupling / uncoupling means of the main part 5 and the tools part 61 of the first head are controlled to uncouple them.
  • the wrist is then moved to the receiving bench 9b of the second head to firstly couple the tools part 62 of the second head 2b and the main part 5 of the wrist, and then couple the first parts 81b, 82b of the creel 3b to the first main portions 71, 72 of the third carriage, and uncouple the second tool parts 83a, 84a of the creel of the second main portions 73b, 74b of the receiving bench.
  • the machine can then be used for the placement of fibers with the second placement head fed with fibers by its creel 3b.
  • the different equipment of the first head and the first creel can be driven by the secondary control unit of the reception bench 9a, via its man-machine interface, in order to load the creel with new fiber coils and bring the fibers of these new coils up to the application roller of the head.
  • the human-machine interface will further enable an operator to control the proper operation of the actuators of the placement head, in particular the cutting, blocking and re-routing cylinders.
  • the fiber displacement system comprises a poly-articulated arm of the six-axis robot type, known per se, mounted movably on a linear axis, and whose end wrist is equipped as previously with a part head changer.
  • the poly-articulated arm is fixed by its base on a carriage slidably mounted on the linear axis and equipped with drive means, for example motorized roller type controlled by a control unit.
  • the machine comprises as before two fiber placement heads, each connected to a creel by flexible tubes for the routing of the fibers, and each adapted to be deposited by the poly-articulated arm on a cradle-shaped support.
  • Each creel is arranged on a follower carriage mounted on the linear axis of the robot or on its own linear axis, arranged parallel to the linear axis of the robot.

Abstract

The present invention relates to a fibre application machine comprising at least a first applicator head (2a) connected to first fibre storage means (3a) by fibre conveying means e.g. consisting of first hoses (4a) and a second applicator head (2b) connected to second storage means (3b) by second hoses (4b), a system (1) for moving the applicator head, an automatic tool-changing system comprising a head changer with a main part (5) mounted on the movement system (1), a tool part (61, 62) mounted on each of the applicator heads, and at least two applicator head holders (92a, 92b) for the applicator heads. The machine advantageously includes a storage means changer.

Description

MACHINE D'APPLICATION DE FIBRES AVEC SYSTEME DE CHANGEMENT D'OUTILS FIBER APPLICATION MACHINE WITH TOOL CHANGE SYSTEM
La présente invention concerne une machine d'application de fibres pour la réalisation de pièces en matériaux composites, et plus particulièrement une telle machine équipée d'un système de changement d'outils pour le changement automatique de sa tête d'application de fibres, et éventuellement du système de stockage de fibres associé à la tête d'application.The present invention relates to a fiber application machine for producing parts made of composite materials, and more particularly to such a machine equipped with a tool change system for the automatic change of its fiber application head, and possibly the fiber storage system associated with the application head.
Il est connu des machines d'application de fibres, appelées couramment machines de placement de fibres, pour l'application sur un moule mâle ou femelle d'une bande large formée de plusieurs fibres plates, de type rubans, imprégnées de résine, notamment des fibres de carbone imprégnées d'une résine thermodurcissable ou thermoplastique.It is known for fiber application machines, commonly called fiber placement machines, for the application on a male or female mold of a wide band formed of several flat fibers, of resin-impregnated ribbons type, in particular carbon fibers impregnated with a thermosetting or thermoplastic resin.
Ces machines, tel que décrit dans le document brevet WO2006/092514, comprennent classiquement une tête d'application de fibres, un système de déplacement de ladite tête d'application de fibres, des moyens de stockage de fibres, et des moyens d'acheminement des fibres pour acheminer les fibres desdits moyens de stockage vers la tête d'application.These machines, as described in the patent document WO2006 / 092514, conventionally comprise a fiber application head, a displacement system of said fiber application head, fiber storage means, and conveyance means. fibers for feeding the fibers of said storage means to the application head.
La tête d'application de fibres, appelée également tête de placement de fibres, comprend classiquement un rouleau d'application destiné à venir en contact contre le moule pour appliquer la bande, et des moyens de guidage des fibres sur ledit rouleau d'application. Le système de déplacement assure le déplacement de la tête d'application selon au moins trois directions perpendiculaires les unes aux autres. Le système de déplacement peut être formé par un bras poly-articulé de type robot standard six axes, disposé au sol ou monté sur axe linéaire, avec un poignet d'extrémité auquel est fixée la tête d'application, ou par un robot cartésien de type portique équipé d'un poignet d'extrémité portant la tête d'application. Dans le cas de fibres conditionnées sous forme de bobines, les moyens de stockage de fibres comprennent classiquement un cantre. Le cantre est disposé au sol dans le cas d'un robot standard six axes fixe, ou peut être monté sur un élément du système de déplacement, par exemple sur un des chariots du robot cartésien ou sur un chariot suiveur coulissant sur l'axe linéaire du robot six axes. Tel que décrit dans le document brevet précité, les moyens d'acheminement sont avantageusement formés de tubes flexibles reliant les moyens de stockage à la tête d'application, chaque tube flexible étant apte à recevoir une fibre dans son passage interne.The fiber application head, also referred to as a fiber placement head, typically comprises an application roller for contacting the mold to apply the web, and fiber guiding means on said application roller. The displacement system ensures the displacement of the application head in at least three directions perpendicular to each other. The displacement system can be formed by a standard six-axis robot-type poly-articulated arm, arranged on the ground or mounted on a linear axis, with an end wrist to which the application head is fixed, or by a Cartesian robot of gantry type equipped with an end wrist carrying the application head. In the case of fibers packaged in the form of coils, the fiber storage means conventionally comprise a creel. The creel is placed on the ground in the case of a standard fixed six-axis robot, or can be mounted on an element of the displacement system, for example on one of the carriages of the Cartesian robot or on a follower carriage sliding on the linear axis of the robot six axes. As described in the aforementioned patent document, the conveying means are advantageously formed of flexible tubes connecting the storage means to the application head, each flexible tube being able to receive a fiber in its internal passage.
De part la nature collante des fibres, la tête d'application de fibres a tendance à s'encrasser et la machine doit être régulièrement stoppée pour nettoyer la tête d'application. Par ailleurs, le cantre doit être régulièrement rechargé avec de nouvelles bobines de fibres. Ces opérations de nettoyage et de chargement sont relativement longues et nécessitent des arrêts prolongés de la machine.Due to the sticky nature of the fibers, the fiber application head tends to become clogged and the machine has to be regularly stopped to clean the application head. In addition, the creel must be reloaded regularly with new fiber reels. These cleaning and loading operations are relatively long and require extended shutdowns of the machine.
Le but de la présente invention est de proposer une solution visant à augmenter les performances des machines d'application de fibres, et notamment à faciliter les opérations de nettoyage de la tête et les opérations de rechargement des moyens de stockage, et à limiter les temps d'arrêt de la machine pour effectuer ces opérations de nettoyage et de rechargement.The aim of the present invention is to propose a solution aimed at increasing the performance of fiber application machines, and in particular at facilitating cleaning operations of the head and the reloading operations of the storage means, and at limiting the times. stopping the machine to perform these cleaning and reloading operations.
A cet effet, la présente invention a pour objet une machine d'application de fibres, pour l'application sur une surface d'une bande large formée de plusieurs fibres, comprenant au moins une tête d'application de fibres, un système de déplacement de ladite tête d'application de fibres, des moyens de stockage de fibres, et des moyens d'acheminement des fibres pour acheminer les fibres desdits moyens de stockage vers la tête d'application, caractérisée en ce qu'elle comprendTo this end, the subject of the present invention is a fiber application machine, for application to a surface of a broad band formed of a plurality of fibers, comprising at least one fiber application head, a displacement system said fiber application head, fiber storage means, and fiber delivery means for feeding the fibers of said storage means to the application head, characterized in that it comprises
- au moins une première tête d'application reliée à des premiers moyens de stockage par des premiers moyens d'acheminement et une deuxième tête d'application reliée à des seconds moyens de stockage par des seconds moyens d'acheminement , etat least one first application head connected to first storage means by first routing means and a second application head connected to second storage means by second conveying means, and
- un système de changement automatique d'outils comportantan automatic tool change system comprising
- un changeur de têtes, ledit changeur de têtes comprenant une partie principale, montée sur le système de déplacement et une partie outils montée sur chacune des têtes d'application, ladite partie principale et lesdites parties outils étant équipées de moyens d'accouplement et désaccouplement automatique pour permettre le changement automatique de tête d'application sur le système de déplacement, eta head changer, said head changer comprising a main part, mounted on the displacement system and a tool part mounted on each of the application heads, said main portion and said tool portions being equipped with coupling and automatic disconnection means to allow automatic change of application head on the displacement system, and
- au moins deux supports de tête d'application aptes à recevoir les têtes d'application, lesdits supports de tête étant desservis par le système de déplacement.at least two application head supports adapted to receive the application heads, said head supports being served by the displacement system.
Selon l'invention, la machine comprend au moins deux têtes d'application de fibres, chacune alimentée en fibres par ses propres moyens d'acheminement, par exemple des tubes flexibles, et son propre système de stockage de fibres, par exemple un cantre de bobines de fibres, et chacune équipée d'une partie outils d'un changeur de têtes pour assurer l'interchangeabilité des têtes d'application sur le système de déplacement, ce qui permet de changer automatiquement et rapidement une tête d'application encrassée et/ou une tête d'application associée à un cantre vide ou partiellement vide par une tête nettoyée et un cantre plein.According to the invention, the machine comprises at least two fiber application heads, each fed with fibers by its own conveying means, for example flexible tubes, and its own fiber storage system, for example a creel of fiber reels, and each equipped with a tool part of a head changer to ensure the interchangeability of the application heads on the displacement system, which allows to automatically and quickly change a fouled application head and / or an application head associated with an empty or partially empty creel by a cleaned head and a full creel.
Selon une particularité, les premiers et seconds moyens d'acheminement comprennent des premiers et seconds tubes flexibles, chaque tube flexible étant apte à recevoir une fibre dans son passage interne et étant monté fixe par ses extrémités entre des moyens de stockage et une tête d'application.According to a feature, the first and second conveying means comprise first and second flexible tubes, each flexible tube being able to receive a fiber in its internal passage and being fixedly mounted by its ends between storage means and a head of application.
Selon autre une particularité, la machine comprend, pour chaque tête d'application, des moyens d'alimentation et de commande électrique et/ou pneumatique de la tête d'application qui s'étendent de la tête d'application aux moyens de stockage le long des moyens d'acheminement, en particulier le long des tubes flexibles pour le pilotage de la tête d'application. Le pilotage des têtes s'effectue via leur système de stockage, de sorte que le changeur de têtes ne doit assurer qu'un simple accouplement mécanique des têtes sur le système de déplacement.According to another feature, the machine comprises, for each application head, power supply and electrical and / or pneumatic control means of the application head which extend from the application head to the storage means. along the conveying means, in particular along the flexible tubes for controlling the application head. The heads are controlled via their storage system, so that the head changer must ensure only a mechanical coupling of the heads on the displacement system.
Selon une autre particularité, le système de changement d'outils comprend en outre un changeur de moyens de stockage comportant au moins une première partie principale montée sur le système de déplacement et au moins une première partie outils montée sur chacun des moyens de stockage, lesdites première partie principale et premières parties outils étant équipées de moyens d'accouplement et désaccouplement automatique, pour permettre le changement automatique des moyens de stockage sur le système de déplacement, et deux supports de moyens de stockage aptes à recevoir les moyens de stockage, lesdits supports de moyens de stockage étant desservis par le système de déplacement.According to another feature, the tool change system further comprises a storage means changer comprising at least a first main portion mounted on the displacement system. and at least one first tool part mounted on each of the storage means, said first main part and first tool parts being equipped with automatic coupling and uncoupling means, to allow the automatic changing of the storage means on the displacement system, and two storage medium supports adapted to receive the storage means, said storage means supports being served by the displacement system.
Selon une autre particularité, la première partie principale et les premières parties outils du changeur de moyens de stockage sont équipées de moyens de connexion électrique et/ou pneumatique pour le pilotage des moyens de stockage et de la tête d'application associée par une unité de commande principale de la machine lors des opérations d'application de fibres.According to another particularity, the first main part and the first tool parts of the storage means changer are equipped with electrical and / or pneumatic connection means for controlling the storage means and the associated application head by a unit of storage means. main control of the machine during fiber application operations.
Avantageusement, le changeur de moyens de stockage comprend en outre au moins une deuxième partie principale montée sur chacun des supports de moyens de stockage pour l'accouplement mécanique des moyens de stockage sur leur support respectif, ainsi que la connexion électrique et/ou pneumatique des moyens de stockage et de la tête d'application associée.Advantageously, the storage means changer furthermore comprises at least a second main part mounted on each of the storage medium supports for the mechanical coupling of the storage means on their respective support, as well as the electrical and / or pneumatic connection of the storage means. storage means and the associated application head.
Avantageusement, chaque support de moyens de stockage est équipé d'une unité de commande secondaire, avantageusement associée à une interface homme-machine, pour piloter les moyens de stockage et la tête de placement associée sur leur support respectif.Advantageously, each medium of storage means is equipped with a secondary control unit, advantageously associated with a human-machine interface, for controlling the storage means and the associated placement head on their respective support.
Selon un mode de réalisation, le système de déplacement est un système de déplacement cartésien de type portique, de préférence à trois axes, avec un poignet d'extrémité, à un ou plusieurs axes, monté à l'extrémité d'un chariot du portique mobile verticalement, classiquement appelé coulant, et équipé de la partie principale du changeur de têtes. Avantageusement, la première partie principale du changeur de moyens de stockage est fixée sur le chariot mobile verticalement du portique.According to one embodiment, the displacement system is a gantry-type, preferably three-axis, Cartesian displacement system with a single or multi-axis end wrist mounted at the end of a gantry trolley. vertically movable, classically called flowing, and equipped with the main part of the head changer. Advantageously, the first main part of the storage means changer is fixed on the vertically movable carriage of the gantry.
Selon un mode de réalisation, les premiers et seconds moyens de stockage sont chacun formés d'un cantre. En variante, les fibres, par exemple de type fibres de verre, sont conditionnées sous forme de pelotes se déroulant par le centre. Les moyens de stockage de fibres sont formés par de simples étagères, les pelotes de fibres étant posées côte à côte sur les plateaux des étagères. Les étagères, intégrées dans une armoire, sont alors équipées des parties outils du changeur de moyens de stockage. Des fibres textiles peuvent également être conditionnées dans des cartons rangés sur les plateaux des étagères.According to one embodiment, the first and second storage means are each formed of a creel. As a variant, the fibers, for example of fiberglass type, are packaged in the form of balls taking place in the center. The fiber storage means are formed by simple shelves, the balls of fibers being placed side by side on the shelves of the shelves. The shelves, integrated into a cabinet, are then equipped with the tool parts of the storage means changer. Textile fibers can also be packaged in cartons arranged on the shelves of the shelves.
Avantageusement, chaque cantre est équipé d'au moins une première partie outils, de préférence au moins deux premières parties outils, pour son accouplement à au moins une première partie principale fixée au chariot mobile verticalement du portique, de préférence au moins deux premières parties principales, et est équipé d'au moins une deuxième partie outils, de préférence au moins deux, pour son accouplement à au moins une deuxième partie principale, de préférence au moins deux, fixée à un support de moyens de stockage. Selon un mode de réalisation, le cantre est équipé latéralement d'au moins une première partie outils pour son accouplement latéral au chariot mobile verticalement, et équipé inférieurement d'au moins une deuxième partie outils pour son accouplement par le bas à un support de moyens de stockage.Advantageously, each creel is equipped with at least a first tool part, preferably at least two first tool parts, for its coupling to at least a first main part fixed to the vertically movable carriage of the gantry, preferably at least two first main parts. , and is equipped with at least a second tool part, preferably at least two, for coupling to at least a second main part, preferably at least two, attached to a storage means support. According to one embodiment, the creel is equipped laterally with at least a first tool part for its lateral coupling to the vertically movable carriage, and equipped with at least a second tool part for its coupling from below to a support of means. storage.
L'invention sera mieux comprise, et d'autres buts, détails, caractéristiques et avantages apparaîtront plus clairement au cours de la description explicative détaillée qui va suivre d'un mode de réalisation particulier actuellement préféré de l'invention, en référence aux dessins schématiques annexés sur lesquels :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:
- la figure 1 représente une vue schématique en perspective d'une machine d'application de fibres selon l'invention ; et- Figure 1 shows a schematic perspective view of a fiber application machine according to the invention; and
- la figure 2 est une vue de face de la machine de la figure 1.FIG. 2 is a front view of the machine of FIG.
Les figures illustrent un mode de réalisation dans lequel des têtes de placement de fibres peuvent être montées sur un système de déplacement de type portique. La machine de placement comprend un système de déplacement 1 de type portique avec un poignet d'extrémité 15, une première tête de placement 2a et une seconde tête de placement 2b, chacune apte à être montée au poignet d'extrémité. La première tête est reliée par des premiers moyens d'acheminement 4a à des premiers moyens de stockage de fibres 3a, tandis que la deuxième tête 2b est reliée par des seconds moyens d'acheminement 4b à des seconds moyens de stockage de fibres.The figures illustrate an embodiment in which fiber placement heads may be mounted on a gantry type moving system. The placement machine comprises a gantry type moving system 1 with an end wrist 15, a first placement head 2a and a second placement head 2b, each adapted to be mounted on the end wrist. The first head is connected by first conveying means 4a to first fiber storage means 3a, while the second head 2b is connected by second conveying means 4b to second fiber storage means.
Le système de déplacement 1 de type portique comprend un premier chariot 11 monté mobile selon une première direction horizontale X entre les deux barres support 12a parallèles d'un portique 12, un deuxième chariot 13 monté mobile sur le premier chariot 12 selon une deuxième direction horizontale Y perpendiculaire à la première, et un troisième chariot 14, appelé également coulant, monté mobile sur un rail vertical solidaire du deuxième chariot 13 selon une troisième direction verticale Z. Les déplacements des trois chariots sont assurés par des moyens d'entraînement embarqués sur chacun d'entre eux, et asservis par une unité de commande principale de la machine. Le poignet 15, de type poignet de robot à trois axes, est monté pivotant à l'extrémité inférieure du troisième chariot 14. Suivant la figure 2, le poignet comprend trois tronçons, un premier tronçon 15a par lequel le poignet est monté pivotant sur le troisième chariot autour d'un axe vertical A1 , un deuxième tronçon 15b monté pivotant sur le premier tronçon autour d'un axe A2, et un troisième tronçon 15c monté pivotant sur le deuxième tronçon autour d'un axe A3, ce troisième tronçon étant destiné à porter une tête de placement de fibres, pour le déplacement de cette dernière au-dessus d'un moule M placé entre les montants 12b du portique.The gantry-type displacement system 1 comprises a first carriage 11 mounted to move in a first horizontal direction X between the two parallel support bars 12a of a gantry 12, a second carriage 13 mounted to move on the first carriage 12 in a second horizontal direction Y perpendicular to the first, and a third carriage 14, also called sliding, movably mounted on a vertical rail secured to the second carriage 13 in a third vertical direction Z. The movements of the three carriages are provided by drive means on each of them, and enslaved by a main control unit of the machine. The wrist 15, of the three-axis robot wrist type, is pivotally mounted at the lower end of the third carriage 14. According to FIG. 2, the wrist comprises three sections, a first section 15a through which the wrist is pivotally mounted on the third carriage about a vertical axis A1, a second section 15b pivotally mounted on the first section about an axis A2, and a third section 15c pivotally mounted on the second section about an axis A3, this third section being intended to carry a fiber placement head, for the displacement of the latter above a mold M placed between the amounts 12b of the gantry.
Chaque tête de placement de fibres comprend, de manière connue, un rouleau d'application apte à venir en contact avec le moule M pour appliquer une bande formée de plusieurs fibres pré-imprégnées de résine, et un système de guidage permettant de guider les fibres vers le rouleau, par exemple en deux nappes de fibres. Afin de pouvoir à tout moment stopper et reprendre l'application d'une bande, ainsi que choisir la largeur de la bande, la tête comprend en outre des systèmes de coupe et de blocage pour couper et bloquer individuellement chaque fibre en amont du rouleau, et des systèmes de réacheminement en amont des systèmes de coupe pour réacheminer individuellement chaque fibre venant d'être coupée.Each fiber placement head comprises, in known manner, an application roller adapted to come into contact with the mold M to apply a strip formed of several fibers pre-impregnated with resin, and a guiding system for guiding the fibers. towards the roll, for example in two layers of fibers. In order to be able to stop and resume the application of a band at any time, as well as to choose the width of the band, the head further comprises cutting and blocking systems for individually cutting and blocking each fiber upstream of the roll, and rerouting systems upstream of the cutting systems to individually reroute each fiber that has just been cut.
La machine est prévue pour l'application de fibres, par exemple de type fibres de carbone, conditionnées sous forme de bobines. Les premiers et seconds moyens de stockage sont formés respectivement d'un premier cantre 3a et d'un second cantre 3b pour recevoir les bobines de fibres, chaque cantre étant apte à être monté sur le troisième chariot. Le cantre comprend un cadre support portant une pluralité de mandrins sur lesquels sont montées les bobines, chaque mandrin étant avantageusement équipé d'un système de freinage automatique asservi en boucle fermée en fonction de la tension de la fibre, tel que décrit dans le document brevet EP 697990. Le cantre est intégré dans une armoire qui sera avantageusement régulée en hygrométrie et en température.The machine is intended for the application of fibers, for example carbon fiber type, packaged in the form of coils. The first and second storage means are formed respectively of a first creel 3a and a second creel 3b to receive the fiber reels, each creel being adapted to be mounted on the third carriage. The creel comprises a support frame carrying a plurality of mandrels on which the coils are mounted, each mandrel being advantageously equipped with an automatic braking system controlled in a closed loop according to the tension of the fiber, as described in the patent document. EP 697990. The creel is integrated in a cabinet that will be advantageously controlled hygrometry and temperature.
Les moyens d'acheminement sont formés par des tubes flexibles tels que décrits dans la demande WO2006/092514. Les fibres stockées en bobine sur le premier cantre sont acheminées individuellement vers la première tête par des premiers tubes flexibles. Ces premiers tubes flexibles sont fixés par leurs extrémités à la première tête d'application 2a et au premier cantre 3a respectivement par des moyens de fixation amont et aval, par exemple sous la forme de rampes. Ces tubes flexibles présentent une longueur et une flexibilité suffisantes pour ne pas limiter le système de déplacement dans ses mouvements, et sont rassemblés par un ou plusieurs anneaux en un faisceau, représenté schématiquement sous les références 4a sur les figures. De manière analogue, des seconds tubes flexibles, rassemblés en un deuxième faisceau 4b, permettent l'acheminement de fibres du deuxième cantre 3b vers la deuxième tête de placement 2b. Un limiteur de tension, tel que décrit en détails dans le document brevet précité, comprenant un ensemble de cylindres parallèles motorisés sur lesquels les fibres passent sans en faire le tour, peuvent être prévus entre chaque tête d'application et son cantre associé pour réduire la tension des fibres au niveau du rouleau. Dans ce mode de réalisation, un système limiteur de tension est intégré dans l'armoire en sortie de cantre. La machine comprend une unité de commande principale (non représentée), avec une interface homme-machine, pour commander les mouvements des chariots et du poignet selon des séquences programmées, et pour commander les équipements de la tête de placement montée sur le poignet, notamment les actionneurs des systèmes de coupe, de blocage et de réacheminement, ainsi que les équipements de son cantre associé, notamment les actionneurs de son système limiteur de tension. Pour chaque tête de placement, les circuits électriques, pneumatiques et/ou hydrauliques pour son alimentation et sa commande sont disposés dans un tuyau s'étendant du cantre jusqu'à la tête, le long de son faisceau de tubes flexibles.The conveying means are formed by flexible tubes as described in WO2006 / 092514. The fibers stored in a reel on the first creel are individually conveyed to the first head by first flexible tubes. These first flexible tubes are fixed by their ends to the first application head 2a and the first creel 3a respectively by upstream and downstream fixing means, for example in the form of ramps. These flexible tubes have a length and flexibility sufficient not to limit the movement system in its movements, and are collected by one or more rings in a beam, shown schematically under references 4a in the figures. Similarly, second flexible tubes, gathered in a second beam 4b, allow the fiber routing of the second creel 3b to the second placement head 2b. A voltage limiter, as described in detail in the aforementioned patent document, comprising a set of motorized parallel cylinders on which the fibers pass without circling, may be provided between each application head and its associated creel to reduce the fiber tension at the roller. In this embodiment, a voltage limiter system is integrated into the cabinet at the outlet of the creel. The machine comprises a main control unit (not shown), with a man-machine interface, for controlling the movements of the carriages and the wrist according to programmed sequences, and for controlling the equipment of the wrist-mounted placement head, in particular the actuators of the cutting, blocking and re-routing systems, as well as the equipment of its associated creel, in particular the actuators of its voltage limiter system. For each placement head, the electrical, pneumatic and / or hydraulic circuits for its supply and its control are arranged in a pipe extending from the creel to the head, along its bundle of flexible tubes.
La machine comprend un système de changement d'outils permettant de changer automatiquement de tête de placement et de cantre associé. Ce système comprend un changeur de têtes permettant l'accouplement de chaque tête de placement avec le poignet, un changeur de cantre permettant l'accouplement de chaque cantre avec le troisième chariot, et deux bancs de réception pour recevoir et livrer chaque tête et son cantre associé, le changeur de cantre permettant également l'accouplement de chaque cantre sur son banc de réception.The machine includes a tool change system for automatically changing the placement head and associated creel. This system comprises a head changer allowing the coupling of each placement head with the wrist, a creel changer allowing the coupling of each creel with the third carriage, and two receiving benches for receiving and delivering each head and its creel. associated, the creel changer also allowing the coupling of each creel on its reception bench.
Ces changeurs de têtes et de cantres peuvent être constitués par des changeurs d'outils, connus en soi, classiquement utilisés dans les applications robotiques, tel que ceux commercialisés par la société Applied Robotics par exemple.These changers and canisters can be constituted by tool changers, known per se, conventionally used in robotic applications, such as those marketed by Applied Robotics for example.
Le changeur de têtes comprend une partie principale 5, appelée également partie robot ou adapteur principal, équipée de moyens de fixation pour sa fixation au poignet, et deux parties outils 61 , 62 équipées chacune de moyens de fixation pour sa fixation à une tête de placement de fibres. Cette partie principale et ces parties outils sont équipées de moyens d'accouplement/désaccouplement automatique, par exemple de type pneumatiques, pilotés par l'unité de commande principale de la machine pour désaccoupler ou accoupler automatiquement le poignet et une tête de placement. Ce changeur de têtes assure un simple accouplement mécanique des têtes sur le poignet.The head changer comprises a main part 5, also called robot part or main adapter, equipped with fixing means for attachment to the wrist, and two tool parts 61, 62 each equipped with fixing means for attachment to a placement head fiber. This main part and these tool parts are equipped with automatic coupling / uncoupling means, for example pneumatic type, controlled by the main control unit of the machine to automatically disconnect or couple the wrist and a head of the machine. placement. This head changer ensures a simple mechanical coupling of the heads on the wrist.
Le changeur de cantres comprend deux premières parties principales 71 , 72 fixées sur le troisième chariot 15c, et deux premières parties outils 81a, 82a et 81 b, 82b sur chaque cantre pour leur accouplement au troisième chariot. Le changeur de cantres comprend en outre deux deuxièmes parties principales 73a, 74a et 73b, 74b fixées sur les supports de cantre 91a 91 b de chaque banc de réception 9a, 9b et deux deuxièmes parties outils 83a, 84a, et 83b et 84b sur chaque cantre pour l'accouplement des cantres sur leur support de cantre respectif. Les parties principales et les parties outils de ce changeur de cantres sont équipées de moyens d'accouplement/désaccouplement de type pneumatique pour accoupler automatiquement un cantre au chariot ou à son support. Ces parties du changeur de cantres sont également équipées de moyens de connexions électriques et pneumatiques pour assurer le pilotage des équipements des cantres et des têtes lorsqu'ils sont sur le système de déplacement pour les opérations de placement de fibres, ou sur leur banc de réception pour les opérations de nettoyage et/ou de chargement de bobines.The creel changer comprises two first main parts 71, 72 fixed on the third carriage 15c, and two first tool parts 81a, 82a and 81b, 82b on each creel for coupling to the third carriage. The creel changer further comprises two second main portions 73a, 74a and 73b, 74b attached to the cradle supports 91a 91b of each receiving bench 9a, 9b and two second tool parts 83a, 84a, and 83b and 84b on each creel for the coupling of the creels on their respective creel support. The main parts and tool parts of this creel changer are equipped with pneumatic coupling / disengaging means for automatically coupling a creel to the carriage or its support. These parts of the canter changer are also equipped with electrical and pneumatic connection means to control the equipment of the creels and heads when they are on the displacement system for fiber placement operations, or on their reception bench for the operations of cleaning and / or loading of coils.
Chaque cantre 3a, 3b comprend ainsi quatre parties outils : les deux premières parties outils 81a, 82a et 81b, 82b sont disposées latéralement sur le cantre, décalées verticalement l'une de l'autre, pour l'accouplement sur les premières parties principales 71 , 72 du troisième chariot 14 disposées latéralement sur ce chariot, et les deux deuxièmes parties outils sont disposées en partie inférieure, sur le fond de l'armoire pour l'accouplement sur les deuxièmes parties principales disposées 73a, 74a et 73b, 74b sur le support de cantre.Each creel 3a, 3b thus comprises four tool parts: the first two tool parts 81a, 82a and 81b, 82b are arranged laterally on the creel, offset vertically from one another, for coupling to the first main parts 71 , 72 of the third carriage 14 disposed laterally on this carriage, and the two second tool parts are arranged in the lower part, on the bottom of the cabinet for coupling to the second main parts arranged 73a, 74a and 73b, 74b on the creel support.
Chaque banc de réception 9a, 9b comprend un support 92a, 92b en forme de berceau pour recevoir une tête de placement et un support de cantre 91a, 91b équipés des deuxièmes parties principales du changeur d'outils 73a, 74a et 73b, 74b. Chaque banc est en outre équipé d'une unité ou automate de commande secondaire connecté aux deuxièmes parties principales et d'une interface homme-machine pour piloter le cantre et la tête. Pour chaque cantre, les parties outils sont reliées aux circuits électriques et pneumatiques du cantre et aux circuits électriques et pneumatiques de la tête de placement associée. Les premières parties principales sont connectées à des circuits pneumatiques et électriques de l'unité de commande principale 71 , 72, et les secondes parties principales 73a, 74a et 73b, 74b sont connectées aux circuits électriques et pneumatiques de l'unité de commande secondaire de leur banc respectif.Each receiving bench 9a, 9b includes a cradle support 92a, 92b for receiving a placement head and a creel holder 91a, 91b provided with the second main portions of the tool changer 73a, 74a and 73b, 74b. Each bench is also equipped with a secondary control unit or controller connected to the second main parts and a man-machine interface for controlling the creel and the head. For each creel, the tool parts are connected to the electrical and pneumatic circuits of the creel and the electrical and pneumatic circuits of the associated placement head. The first major parts are connected to pneumatic and electrical circuits of the main control unit 71, 72, and the second main portions 73a, 74a and 73b, 74b are connected to the electrical and pneumatic circuits of the secondary control unit of the main control unit. their respective bench.
Lorsqu'un cantre est accouplé par ses premières parties outils aux premières parties principales du chariot, leurs moyens de connexion assurent la connexion électrique et pneumatique du cantre et de la tête associée avec l'unité de commande principale, et le pilotage des moyens d'accouplement/désaccouplement est réalisé par l'unité de commande principale. Lorsqu'un cantre est accouplé par ses deuxièmes parties outils aux deuxièmes parties principales de son banc de réception, leurs moyens de connexion assurent la connexion électrique et pneumatique du cantre et de sa tête associée avec l'unité de commande secondaire dudit banc, le pilotage des moyens d'accouplement/désaccouplement est réalisé par cette unité de commande secondaire.When a creel is coupled by its first tool parts to the first main parts of the carriage, their connection means provide the electrical and pneumatic connection of the creel and the head associated with the main control unit, and the control of the means of coupling / uncoupling is performed by the main control unit. When a creel is coupled by its second tool parts to the second main parts of its receiving bench, their connection means provide the electrical and pneumatic connection of the creel and its head associated with the secondary control unit of said bench, the control coupling / uncoupling means is provided by this secondary control unit.
Le changeur de cantres assure ainsi un accouplement mécanique, électrique (puissance et commande) et pneumatique du cantre et de sa tête associée avec l'unité de commande principale lorsqu'ils sont sur le système de déplacement pour effectuer les opérations de placement de fibres, ainsi qu'un accouplement mécanique, électrique (puissance et commande) et pneumatique du cantre et de sa tête associée avec l'unité de commande secondaire d'un banc lorsqu'ils sont sur leur banc de réception pour effectuer les opérations de nettoyage et/ou de chargement de bobines.The canter changer thus provides mechanical, electrical (power and control) and pneumatic coupling of the creel and its head associated with the main control unit when they are on the displacement system for performing the fiber placement operations, as well as a mechanical, electrical (power and control) and pneumatic coupling of the creel and its head associated with the secondary control unit of a bench when they are on their reception bench to carry out the cleaning operations and / or loading reels.
L'utilisation d'une paire de parties outils et d'une paire de parties principales pour l'accouplement du cantre au système de déplacement et au banc garantit un accouplement mécanique sûr, en particulier sur le système de déplacement, et un accouplement électrique et pneumatique avec un nombre de connexions électriques et pneumatiques suffisant pour l'alimentation et le pilotage de la tête et du cantre. Sur les figures, le poignet 15 de la machine est équipé de la première tête de placement de fibres 2a, son cantre 3a étant monté sur le troisième chariot 14. L'alimentation et la commande du cantre et de la tête sont réalisées par les moyens de connexions des premières parties outils et des premières parties principales du changeur de cantres.The use of a pair of tool parts and a pair of main parts for the coupling of the creel to the movement system and the bench ensures a safe mechanical coupling, in particular on the displacement system, and an electrical coupling and pneumatic with a sufficient number of electrical and pneumatic connections for feeding and controlling the head and creel. In the figures, the wrist 15 of the machine is equipped with the first fiber placement head 2a, its creel 3a being mounted on the third carriage 14. The feed and the control of the creel and the head are made by the means connections of the first tool parts and the first main parts of the canter changer.
Lorsque la tête est encrassée et/ou lorsque les bobines du cantre doivent être remplacées, la machine est commandée par l'unité de commande principale pour déposer la tête et le cantre sur leur support 9a et les remplacer avec la deuxième tête de placement 2b nettoyée et associée à un cantre plein. La première tête 2a et son cantre 3a sont par exemple déposés en deux temps. Le cantre est amené au dessus de son support 91a, et le troisième chariot est descendu pour amener les deuxièmes parties outils 83a, 84a sur les deuxièmes parties principales 73a, 74a. Ces deuxièmes parties sont accouplées en pilotant leur moyens d'accouplement/désaccouplement via l'unité de commande secondaire du banc de réception 9a et, sensiblement simultanément les moyens d'accouplement/désaccouplement des premières parties principales 71 , 72 et des premières parties outils 81a, 82a du cantre sont pilotées par l'unité de commande pour les désaccoupler. Dans un deuxième temps, les chariots sont commandés pour poser la tête sur son support 92a. Une fois la tête posée, les moyens d'accouplement/ désaccouplement de la partie principale 5 et de la partie outils 61 de la première tête sont pilotés pour désaccoupler ces dernières.When the head is fouled and / or when the reels of the creel have to be replaced, the machine is controlled by the main control unit to remove the head and the creel on their support 9a and replace them with the second placement head 2b cleaned and associated with a full creel. The first head 2a and its creel 3a are for example deposited in two stages. The creel is brought over its support 91a, and the third carriage is lowered to bring the second tool parts 83a, 84a to the second main portions 73a, 74a. These second parts are coupled by controlling their coupling / uncoupling means via the secondary control unit of the reception bench 9a and substantially simultaneously the coupling / uncoupling means of the first main parts 71, 72 and the first tool parts 81a. , 82a of the creel are controlled by the control unit to uncouple. In a second step, the carriages are controlled to put the head on its support 92a. Once the head is placed, the coupling / uncoupling means of the main part 5 and the tools part 61 of the first head are controlled to uncouple them.
Le poignet est ensuite déplacé vers le banc de réception 9b de la deuxième tête pour, dans un premier temps, accoupler la partie outils 62 de la deuxième tête 2b et la partie principale 5 du poignet, puis accoupler les premières parties 81b, 82b du cantre 3b aux premières parties principales 71 , 72 du troisième chariot, et désaccoupler les deuxièmes parties outils 83a, 84a du cantre des deuxièmes parties principales 73b, 74b du banc de réception.The wrist is then moved to the receiving bench 9b of the second head to firstly couple the tools part 62 of the second head 2b and the main part 5 of the wrist, and then couple the first parts 81b, 82b of the creel 3b to the first main portions 71, 72 of the third carriage, and uncouple the second tool parts 83a, 84a of the creel of the second main portions 73b, 74b of the receiving bench.
La machine peut alors être utilisée pour le placement de fibres avec la deuxième tête de placement alimentée en fibres par son cantre 3b. Pendant ce temps, les différents équipements de la première tête et du premier cantre peuvent être pilotés par l'unité de commande secondaire du banc de réception 9a, via son interface homme-machine, afin de charger le cantre avec de nouvelles bobines de fibres et amener les fibres de ces nouvelles bobines jusqu'au rouleau d'application de la tête. L'interface homme-machine permettra en outre à un opérateur de contrôler le bon fonctionnement des actionneurs de la tête de placement, en particulier les vérins de coupe, de blocage et de réacheminement.The machine can then be used for the placement of fibers with the second placement head fed with fibers by its creel 3b. during this time, the different equipment of the first head and the first creel can be driven by the secondary control unit of the reception bench 9a, via its man-machine interface, in order to load the creel with new fiber coils and bring the fibers of these new coils up to the application roller of the head. The human-machine interface will further enable an operator to control the proper operation of the actuators of the placement head, in particular the cutting, blocking and re-routing cylinders.
Dans une variante de réalisation, le système de déplacement de fibres comprend un bras poly-articulé du type robot six axes, connu en soi, monté mobile sur un axe linéaire, et dont le poignet d'extrémité est équipé comme précédemment d'une partie principale de changeur de têtes. Le bras poly- articulé est fixé par son embase sur un chariot monté coulissant sur l'axe linéaire et équipé de moyens d'entraînement, par exemple de type galets motorisés asservis par une unité de commande. La machine comprend comme précédemment deux têtes de placement de fibres, chacune reliée à un cantre par des tubes flexibles pour l'acheminement des fibres, et chacune apte à être déposée par le bras poly-articulé sur un support en forme de berceau. Chaque cantre est disposé sur un chariot suiveur monté sur l'axe linéaire du robot ou sur son propre axe linaire, disposé parallèlement à l'axe linéaire du robot.In an alternative embodiment, the fiber displacement system comprises a poly-articulated arm of the six-axis robot type, known per se, mounted movably on a linear axis, and whose end wrist is equipped as previously with a part head changer. The poly-articulated arm is fixed by its base on a carriage slidably mounted on the linear axis and equipped with drive means, for example motorized roller type controlled by a control unit. The machine comprises as before two fiber placement heads, each connected to a creel by flexible tubes for the routing of the fibers, and each adapted to be deposited by the poly-articulated arm on a cradle-shaped support. Each creel is arranged on a follower carriage mounted on the linear axis of the robot or on its own linear axis, arranged parallel to the linear axis of the robot.
Bien que l'invention ait été décrite en liaison avec un mode de réalisation particulier, il est bien évident qu'elle n'y est nullement limitée et qu'elle comprend tous les équivalents techniques des moyens décrits ainsi que leurs combinaisons si celles-ci entrent dans le cadre de l'invention. 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

REVENDICATIONS
1. Machine d'application de fibres, pour l'application sur une surface d'une bande large formée de plusieurs fibres, comprenant au moins une tête d'application de fibres, un système de déplacement de ladite tête d'application de fibres, des moyens de stockage de fibres, et des moyens d'acheminement des fibres pour acheminer les fibres desdits moyens de stockage vers la tête d'application, caractérisée en ce qu'elle comprendFiber applicator machine, for application to a surface of a broad band formed of several fibers, comprising at least one fiber application head, a displacement system of said fiber application head, fiber storage means, and fiber routing means for feeding the fibers of said storage means to the application head, characterized in that it comprises
- au moins une première tête d'application (2a) reliée à des premiers moyens de stockage (3a) par des premiers moyens d'acheminement (4a) et une deuxième tête d'application (2b) reliée à des seconds moyens de stockage (3b) par des seconds moyens d'acheminement (4b), etat least one first application head (2a) connected to first storage means (3a) by first conveying means (4a) and a second application head (2b) connected to second storage means ( 3b) by second conveying means (4b), and
- un système de changement automatique d'outils comportantan automatic tool change system comprising
- un changeur de têtes, ledit changeur de têtes comprenant une partie principale (5), montée sur le système de déplacement (1 ) et une partie outils (61 , 62) montée sur chacune des têtes d'application, ladite partie principale et lesdites parties outils étant équipées de moyens d'accouplement et désaccouplement automatique pour permettre le changement automatique de tête d'application sur le système de déplacement, et- a head changer, said head changer comprising a main part (5), mounted on the displacement system (1) and a tool part (61, 62) mounted on each of the application heads, said main part and said tool parts being provided with coupling and automatic disconnecting means to allow automatic change of application head on the displacement system, and
- au moins deux supports (92a, 92b) de tête d'application aptes à recevoir les têtes d'application, les premiers et seconds moyens d'acheminement comprenant des premiers et seconds tubes flexibles (4a, 4b), chaque tube flexible étant apte à recevoir une fibre dans son passage interne et étant monté fixe par ses extrémités entre des moyens de stockage (3a, 3b) et une tête d'application (2a, 2b).at least two application head supports (92a, 92b) capable of receiving the application heads, the first and second conveying means comprising first and second flexible tubes (4a, 4b), each flexible tube being capable of receiving a fiber in its internal passage and being mounted fixed at its ends between storage means (3a, 3b) and an application head (2a, 2b).
2. Machine selon la revendication 1 , caractérisée en ce que chaque tête d'application (2a, 2b) est apte à appliquer sur une surface une bande formée de plusieurs fibres.2. Machine according to claim 1, characterized in that each application head (2a, 2b) is adapted to apply on a surface a strip formed of several fibers.
3. Machine selon la revendication 1 ou 2, caractérisée en ce qu'elle comprend, pour chaque tête d'application (2a, 2b), des moyens d'alimentation et de commande électrique et/ou pneumatique de la tête d'application qui s'étendent de la tête d'application aux moyens de stockage (3a, 3b) le long des moyens d'acheminement (4a, 4b), pour le pilotage de la tête d'application.3. Machine according to claim 1 or 2, characterized in that it comprises, for each application head (2a, 2b), power supply means and electrical and / or pneumatic control of the application head which extend from the application head to the storage means (3a, 3b) along the conveying means (4a, 4b), for controlling the application head.
4. Machine selon l'une des revendications 1 à 3, caractérisée en ce que le système de changement d'outils comprend en outre4. Machine according to one of claims 1 to 3, characterized in that the tool change system further comprises
- un changeur de moyens de stockage comportant au moins une première partie principale (71 , 72) montée sur le système de déplacement (1 ) et au moins une première partie outils (81a, 82a ; 81b, 82b) montée sur chacun des moyens de stockage (3a, 3b), lesdites première partie principale et premières parties outils étant équipées de moyens d'accouplement et désaccouplement automatique, pour permettre le changement automatique des moyens de stockage sur le système de déplacement, et- a storage means changer comprising at least a first main part (71, 72) mounted on the displacement system (1) and at least a first tool part (81a, 82a, 81b, 82b) mounted on each of the means storage (3a, 3b), said first main part and first tool parts being equipped with automatic coupling and uncoupling means, to allow the automatic switching of the storage means on the displacement system, and
- deux supports (91a, 91b) de moyens de stockage aptes à recevoir les moyens de stockage.two supports (91a, 91b) for storage means able to receive the storage means.
5. Machine selon les revendications 3 et 4, caractérisée en ce que la première partie principale (71 , 72) et les premières parties outils (81a, 82a ; 81 b, 82b) du changeur de moyens de stockage sont équipées de moyens de connexion électrique et/ou pneumatique pour le pilotage des moyens de stockage et de la tête d'application associée.5. Machine according to claims 3 and 4, characterized in that the first main part (71, 72) and the first tool parts (81a, 82a, 81b, 82b) of the storage means changer are equipped with connection means. electrical and / or pneumatic for controlling the storage means and the associated application head.
6. Machine selon la revendication 5, caractérisée en ce que le changeur de moyens de stockage comprend en outre au moins une deuxième partie principale (73a, 74a, 73b, 74b) montée sur chacun des supports (91a, 92a) de moyens de stockage pour l'accouplement mécanique des moyens de stockage sur leur support respectif, ainsi que la connexion électrique et/ou pneumatique des moyens de stockage et de la tête d'application associée.6. Machine according to claim 5, characterized in that the storage means changer further comprises at least a second main portion (73a, 74a, 73b, 74b) mounted on each of the media (91a, 92a) storage means for the mechanical coupling of the storage means on their respective support, as well as the electrical and / or pneumatic connection of the storage means and the associated application head.
7. Machine selon la revendication 6, caractérisée en ce que chaque support (91a, 91 b) de moyens de stockage est équipé d'une unité de commande secondaire pour piloter les moyens de stockage et la tête de placement associée sur leur support (91a, 92a ; 91a, 92b) respectif.7. Machine according to claim 6, characterized in that each medium (91a, 91b) of storage means is equipped with a secondary control unit for controlling the storage means and the associated placement head on their support (91a). , 92a, 91a, 92b) respectively.
8. Machine d'application selon l'une des revendications 1 à 7, caractérisée en ce que le système de déplacement (1 ) est un système de déplacement cartésien de type portique, avec un poignet d'extrémité (15) monté à l'extrémité d'un chariot (14) du portique mobile verticalement, et équipé de la partie principale (5) du changeur de têtes.8. Application machine according to one of claims 1 to 7, characterized in that the displacement system (1) is a gantry type Cartesian displacement system, with an end wrist (15) mounted at the end of a carriage (14) vertically movable gantry, and equipped with the main part (5) of the head changer.
9. Machine selon les revendications 4 et 8, caractérisée en ce que la première partie principale (71 , 72) du changeur de moyens de stockage est fixée sur le chariot (14) mobile verticalement du portique.9. Machine according to claims 4 and 8, characterized in that the first main part (71, 72) of the storage means changer is fixed on the carriage (14) movable vertically of the gantry.
10. Machine selon l'une des revendications 1 à 9, caractérisée en ce que les premiers et seconds moyens de stockage sont chacun formés d'un cantre (3a, 3b).10. Machine according to one of claims 1 to 9, characterized in that the first and second storage means are each formed of a creel (3a, 3b).
11. Machine selon les revendications 4 et 10, caractérisée en ce que chaque cantre (3a, 3b) est équipé d'au moins une première partie outils (81a, 82a ; 81 b, 82b) pour son accouplement à au moins une première partie principale (71 , 72) fixée au chariot (14) mobile verticalement du portique, et est équipé d'au moins une deuxième partie outils (81a, 82a ; 81b, 82b), pour son accouplement à au moins une deuxième partie principale (73a, 74a, 73b, 74b) fixée à un support (91a, 91 b) de moyens de stockage. 11. Machine according to claims 4 and 10, characterized in that each creel (3a, 3b) is equipped with at least a first tool part (81a, 82a, 81b, 82b) for coupling to at least a first part main (71, 72) fixed to the carriage (14) vertically movable gantry, and is equipped with at least a second tool part (81a, 82a; 81b, 82b), for its coupling to at least a second main part (73a 74a, 73b, 74b) fixed to a support (91a, 91b) of storage means.
PCT/FR2008/050808 2007-05-10 2008-05-07 Fibre application machine with a tool changing system WO2008149004A1 (en)

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FR0703352A FR2915925B1 (en) 2007-05-10 2007-05-10 FIBER APPLICATION MACHINE WITH TOOL CHANGE SYSTEM
FR0703352 2007-05-10

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US10369594B2 (en) 2015-04-01 2019-08-06 Coriolis Group Fiber application head with a specific application roll
US10821682B2 (en) 2015-10-28 2020-11-03 Coriolis Group Fiber application machine comprising specific cutting systems
US10894341B2 (en) 2016-03-07 2021-01-19 Coriolis Group Method for producing preforms with application of a binder to dry fiber, and corresponding machine
US11491741B2 (en) 2016-09-27 2022-11-08 Coriolis Group Process for producing composite material parts by impregnating a specific preform

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Cited By (12)

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Publication number Priority date Publication date Assignee Title
US8733417B2 (en) 2005-03-03 2014-05-27 Coriolis Composites Fiber application machine
US8057618B2 (en) 2007-02-21 2011-11-15 Coriolis Composites Method and apparatus for making structures of composite material, in particular airplane fuselage sections
US7819160B2 (en) 2007-02-28 2010-10-26 Coriolis Composites Device for using fibers with flexible fiber-routing tubes
US7926537B2 (en) 2007-03-06 2011-04-19 Coriolis Composites Applicator head for fibers with particular systems for cutting fibers
US8052819B2 (en) 2009-04-02 2011-11-08 Coriolis Composites Method and machine for applying a band of fibers on convex surfaces and/or with edges
US8191596B2 (en) 2009-07-17 2012-06-05 Coriolis Composites Fiber application machine comprising a flexible compacting roller with a thermal regulation system
US8919409B2 (en) 2011-03-25 2014-12-30 Fives Machining Systems, Inc. Dockable cut clamp and restart mechanism for a fiber placement head
US8997818B2 (en) 2013-02-27 2015-04-07 Fives Machining Systems, Inc. Device for fabricating a composite structure
US10369594B2 (en) 2015-04-01 2019-08-06 Coriolis Group Fiber application head with a specific application roll
US10821682B2 (en) 2015-10-28 2020-11-03 Coriolis Group Fiber application machine comprising specific cutting systems
US10894341B2 (en) 2016-03-07 2021-01-19 Coriolis Group Method for producing preforms with application of a binder to dry fiber, and corresponding machine
US11491741B2 (en) 2016-09-27 2022-11-08 Coriolis Group Process for producing composite material parts by impregnating a specific preform

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FR2915925B1 (en) 2013-02-22

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