JPH0159906B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus and method for laying a tape on either a flat or non-flat surface, and more particularly to a flat or non-flat surface made of laid tape material. Apparatus and method for automatically creating laminated composite structures having

Laminated composite structures are used in a wide variety of articles and devices where the light weight, high strength, and properties that can be provided by tape materials are beneficial. The composite structures described above are particularly useful in the fabrication of aircraft and other aerospace industry components, components for a wide variety of land and underwater vehicles, and as structural members of certain buildings. In many of their applications, structural members are required to withstand large loads at specific points or along specific axes. The composite structure is
It is well suited for this type of use because the number of layers of material, such as tape, can be varied and oriented to accommodate the areas requiring maximum strength. Typically, laminated composite structures consist of a plastic matrix of materials such as boron, graphite or glass fiber woven fabrics, or epoxy resin reinforced with tape-like materials.

There are a wide variety of well-known fabrication methods for fabricating laminated composite structures from tape materials. Many of the more commonly employed methods and their associated equipment are expensive methods, and as a result structures produced by these methods are limited to those that can more easily withstand the high costs associated with them. It will be done. The high cost is due to the high strength and stiffness of tapes made from boron, graphite, fiberglass, or other such fibrous materials, making them difficult to handle and cut to desired lengths and widths. This is because it makes things difficult. Additionally, the uncured resin of the tape material should not adhere to the storage, transport, and cutting mechanisms during its handling, and should not be unduly deposited on the concavities of the surfaces of the mechanisms that are in continuous contact with the tape material. Great care must be taken to ensure this. For example, a relatively simple device may employ a tape storage and transport mechanism that requires an operator to manually cut the tape once each predetermined length of tape material is withdrawn from the storage mechanism. be. The operator then shapes the tape to the mold of the particular part being made. Such equipment is labor intensive, extremely time consuming, and therefore extremely expensive. It also tends to lead to, for example, folding of the tape or improper formation of the tape relative to the mold. however,
There are some tape laying devices that are more automated.
January 9, 1979 A. August
U.S. Pat. No. 4,133,711, issued in 1999, discloses that successive layers of tape are laid down to a vacuum restraint surface to form a workpiece, which is then sent to a cutting section where it is cut into the desired shape by a laser cutter. It shows a device in which the material is transferred to a mold, and then molded onto the mold. Similarly,
U.S. Patent No. 27, 1973, issued to HE Karlson et al.
No. 3,775,219 shows a synthetic tape laying head that includes a photoelectric edge sensing mechanism that controls the cutting of the synthetic tape and automatically adjusts the tape laying trajectory as necessary. Also, U.S. Patent No. 1 issued to T. Hegyi on July 20, 1976.
No. 3970831 shows a device for controlling tape laying on convex surfaces. Hegyi's device generates a series of controller signals which cause the digitizing head, i.e. the sensing head, to be replaced by a tape head and which cause the surface of a tracking member located on the working surface of the mold to be digitized. It is sent to the control device by passing it across the conversion head. The tracking member includes a sensing member that operates in conjunction with the digitizing head and generates a control signal. This control signal is used to create a program for controlling the tape head during tape laying operations. Any of these devices is designed to fabricate the structure completely in the mold and to virtually fully automate the tape laying operation to avoid excessive handling and minimize working time. isn't it. June 1981 by the inventor of the present invention, which is also included herein by reference.
Pending US Patent No. 276,441, filed on the 22nd, is believed to be the only other device that satisfactorily accomplishes these objectives. The present invention and US Patent Application No.
Both of the inventions shown in '276441 allow the tape to be laid on either a flat or non-flat surface. The present invention includes an improvement in a control device that is adaptable for applying tape to non-flat surfaces, particularly concave surfaces. This is accomplished by programming the tape laying action along the longitudinal X-axis only, the overall control of the horizontal It will be done. Z
Fine control of the axis and the radial R-axis is accomplished by an independent, adaptive control device, described below. Thus, Hegyi's device does not adapt to sequentially laid surfaces, but rather follows each applied layer of tape with its tracking head, creating a new program each time a layer of tape is added. to generate, i.e.,
Since each layer of tape applied to the work surface becomes progressively more inaccurate, the present invention
better than other devices.

The present invention includes many unique features over the prior art. For example, in one embodiment, the tape supply head includes a shoe member that brings the tape into contact with the mold surface and applies evenly distributed pressure to the tape. The relative position of this shoe member to the surface of the mold is continuously monitored by a sensor and continuously adjustable via an adaptation control to maintain a predetermined relationship to the surface of the mold. The sensor is designed to monitor the point of contact between the shoe member and the surface of the mold and thereby send a signal to the tape head to adjust accordingly. In the past, constraints associated with sensor attachment meant that the sensor actually monitored the surface of the mold at a point some distance from the point of contact. For example, early versions of this tape laying machine used electro-pneumatic sensor switches. These sensors were activated by the back pressure created as the sensors approached the face of the mold. Several such switches were mounted near the roller member that supplied the tape to the face of the mold. Although these sensors were generally reliable, they introduced a certain amount of error in the positioning of the shoe because the actual point of contact between the roller member and the mold surface could not be monitored; This created periodic non-uniform pressure across the tape, causing damage to the tape. Additionally, embodiments of the present invention provide an apparatus for applying pressure along the centerline of the tape during tape laying operations by using the shoe in conjunction with a guide shoe to guide the tape toward the shoe. do. This shoe device, which includes a pressure supply device, has a tendency for the roller to slide off the centerline of the tape due to varying frictional forces along uneven surfaces, causing the tape to be tilted during the tape laying process. This is a significant improvement over previously used roller members. Finally, the cutter mechanism employed in embodiments of the present invention is capable of inter-cutting (i.e., cutting while the tape head is moving across the face of the mold), but is not compatible with well-known conventional apparatus. used cutters that required the tape head to stop before each cut.

Additionally, most synthetic tape materials are provided with a backing tape to prevent the tape from sticking to the tape laying equipment and to minimize resin buildup on the equipment. This backing tape must be removed before the tape is fed into the mold, and once removed, the synthetic tape must be handled carefully to avoid problems with adhesion to the equipment.
The backing tape needs to be removed. In some tape laying equipment, it is necessary to separate the synthetic tape from the backing tape for cutting, and then feed the synthetic tape back into the mold with the backing tape. This excessive handling of synthetic tapes comes with potential problems. For example, reattachment of a synthetic tape to a backing tape requires the use of a heat source to soften or plasticize the tape enough to reattach it.

However, in other tape laying devices, it is not necessary to remove the backing tape to cut the fibrous tape, but it is necessary to stop the machine to cut the fibrous tape. The present invention overcomes both of these drawbacks by employing a cutting mechanism that is capable of cutting the fiber tape while it is still attached to the backing tape, and that is capable of making inter-travel cuts at all angles other than perpendicular to the tape trajectory. co-exclude.

The large dimensions of many of the structures advantageously made from laminated synthetic tape materials require large support surfaces, curing sections, and significant space for transporting molds and synthetic tape between work zones. It takes. Larger dimensions tend to increase the time required to fabricate the composite structure since the operator must constantly work through this space. the result,
The work to fabricate composite structures often involves extensive non-production time.

It is therefore an object of the present invention to provide a new, improved and automated apparatus and method for making laminated structures.

Yet another purpose is to lay the tape, cut it,
By providing an automated apparatus including a gantry for supporting and transporting a tape laying head capable of depositing layers of tape on a mold to create a workpiece suitable for curing in a single workstation. be.

Another object of the present invention is to provide an apparatus for directly laying synthetic tape without having to separate the synthetic tape from the backing tape and recombine it to the backing tape.

Yet another object of the invention is to provide an apparatus for running tape and for cutting fibrous tape while it is still attached to the backing tape.

Yet another object of the invention is to provide a device for guiding a tape to a device that brings the tape into contact with the face of a mold, thereby causing the contacting device to follow along the longitudinal centerline of the tape. be.

Yet another object of the invention is to provide an apparatus for automatically laying synthetic tape in layers on a mold without operator intervention.

Yet another object of the present invention is to provide a method of making a composite structure that minimizes trimming of the workpiece being formed in the mold to a single trimming operation after completion of the tape laying operation.

Another object of the present invention is that it is controllable with a relatively simple program, such as that used when laying tape on flat surfaces, but that it can also be completely laid down on complex non-flat surfaces. . The objective is to provide a device that can be programmed by an operator.

Yet another object of the invention is to provide a tape laying machine which is adaptable to non-flat surfaces and which applies uniform pressure to successive layers of tape as the layers are formed on a non-unilateral mold or fixed surface. It is to provide.

Yet another object of the invention is to provide a method for minimizing handling of the synthetic tape material comprising the workpiece by allowing the workpiece to be formed, trimmed and cured while in a mold. That's true.

Yet another object of the invention is to provide a device capable of achieving the aforementioned objectives, while at the same time being reliable and economical compared to conventional devices.

These and other objects provide that an apparatus for making structures from layered synthetic tape formed on a mold having a working surface corresponding to the structure includes a first apparatus for receiving and delivering the tape; and a second device for moving one device across a work surface. In one embodiment, the first device is operable to feed the tape to the work surface while moving across the work surface, and includes a device for directing the tape and a device for contacting and traversing the work surface. a device for detecting the shape of the work surface during a cutting motion; and a signal responsive to the sensing device indicating a detected change in shape of the work surface relative to the orientation of the first device. and a device for providing an orientation device. The directing device is responsive to a signal provided by the signal generating device to direct the first direction.
reorienting the first device such that the pressure supply device of the device is located generally perpendicular to the work surface; In another embodiment of the invention, the pressure supply member is a shoe additionally connected to the detection device so as to contact the non-flat tape surface for the detection device.

Further objects and advantages of the invention will become apparent from the following specification and claims, and from the accompanying drawings.

1, tape laying machine 410 is shown as including a gantry 11 extending over a mold or work table 412. has been done. Gantry 11 includes a device that movably supports a tape supply head assembly 413, which will be described in detail below. First and second rails 1
4 and 15 are located on either side of the work table 412 extending in the vertical direction of the gantry 11 and in parallel alignment with each other. Gantry 1
The movement of tape supply head 413 relative to worktable 412 along line 1 is referred to as movement along the "Y-axis" and movement in a direction parallel to rails 14, 15 is referred to as "X-axis" movement. For convenience, rail 14,
15 are referred to as left and right "X-axis rails" here. Gantry 11 has left and right gantry pedestals 17,1
The pedestal includes an elongate beam 16 of generally rectangular cross section supported at its ends by 8, said pedestal being supported by a suitable internal roller (not shown) of the type known in the art as a Thompson roundway roller. The pedestal is movably supported by the X-axis trajectory. Gantry movement along X-axis trajectories 14, 15 and/or tape laying head assembly 413 along gantry beam 16
When the tape supply head assembly 413 is in contact with the work table or the surface of the mold 412, a length of the fiber composite tape 1 is delivered.
9 from the tape supply head assembly 413;
The tape is laid down and adhered to the work surface of mold 412 along the desired trajectory of the X and Y axes and as described below with respect to tape head assembly 413.

Referring to FIG. 2, the gantry beam 16 in the preferred embodiment includes upper and lower Y-axis tracks 20, 20' extending along the length of the beam and bonded to the beam on the upper and lower sides, respectively. The gantry saddle assembly 21 is attached to the gantry beam 16
is provided for mounting the tape head assembly 413 below the gantry beam 16 for movement of the tape head assembly 413 along the gantry beam 16. Gantry saddle assembly 21 is constructed with a generally rectangular cross section to receive gantry beam 16;
Upper and lower Y-axis rails 20, 20' respectively
includes upper and lower roller assemblies and tracks 22, 22' configured to movably engage the.
The structure of the roller assembly and tracks 20, 20' is well known to those skilled in the art and will not be described in detail below.

The tape laying head 413 is rotatably mounted to the Y-axis saddle assembly 21 by a mounting yoke structure 23 surrounding a dual bearing assembly 24, and a vertical shaft 443 is rotatably supported, where the "C" The shaft 443 is rotatable about a generally vertical axis 444, referred to as the "axis." Bearing assembly 24 and shaft 443 are referred to as the "C-axis" bearing assembly and "C-axis" shaft, respectively. Preferably, a dual gearbox drive 27 is employed to provide controlled rotation of the C-axis shaft 443 and tape head assembly 413 about the C-axis 444. The reduction drive 27 is mounted coaxially with and splined with the C-axis shaft 443 and includes a first timing foil 28 that engages the first timing chain 30; The first timing chain 30 also has a second timing chain attached to a vertical shaft 32 rotatably mounted within the yoke structure 23.
, which engages the smaller timing wheel 31 . Further, a third timing wheel 33 is fixed coaxially with the shaft 32, and a second timing wheel 33 extends outwardly from the yoke structure 23.
and a fourth timing wheel 35 which is still smaller than the third timing foil. The extension part of the yoke structure 23 has a "C-axis"
A DC drive motor 36 is mounted and drivingly engages the fourth timing wheel 35 for controlled rotation of the tape head assembly 413. A position sensitive feedback transducer 40 capable of generating a signal corresponding to the rotational position of the C-axis shaft is driven by the C-axis drive motor 36 and provides an electrical output signal corresponding to the degree of rotation of the motor shaft. In particular, the C-axis position of tape head assembly 413 is monitored;
It can be controlled by a control device which will be described in detail later.

The tape laying head assembly 413 is shown in FIGS.
It includes a support frame 442, shown more clearly in the figures, which is non-rotatably connected to and depends from a portion of a C-axis shaft 443 extending downwardly from the C-axis bearing structure 24.

Movement of tape head assembly 413 in the vertical direction, or "Z" axis, shown in FIG.
The mechanism includes a threaded drive shaft 42 fixed to the side of the Y-axis saddle 21 and extending upwardly from the saddle 21 along the Y-axis. It extends downwardly from a bearing support 43 mounted on a vertical sliding plate 44 . Z
A threaded drive shaft 42 for the shaft is mounted on the housing 4
A tape head mounting yoke structure 23 is fixed to the housing and extends downward inside the housing 5, and a tape head mounting yoke structure 23 is fixed to the housing.
2 is threadedly engaged within a corresponding internally threaded blocking member 46 with the shaft 42 mounted within the Z-axis housing 45. The threaded shaft 42 is for the Z-axis mounted on the Z-axis sliding plate 44.
It is driven by a DC servo motor 50 and an associated timing belt (not shown). A position sensor 51 is attached to the drive motor 50 and generates a position feedback signal corresponding to the degree of rotation between the drive motor 50 and the threaded drive shaft 42. Rotation of threaded drive shaft 42 within internally threaded blocks 46, 47 provides vertical movement of housing 45 on drive shaft 42, thus moving tape supply head assembly 413 in a vertical direction. move it.

Referring again to FIGS. 3 and 4, tape head assembly 413 is connected to tape transport and cutting mechanism 4.
74. Tape head assembly 413 is described in pending patent application no.
It is similar to the tape head 13 shown in No. 276441.
Tape cutting mechanism 474 is designed to cut, or "run-cut," while fiber tape 19 is also secured to backing tape 112, while tape head 413 continues to move across the face of the mold. , a portion of the tape is supplied to the working surface of the cut back mold structure 412 within the transport mechanism 474 . In existing tape laying machines, the cut fiber tape is separated by a separating wedge or knife directed toward the interface between the fiber tape and the backing tape without damaging or weakening the backing tape. Although it must be separated from the backing tape, the cutting mechanism in the present invention does not need to separate the fibrous tape 19 from the backing tape during the cutting operation. The cutting mechanism 469 thus overcomes the difficulties encountered with prior art methods, such as the need to separate the adhesive tape from the backing tape and then re-adhere the tape to the backing tape before laying down the tape. , as well as eliminating the resulting difficulties. In some prior art devices, it was necessary to heat the fibrous tape peeled from the backing tape to plasticize the resin so that the tape could be reattached to the backing tape. The deleterious effects of such methods are to stain the textile tape through the separation process and to prematurely cure the tape through the heating process, thus preventing satisfactory re-adhesion of the textile tape to the backing tape, as well as satisfactory adhesion of the tape to the mold. including not being able to obtain

Continuing to refer to FIGS. 3 and 4, the tape head support frame 442 includes a horizontally extending vertical backing plate 440 fixed to an axle 443, and a reinforced backing plate 440 and a top plate. welding against,
Alternatively, a vertical flange 439 that is fixed and extends horizontally therebetween;
42 and a rearward flange extending downwardly along the opposite or back side of the backing plate. The tape head assembly 413 is attached to the plate 4.
21 and 422 and includes left and right surfaces or side plates 421, 422 rigidly connected in a parallel, mutually spaced relationship by brackets 438 extending between and bolted to those plates. Side plates 421 and 422 act as a support frame for tape head mechanism 413, which will be described in more detail below.

Tape head assembly 413 is R-axis mounting assembly 4
33 (Fig. 3) to the back plate 440.
Head assembly 413 about axis 419 (FIG. 4)
Allows for rotational drive. The R axis 419 is aligned with the tape head assembly 413 so that the tape head assembly 413 is aligned with the X axis as shown in FIGS.
When aligned with the axis, it extends parallel to the X axis and centrally intersects tape head assembly 413 at its lowest point, near its intersection with mold structure 412. R
Axle mounting assembly 433 includes an R-axis track frame 434 that includes upper and lower arcuate bars or tracks 435, 436 (shown more clearly in FIGS. 3 and 6) concentric with R-axis 419. Tape head assembly 413 includes upper and lower rails 435, 43.
6, thereby allowing arcuate movement of the mounting plate 432 relative to the R axis 4 of the tape head assembly 413.
A rigid mounting plate 432 (fourth Figure). As shown, a tape head assembly 413 is mounted sufficiently to apply the desired pressure to the tape structure 110 as it is fed to the face of the mold as described above.
Balancing pneumatic actuators 447, 448 are used to apply an upward force to the.

The R-axis drive mechanism 71 in FIG. 6 includes a DC servo motor 72 mounted on a back plate 440. motor 72
A timing belt 73 connected to a drive pulley 78 extends along the back plate 440 over an arcuate driven surface 437 of the mounting plate 432 and engages with the surface, and is connected to the drive motor 72. and the back plate 4
It is looped around a corresponding pulley 75 mounted on the opposite side of 40.

As shown in FIG. 6, the drive motor 7 is rotated clockwise.
2 moves the lower part of the timing belt 73 to the left, causing counterclockwise arcuate movement of the mounting plate 432 and tape head assembly 413 on the upper and lower rails 435 and 436.

Referring back to FIG. 3, tape head frame structure 431 is connected to mounting plate 432 by left and right vertical bushing assemblies 423,424. Still referring to FIG. 4, the left bushing structure 423 includes upper and lower recirculating linear ball bushing assemblies 425, 426 bolted or otherwise secured to a mounting plate 432. Referring again to FIG. 3, the left and right upper bushing assemblies 425, 425' are aligned relative to left and right vertical shafts 427, 428 which are received for axial movement within the linear bushing assemblies 425, 425'. It is movable vertically. As can be seen in FIG. 4a, the bushing assemblies 425 and 425' are in a semi-closed state, and in the cross section, the left and right shafts 4
27,428 have inwardly facing, vertically extending slots for receiving left and right axle mounting brackets 458,459 bolted thereto. The mounting brackets 458 and 459 are bolted or otherwise secured to the left and right side plates 421 and 472, respectively. In operation, shaft 42
7. Mounting brackets 458, 459 and tape head frame 431 are moved vertically relative to mounting plate 432 by vertical movement of axes 427, 428 within the bushing assembly to allow small vertical movement of tape head 413. Exercise is possible.

Referring to FIG. 6, the left and right actuators 4
47, 448 are left and right bushing structures 423, 4
24, and the left and right side plates 421,
472 and extends downwardly. The left and right actuator rods 447A, 448A are connected and fixed to the side plates 421, 472 by brackets attached to the rods, respectively. During operation, pressurized air is supplied to the lower chambers of actuators 447, 448 to exert an upward force on tape head assembly 413 to control the pressure of head assembly 413 on mold face 412. Try to balance or add. The vertical state of the tape head frame 431 with respect to the mounting plate 432 is sensed, and the Z-axis drive motor 50
Activate the tape head 413 and mounting yoke 2.
A servo control is provided to raise or lower the actuator rods 447A, 448A to maintain the actuator rods 447A, 448A approximately in the center of their range of motion within the actuators 447,448. In this way, the actuators 447, 448
and its related elements include a device for controlling the amount of pressure exerted on the synthetic tape 110 by counteracting the undirected force created by the weight of the tape head assembly 413 to a predetermined extent.

Referring to FIG. 4, tape head assembly 41
3 includes a tape supply and feed reel 414 and a take-up reel 415, both mounted on a rigid mounting plate structure 416. The synthetic tape structure 110 contained on the feed reel 414 includes a pre-impregnated fiber tape 19 and a backing tape 112. for example,
Fiber tape 19 is a tape of suitable width formed for uncured epoxy resin impregnated unidirectional graphite fibers. The backing tape 112 is, for example,
It can be suitably made from 0.3-0.4 kg/m ² (60-80 lb/1000 square feet) wax paper. The tape structure is suitably formed on a spool of cardboard (not shown). Further, referring to Figure 6,
Plate structure 416 includes, for example, flange 420
are fixed in parallel relation to a left vertical support plate 421 which is fixed to a left vertical shaft 427 which is longitudinally slidable within the upper and lower linear bushing assemblies 429, 430. The bushing assemblies 429 and 430 are fixed to the back plate 432 in vertical alignment.

Tape head assembly 413 includes an arcuate frame 434 that defines upper and lower arcuate tracks 435, 436 and is secured to a mounting plate or backing plate 440 (FIG. 4).
R-axis interlocking is possible around (Fig. 6). A backing plate 440 depends from a horizontally extending top plate 441, and the top plate 441, backing plate 440, and related structure constitute a tape head support frame 442. The entire frame 442 and tape head assembly 413 are secured to a downwardly extending shaft 443 that is rotatable about a vertical C-axis 444.

Referring to FIG. 5, the supply reel 414 is rotatable within a bearing assembly 445 mounted on a cylindrical bearing assembly housing 446 and mounted on an axis 444 extending vertically through the plate structure 416. and is attached to the plate structure 416. Bearing housing 446 includes a flange 450 that allows the housing to be bolted or otherwise secured to plate structure 416. The supply reel 414 is in the form of a hub that opens outwardly from the plate structure 416 and facilitates loading a spool of tape on a cylindrical hub portion, as shown at 452. This configuration is suitable for this embodiment of the apparatus because the guide chute and cutting mechanism keep the tape aligned with supply reel 414 and take-up reel 415 and centered relative to chute 465. A locking screw 451 is provided extending radially outwardly through the hub to allow the spool of tape to be secured on the reel. A servo motor 453 is mounted to plate structure 416 above take-up reel 414 and has a drive shaft 454 that projects through an opening formed through plate structure 416. A timing pulley 455 is provided on the protruding portion of the shaft 454.
are positioned in lateral alignment with corresponding pulleys 456 which are co-located on shaft 444 between take-up reel 414 and bearing assembly housing 446 for rotation therewith. It is attached axially. Drive belt 460 engages pulleys 455 and 456 to apply torque to take-up reel 414 in a counterclockwise direction as viewed in FIG. Referring to FIG. 4, supply reel 4 is attached to plate structure 416.
14 is a perpendicularly forward portion of plate structure 416, i.e., a leading portion, and is suitably positioned in generally horizontal alignment with mounting plate 432 (FIG. 4) along take-up reel 415 and a corresponding take-up reel. The motor 457 is mounted along the upper rear portion of the plate structure 416.

Continuing to refer to FIG. 4, a feed shoe assembly 462 is mounted to the lower central portion of plate structure 416 and is attached to plate structure 416 by horizontally extending bolts 464. It has a mounted, downwardly projecting mounting block 463 which extends vertically to the plate structure and is made of a low friction material such as Teflon having a surface with an arcuate, concave lower cross section. It is open downwardly to receive a supply shoe insert 465. A bolt 466 having a stepped threaded end with a reduced diameter
Aluminum extends through a suitable mounting block 463 and insert 465, with bolts 46 extending to accommodate irregularities in the mold surface 412.
The block 463 engages within a stepped hole formed in the block 463 to allow limited rocking of the shoe 465 about an axis of 6 (not shown). The guide chute 467 connects the supply reel 414 and the supply chute 46
5 and is mounted between the plate structures 416 and 471. Movement of the shoe 465 about the bolt 466 is controlled by linear potentiometer sensors 813 and 814 mounted on flanges 815 and 816 connected to the left and right sides of the shoe 465, respectively, as shown in FIG. 4a. Detected. During operation, the tape structure 110 composed of the fiber tape 19 and the backing tape 112 passes through the cutting device and is then transferred to the feeding chute 465 by the guiding chute 467.
By being guided towards
5 along the longitudinal centerline of tape 110. Referring to FIG. 6, a left cutter assembly mounting plate 469 is secured to the outer surface of plate structure 416, and as can be seen in FIG. and extending along the sides of plate structure 416. The corresponding right mounting plate 470 (FIG. 6) has a plate structure 471 extending parallel to the first main plate structure.
is fixed. The plate structure 471 is connected to a vertical support plate 472 to the right by a flange 473.
The right vertical support plate is fixed to the back plate 43.
It is fixed at 2. Referring to FIG. 7, the left cutter assembly mounting plate 469 is attached to the plate structure 416 to support the cutter assembly 474.
bolted to or otherwise suitably secured. Tape structure 110 consisting of fibrous tape 19 and backing tape 112 is guided through cutter mechanism 474 and along the trajectory of the chute between anvil structure 478 and cutter housing assembly 479 to supply shoe assembly 462. . Referring to FIG. 8, the cutter needle housing assembly 479 is slidably mounted on the first guide rod 481, and as shown in FIG.
The guide rod 482 is parallel to the first guide rod 481, and both guide rods 481, 482 extend along the W axis 177 between the left and right cutter assembly mounting plates 469, 470. connected to the plate.

Anvil 478 (FIG. 8) consists of a rectangular plate structure having left and right protruding flanges 490, 491. Left and right elongated guide blocks 48
3 and 484 are fixed to the left and right cutter assembly mounting plates 469 and 470, respectively, and are attached to the guide chute 46 along the trajectory of the tape structure 110.
7 (Figure 7) and extends parallel to and immediately above. Mounting blocks 483, 484 extend along the length of each such block and guide block 4
83,484 have longitudinally extending grooves 486,487 cut into the inwardly facing surfaces thereof. In use, the left and right flanges 490, 4 of the anvil 478
91 is the groove 486 of the mounting block 483, 484;
It protrudes inside the grooves 487 and has a width slightly smaller than the width of the rectangular grooves 486, 487 in the vertical cross section, so that it can freely move within a limited range in the vertical direction inside the grooves 486, 487. Left and right coil spring assemblies 493, 494 are seated within corresponding holes formed through the mounting block structures 483, 484, respectively, and project upwardly to form the bottom ends of flanges 490, 491. in contact with the part. Spring assemblies 493 and 494 are connected to grooves 48
6,487 has a plunger biased against the flange that forces the anvil structure 478 upwardly. An actuator 498, either electromagnetic or pneumatic, is mounted to a mounting plate 499 near and above the anvil 478. Mounting plates 499 extend between and above left and right mounting blocks 483, 484, and are each bolted to the top surface of the blocks to hold actuator assembly 498 in place. Actuator assembly 4
98 is the mounting plate 4 facing the anvil 478
a plunger 500 extending downwardly from 99;
The plunger 500 has a hemispherical cam surface 502 facing the top surface of the anvil 478 to apply downward pressure on the anvil 478 in response to pressure applied by the plunger 500 of the actuator 498.
The cam member 501 has a generally cylindrical shape. Thus, when actuator 498 is powered, anvil 478 is forced downwardly by actuator 498 into contact with the upwardly facing sides of grooves 486, 487, and the power in actuator 498 is reduced. Then, it is pressed upward by spring assemblies 493 and 494.

Alternatively, the anvil 478 is connected to the guide chute 46.
It may be excluded by combining with 7. By lengthening the guide chute, the mounting block 48
3,484, groove 486, 487, flange 49
0,491, eliminating the need for springs 493,494 and cam member 501. However, the elongated guide chute is provided with a special anvil surface, and an actuator mounted on the cap member 513 causes the cutter needle 508 to come into contact with the special anvil surface, and the cutter needle housing 479 is moved upwardly as seen in FIG. Press down.

Further referring to FIG. 9, the cutter needle housing assembly 479 includes left and right mounting plates 469,
a carriage block 505 having a hole extending in the longitudinal direction between 470 and slidably receiving guide rods 481 and 482 for mounting the carriage 505;
including. Referring back to FIG. 8, the mounting carriage 505 is constructed to rotatably receive the shaving needle assembly housing 479 within the D-axis bearing assembly 507. Referring to FIG. 10, the carriage 505 for the cutter needle housing assembly is connected between the left and right cutter assembly mounting plates 469, 470, and the carriage 505 and the cutter needle assembly 479 are connected along the W axis 177.
W axis 177 (8th
It is slidably mounted on first and second mutually parallel guide rods 481, 482 extending along (Fig.).

The cutter needle assembly 479 is the bearing assembly 50
7 and includes several elements fixed to each other to position the cutting needle 508 in contact with the textile tape 19. Referring to FIG. 8, these elements include a generally cylindrical sleeve member 509 rotatably mounted within a bearing assembly 507 for rotation about a D-axis 181. Sleeve member 509 extends downwardly beyond carriage 505 with its protruding portion extending downwardly beyond carriage 505.
An annular plate 5 extending radially outwardly below 5
10 in a coaxial relationship. A bearing member 511 of locally rectangular cross-section is bolted to the underside of the annular plate 510 in coaxial relationship with the plate and is provided with a thread 512 on its cylindrical inner surface. An annular cap or insert member 513 is threadedly engaged within the ring member 511 , and its innermost portion extends radially as an outwardly projecting annular flange 514 . protrudes beyond and limits rotation of the cap member within the ring member. As shown in FIG. 11, the cutter needle 508 seen from the front has the first and second cutting edges 51.
Preferably, the cutter knife has a diameter of 6,517. In our experiments, the cutting angle, i.e. the angle defined by the leading cutting edge of the cutter needle and the plane of the tape, was found to be approximately 40 degrees, plus or minus 5 percent of 40 degrees, i.e.
The angle is preferably 35 degrees to 45 degrees, and may be within the range of 30 to 50 degrees. This angle is selected to cut longitudinal fibers within tape 110.
In the side view (Fig. 12), the cutter needle 508
is tapered toward the cutting edge and includes a relief angle B of approximately 15 degrees from the center of the katsuta knife to its side. Significantly different geometries with cut angles greater than 50 percent have been found to distort and force the tape strands laterally rather than cut them. As the angle of the knife edge decreases, the knife tends to ride over the tape rather than completely cutting the tape strand.

Referring to FIG. 8, needle 508 is supported within an elongated, cylindrical needle carriage 515 having a coaxial bore 520 formed therethrough for receiving needle 508. The bore 520 has internal threads for receiving a positioning set screw 521 employed to longitudinally position the needle 508 therein. Needle carriage 51 is used to firmly position needle 508 at the desired position inside needle carriage 515.
A laterally extending set screw 522 threadably engages within a hole formed radially through the side wall of 5 . In operation, the hand 508 is connected to the carriage 50.
5 and the needle housing assembly 479 are positioned such that the cutting edge of the needle protrudes beyond the needle carriage 515 a sufficient distance to chop and cut the fibrous tape 19, while the needle 508 are not made to protrude sufficiently to damage or cut the backing tape 112. Carriage assembly 5
The position of the needle 508 inside 05 is determined by experimenting with the specific tape structure to be used, which exhibits different cutting characteristics during actual use because the thickness, plasticity, material structure, and resin type of the synthetic tape differs from lot to lot. The position of the needle within the carriage assembly 505 is most accurately adjusted by inspecting it manually. However, it has been found that the proper degree of protrusion of the needle tip beyond the carriage typically correlates with the thickness of the fibrous tape 19. The needle carriage 515 itself is splined to the sleeve member 509 to prevent rotational movement therebetween by a pin 523 which extends radially through the sleeve 509. It extends through the formed hole and within a corresponding longitudinally extending groove formed in the side of the needle carriage 515. The lower part of the needle carriage 515 is a reduced diameter section with a downwardly directed and radially extending seat 524 at its midsection. Also,
The upper portion of the cap or insert member 513 is also reduced in diameter to define an upwardly facing seat 525. The coil spring 526 is connected to the needle carriage 5.
15 and its end is mounted coaxially with the reduced diameter portion of the seat 5 to urge the needle carriage 515 upwardly within the sleeve member 509.
It is seated at 24,525.

In use, the cutting force exerted by needle 508 is controlled in part by the amount of pressure exerted by spring 526 against needle carriage 515, which pressure is applied to cap member 513 within ring member thread 512. Adjustments can be made by rotating and positioning. Needle carriage assembly is facilitated by slidably engaging the carriage 515 within the housing sleeve member 509 and by sliding the spline pin 523 relative to the carriage within the longitudinally extending slot of the needle carriage 515. Limited vertical movement of the body 479 is allowed.

The outer peripheral surface of the ring member 511 defines a spline 530 for receiving the D-axis timing or drive belt. Referring to FIG. 9, the D-axis drive belt 531 also engages a drive pulley 532 fixed to the shaft of a D-axis servo motor 533, which is shown more clearly in FIGS. 7 and 10. Also,
Referring to FIG. 9, a D-axis servo motor 533 is secured to a mounting plate 534 bolted to left and right mounting blocks 535, 536, which are secured to and from the carriage 505. extends downward. Similarly, a mounting plate 540 is fixed to the carriage 505 to support the D-axis position disassembly device 54.
1, the D-axis motor 5 is operated by a timing belt 542 that is engaged with pulleys 543 and 544 that are respectively fixed to the shaft of the D-axis motor 533 and the D-axis position resolution device.
33 and the D-axis pulley sprocket 530. Thus, rotation of D-axis servo motor 533 rotatably positions needle carriage assembly 479 (FIG. 7) about D-axis 181. The position of needle 508 is sensed by nine control computers (FIG. 15) by signals from D-axis position resolver 541, as described in detail below.

13, movement of needle housing assembly 479 along the W axis is caused by movement of needle housing assembly 479 along axis W.
This is accomplished by a W-axis motor 545 mounted on the upper left side hitch assembly mounting plate 469, which drives a corresponding W-axis drive pulley that is non-rotatably mounted on the W-axis drive shaft 551. W along mounting plate 469 to engage 550 (FIG. 14).
Timing belt 547 (seventh belt) extending from the shaft motor
The motor pulley 546 is engaged with the motor pulley 546 shown in FIG. As clearly seen in FIG. 9, first and second bearing structures 522, 553 are seated within cutter assembly mounting plates 470, 469 to rotatably receive W-axis drive shaft 551, respectively. There is. W
The shaft drive shaft 551 is connected to the cutter assembly carriage 505.
a threaded intermediate portion extending laterally through the intermediate portion of the carriage 505 , the threaded shaft further attaching the carriage 505 to the carriage 505 within the cutout portion;
and extends through an internally threaded ball nut assembly 553 secured to the side of the holder. The carriage 5 is rotated by the W-axis drive shaft 551 rotating inside the internally threaded nut assembly 553.
05 and needle assembly 479 are moved laterally in the W axis to cut the fibrous tape 19 as described below. As is further clear from FIG. 14, the W-axis position decomposition device 555 is connected to the timing belt 561 (FIG. 9).
The timing belt 560 includes a timing pulley 556 engaged with a W-axis timing pulley 561 (second (Fig. 9).

The cutting mechanism operates while the tape 110 is being fed to the face of the mold, i.e. while the tape head is in motion.
It works normally. This unique running cutting ability improves machine productivity.

As the first step in the operation of the machine, the needle 508 (eighth
) is installed in the needle carriage 515, and the degree of protrusion of the cutting edge from the needle carriage 515 is adjusted.
Preferably, the needle tips project beyond the carriage 515 by a distance approximately equal to the thickness of the fibrous tape 19. In our experiments, we have determined that it is advantageous to manually adjust the needle 508 to accurately position the cutting edge for the particular tape cut being used.

Tape 11 used in bench test
Corrects cuts in the backing tape resulting from excessive protrusion of the needle 508 when the carriage is pulled laterally across 0, or unsatisfactory cutting of the fibers 19 resulting from insufficient protrusion of the needle 508. Adjustments will be made accordingly. Next, remove the needle carriage (No. 8
) is installed inside the needle assembly carriage 515 and the set screw 523 is tightened. Needle carriage 515 is then mounted within carriage assembly 479 and cap member 51 is mounted within screw 512.
3 is tightened and applies pressure against the needle carriage 515. The machine is then activated to actually cut the strip of tape 110 and subsequently cut the fibrous tape 19 without damaging the backing tape 112.
Testing for adjusting the needle cutting pressure continues by adjusting the pressure on the needle 508 by slightly rotating the cap member 513 within the screw 512 until a chisel cut is consistently obtained. The rotational position of cap member 513 can be conveniently indicated by indicating devices on cap member 513 and ring member 511.

To load the machine with synthetic tape 110, a roll of tape 110 is placed on supply reel 414 as shown in FIG. The backing tape 112 is separated from the synthetic tape 19 by being pulled from the roll of tape 110 and then pulled under the supply shoe 462, whereupon the backing tape 112 is separated from the synthetic tape 19 and pulled around the take-up reel and attached to the take-up reel 415 by adhesive means. The adhered backing tape 112 is recovered. In this regard,
Torque motors 453 and 457 (FIG. 4), drive supply reel 414, and take-up reel 415 operate to balance the torque on take-up reel 415 and supply reel 414, and to balance the torque between tape structure 110 and supply reel 415. Backing tape 11 extending behind 462
Add tension to part 2. Preferably, these balanced forces are substantially uniform so that tape 110 remains stationary in the absence of any external forces attempting to move it.
Sufficient torque is provided between take-up reel 415, shoe 462, and supply reel 414 to tension and hold tape structure 110 and backing tape 112 taut.

The position of elements movable about the various axes, namely the X, Y, C, D and W axes, is then determined by the Allen Bradley machine 278.
(FIG. 1). This can be done by moving the tape head assembly 413 and cutter assembly element 474 to a known or "home" position and adjusting the controller once the controlled mechanism is in their home position. This is accomplished by calibrating the control system of the Tudor machine 278. As an example of how to calibrate a position resolving device to a control system, a W-axis limit switch is located on one side of carriage 505 (FIG. 9). The W-axis limit switch is a normally open microswitch that, when carriage member 505 contacts the limit switch, transmits a signal indicating that the W-axis home position is just outside the edge of the tape. The microswitch is positioned to roughly indicate its position to the control system.
Next, the W-axis disassembly device 555 (FIG. 14) is removed by loosening the set screw in the mounting pulley to accurately zero the W-axis control at the edge of the tape, and then manually rotating the position disassembly device. You can make fine adjustments. This position indication is incorporated into the computer, as explained in the detailed description of the control system below, which actuates actuator 498 (FIG. 8) when it is desired to begin cutting the fiber tape 19 and moves anvil 478 into cutting needle 508. A command to press the object downward is generated at an appropriate time. The pressure exerted by cam member 501 against anvil 478 causes anvil 478 to spring against springs 493, 494.
slot 4 through which spring assemblies 493, 494 extend.
By contacting the upwardly facing walls of 86,487, anvil 478 is brought into a known position relative to carriage 505 and needle assembly 479. Next, the W-axis drive motor 545 (13th
) is operated by its rotation, and the pulley member 550
and W-axis threaded shafts 551 are rotated inside a threaded circulating ball bearing assembly 553;
Needle assembly 479 laterally across tape 110
to drive. W-axis motion speed was not critical to cutting efficiency, and tape cross speeds up to 1800 inches per minute were carried out without any deleterious effects.

The feeding of the fiber tape 19 to the mold surface 412 is effected by X-axis and Y-axis servo motors and a position feedback system that moves the tape head assembly to the desired X- and Y-axis positions.
vertical positioning of the tape head assembly is accomplished by a Z-axis servo motor and a Z-axis servo motor.
By the axis servo control feedback device, the radial positioning is done by the R axis servo motor and the R axis servo motor.
The supply system 462 is achieved by an axial servo control feedback device.
The fiber tape 19 extending underneath is pressed against the mold surface 412 by a generally constant pressure defined by the setting of the counterbalance cylinders 447, 448. The weight of the tape head assembly 413 is not added entirely to the tape 110, but instead is added to the counterbalancing pneumatic actuator 4.
47,448 (FIG. 6). The movement of the head assembly in the X-Y plane while the tape 110 is pressed against the stationary die surface 412 overcomes the reversing torque applied by the supply reel torque motor 453, forcing the tape structure onto the supply reel. 41
Tape structure 11 tends to pull from 4
inducing a linear force relative to 0, the take-up reel 41
5 is then driven by take-up reel servo motor 457 to take in backing tape 412.
Under the control of the control device, the tape head assembly 41
3 is caused to transversely move the mold along mutually parallel and spaced X-Y vector axes a distance equal to the width of the particular tape being used.
The tape is cut along a suitable vector line to terminate the tape 110 on the die continuous with the edge of the workpiece being formed. This is accomplished by a controller as described below. With each pass over the face of the mold, the tape head continues to rotate 180 degrees about the C-axis, and the tape head assembly 413 moves along the last strip of fibrous tape 19 attached to the mold 412 in spaced apart parallel It is passed back across the mold along a trajectory.

When it is desired to cut the tape vertically, if the tape head 13 reaches a position spaced a predetermined distance from the edge of the mold of the composite structure to be produced, then
Note that the gantry movement in the Y plane stops. When the Y-axis gantry motor and the X-axis gantry motor are deactivated, the head is stationary and the W-axis motor is energized to cut tape 110 vertically, ie, perpendicular to its longitudinal axis. However, as previously discussed, tape cutting can be accomplished between runs if an angled cut is permitted.

The tape laying work is controlled by a computer numerical control device using a numerical control device 600.
The control device 600 preferably has a programmable control interface 601 as an integrated part of a computer, as shown diagrammatically in FIG.
The interface receives signals from several position limit switches and transducers as described below. Programmable control interface 60
1 serves as an electromechanical relay or timer counter equivalent using logic read and generate functions. The use of a programmable control interface 601 and its associated software program eliminates maintenance and reliability problems associated with electromechanical relay logic and because of its programmability flexibility. Therefore, it is preferable.

An example of such an internally programmed machine is the Allen Bradley Company.
The major axis positioning servo motors (i.e., X, Y, C, D and W axis servo motors 280, 284, 36, 533, 5
45) sufficient output channels for position command control and their corresponding position transducer feedback units, i.e. position resolving devices 281, 285, 40, 541, 55 for the X, Y, C, D and W axes.
It has a primary axis, input/output control module 602 with sufficient input channels for 5. These positioning motors are controlled by a positioning sequence program (known in the art) that is appropriately fed to the 8-hole perforated tape fed from the tape reader to the computer processor unit 603 for the individual workpiece geometries required. It is controlled by a controller 600 with respect to its position and speed according to a "part program" (commonly referred to as a "part program"). Alternatively, position control commands can be sent by the integrated keyboard of the Allen-Bradley numerical controller to overland some or all of the feed part programs, or if additional storage is required. A backup unit, such as an Apple type computer device, can be integrated into the Allen-Bradley keyboard to provide additional storage capacity.

An additional, digital, auxiliary position sensing device is monitored and the tape supply head is located at side 4 of the mold.
A servo motor 457 for controlling the Z-axis and R-axis servo motors during the initial positioning of the head in contact with 12, and for example for the winding and feed reels.
An auxiliary input/output control module 604 is provided to control the power input to and 453. Such position control functions need not be continuously controlled by an internal computer process or circuit 603, but are instead controlled by an external adaptive control circuit 605 when the controller 600 is in the adaptive control mode. 15, 16 and 17) can be more easily and economically controlled. These feedback devices, which will be described later, are designed to automatically control the Z-axis and R-axis movements independently of the control from the control device 600, as described later. Other inputs to the control device 600 include the W axis, Z axis, C axis, and R axis, as desired.
This may include a position sensing element's "overtravel" and (or "original") position in the axes, X-axis, and Y-axis, or signals received from a limit switch.

Continuous major axis control is achieved by position execution sequence commands fed into the computer's memory by the integrated machine's keyboard or tape reader by programming techniques commonly used in the art. The program (part program) is executed according to a resident program in the processor section 603 in the storage device of the computer. Positioning in the Z and R axes is also controlled by the processor portion 603 via an auxiliary input/output control module 604;
To the extent that initial or coarse positioning is performed by the shaft and R-axis servo motors 50,72.

Still referring to FIG. 15, a computer control interface circuit 601 and a position input and output device 602 provide position resolution for the X, Y, C, D and W axes 281, 285, 40, 541, 555, for example. These position resolving devices are shown in conjunction with a servo motor 28 for these axes.
0,284, 36,533,545. The position switch is, for example, a suitable normally open position switch, such as the exemplary limit switch 606.

Movement in the Z and R axes is controlled by a conforming control system 605 (No. 15
16, 17) and by controlling the initial global movement during the approach to the mold. A sensor is mounted within the supply head 413 to sense movement of the supply shoe 405 about the R axis relative to the tape head 413, and a Z sensor mounted on the back plate 432 to sense the relative position of the actuator rod 447a. The axis sensor is Z
It is adapted to provide input signals relating to the movement of the shoe 465 about the axis as well as the support of the frame relative to the tape head frame 413. The auto-tracking input to the controller 600 is an analog signal received within a conform control circuit 605 that controls the control circuit 605 relative to the plane of the mold when the Z-axis and R-axis controls are in the conform mode of operation. It consists of an analog/digital control circuit that receives input signals indicative of position, ie, Z-axis and R-axis position information, to normalize the Z-axis and R-axis positions relative to a perpendicular plane. Alternatively, circuit 605 receives initial or coarse commands of Z-axis and R-axis positions via control board 604 . feed reel 41
Commands to activate or deactivate take-up reel 415 and take-up reel 415 are issued to control board 6 as a result of command signals from computer processor 603 as defined by a resident, auxiliary function control program.
Occurs in 04. Analog output signals of appropriate voltage levels and polarities are provided from adaptive control circuitry 605 to, for example, DC amplifiers 610 and 610 for feed and take-up reel motors 453 and 457, respectively.
611 to each servo motor control device. Similarly, an output signal of appropriate polarity and magnitude is Z
Z for axis and R-axis servo motors 50, 72
shaft, and provided to the R-axis motor control device. The output side of the input and output module 602 includes X, X',
Y, C, D and W axes, 290, 291, 29
2,293,294,295 to provide an analog signal of appropriate magnitude and polarity to the DC amplified motor controller.

As briefly discussed above regarding the start-up of the device, during the initial execution of a normal control command sequence, the tape-laying head and its associated elements are set to the initial position from which all subsequent commands originate. The X, Y, C, D, and W axes are located in the original position to perform a reference calibration. At this time, a preselected position execution sequence command, ie, a part diagram, is executed. The following is an example of a part program suitably utilized to form a rectangular workpiece that causes the tape to be laid along a trajectory 45 degrees from the X-axis. This example is a typical part program that describes the steps required to lay a strip of synthetic tape at a vector angle of 45 degrees from the X-axis and cut the end of the strip at a 45 degree angle. It is shown.

The first sequence of commands is the synthetic tape 110
4. Directing the machine to position the tape head assembly 413 on the mold 412 to lay down the leading strip.

Nl FO X146.54 Y85.336 W0 C315 D135 Nl Program execution sequence number FO Velocity of all axes (for
30.5 m/min = 1200″/min, 3600 degrees/min for C-axis and D-axis positioning) Movement W0 from position to 2.17 m (85.336 inches) W axis movement to 0.000 m (original position) C315 C axis movement to +315.000 degrees from original position D315 D axis movement to +135.00 degrees from original position N ₂ MO4... Lower the Z axis to the surface 412 of the mold, and
The axes touch up to the plane (i.e. the surface 412 of the mold),
Further execution of the sequence is prevented until the R-axis is in an adaptive control state.

N ₃ F600
Position the axis (the distance of 11.7 cm = 4.604 inches is the "introduction" distance, at the end of which the command of the sequence to cut the tape 110 is executed) N ₄ F450 W3.2 X152.06 Y90.751 M07... 11.4
8.13 cm (3.2 cm) at a speed of m/min (450 in/min)
Extend the anvil at a 45 degree angle and cut the tape a distance of 1 inch).

N5 M06...Retract the anvil.

N6 F600
(Lift 3 inches) N7 F0 do.

N8 (and so on...continue laying the next tape strip as described above) Complete the activation of the application control device for the Z and R axes in the course of N2.

Step N3 moves the tape head 413 the distance necessary to lay the first length of tape 110 to the point where the tape cutting sequence must begin.
This is a leading command that instructs the robot to move along the X-Y axes. To cover the distance between supply shoe 462 and cutter assembly 474, for example
(inches) leading length is required.

In the N4 process, the speed on the X-Y axis decreases, but
This commands an actual cutting sequence in which the tape is cut by movement of needle 508 along the W axis without stopping.

Referring again to FIG. 15, after the circuit 605 receives commands regarding the initial or rough positions of the Z and R axes via the control panel 604, the automatic tracking sensors for the Z and R axes are activated. is located at the original position of the Z and R axes, and there is no need to actively provide an initial reference point. The process of establishing these reference points must be performed when starting with each new or different mold 412, but is relatively easy to implement and complete. The Z-axis servo motor is activated to bring the tape laying head 413 into contact with the mold 412. The position sensor is then calibrated or zeroed to correspond to the exact point of contact between the feed shoe 465 and the mold surface 412. In this calibration position,
The weight of the supply head is the weight of the mating cylinders 447 and 4.
48. The tape is then fed from behind without any pressure being applied. In this position, the tape feeder is also adapted for use in testing and inspecting non-planar surfaces. Alternatively, cylinders 447, 44
8 is adjusted to apply a predetermined pressure to the tape as it is fed into the mold 412, corresponding to the weight of the then unbalanced feed head 413. At this predetermined pressure, the Z-axis automatic tracking sensor is calibrated to zero.

When setting the R-axis sensor, it is preferable to adjust it so that it corresponds to the same exact positive value as the positive value when the Z-axis sensor is not set. To accomplish this task, the R-axis sensor is calibrated or zeroed as the tape head 413 pivots about the point of contact between the shoe 465 and the face of the mold.

Once the Z-axis and R-axis sensors are calibrated, tape supply head 413 is ready for operation. As head 413 moves across the shape of the mold surface, X, Y, C, D, and W axis servo motors 280, 284, 36, 533, and 545 are activated by Allen-Bradley computer programming. controlled. Z-axis and R-axis servo motors 50 and 72 are independently controlled by matched automatic tracking sensors. A sensor detects a change in the shape of the mold as dictated by the position of movement of the tape supply shoe 465 relative to the home or zero position, and the appropriate servo motor responds to return the shoe to the zero or home position. send a signal. A variety of sensors can be used in automatic tracking devices. For example, a direct switching device such as a limit switch can be used to generate a signal for a change in head 465, or a pneumatic differential pressure sensor can be used to indicate a change in position; 2001085016 stroke is 5.7cm
(2.25 inches) and employs a series of potentiometers such as 10 kilohm Bauns linear positive transducers. The Z axis in this example uses only one transducer and should be chosen to cover the maximum vertical variation of the surface 412 to be traversed. For example, the Burns transducer described above can cover a maximum change of 2.9 cm (1 1/8) in one direction, or 5.8 inches (2 1/4) total, if the zero point is carefully chosen. Good morning. Once calibrated or zeroed, the transducer perfectly tracks the feed head 413 as it acts on the balancing cylinder. Similarly, the R-axis in this embodiment uses two sensors mounted on each side of the feed shoe 465 as shown in FIG.

Z-axis sensor 401 is affixed to back plate 432 and has a movable sensor shaft 402 which is connected to flange member 40 securing actuating rod 447A of pneumatic counterbalance cylinder 447 (FIG. 6).
3 and extends downward. By keeping the sensor shaft 402 in contact with the flange 403, the outer springs prevent movement of the shoe assembly and its associated components, particularly the shoe 465, relative to the back plate 432, such that the tape head 413 and shoe 465 are in contact with the mold 41.
The shaft 402 of the sensor moves as it is brought down into contact with the sensor 2. Referring to FIG. 15, the Z-axis sensor 401 is connected to the tape head 4.
13 contacts mold surface 412, vertical movement of sensor shaft 402 in response to vertical movement with movable tape head elements, such as left vertical support plate 421, mounting plate structure 416, and right vertical support plate 472. It includes a transducing potentiometer operative to generate a proportional analog voltage signal at the wiper element. Referring to FIG. 16, Z-axis sensor 401 is shown schematically as having positive and negative 5 volt power supplies connected to either side of the resistive element of the potentiometer. The output side of the movable (wiper) element is connected via a conductor 700 to the non-tipping input of a Bi-FET operational amplifier 701 with a high impedance input, here employed as a unity gain current amplifier. A capacitor 702 is connected in series between conductor 700 and ground to pass voltage conversion and electrical noise from conductor 700.

The output of unity gain current amplifier 701 is connected via lead 704 to Bi-, which is employed as a voltage difference amplifier to provide a voltage output proportional to the voltage output generated from Z-axis potentiometer sensor 401.
It is sent to the falling input side of FET amplifier 705. Bi
- The non-overturning input side of the FET amplifier 705 is connected to an adjustable power supply 707 containing a potentiometer whose resistive elements are connected to the positive and negative power supplies, so that the operator can By adjusting 707, the voltage supplied to the non-tipping input side of differential amplifier 705 can be adjusted. This adjustment allows the operator to adjust the DC offset output from amplifier 705 to correspond to an automatic tracking device that tracks the point of contact of shoe 465 to mold 413.

The output voltage from differential amplifier 705 is adjustable to be proportional to successive positional translations of the moving portion of tape head 413. The output is sent to analog switch device 71 via potentiometer 703 and conductor 706.
Sent to 3. Switch device 713 is a solid state, analog switch device equivalent to a single pole, single throw switch. analog switch 713
The output of is sent via conductor 708 to excitation line 709 and ultimately through a differential amplifier 710, also a unity gain current differential amplifier, and then to a Z-axis power amplifier, i.e., a motor controller. 712 (FIG. 15), which drives the Z-axis servo motor 50. Referring to FIG. 15, conductor 711 is shown connected between adaptive control circuit 605 and Z-axis power controller 712, which powers Z-axis servo motor 50. do.

A manually adjustable potentiometer 703 connected between conductor 706 and the output from differential amplifier 705 allows the output level from amplifier 705 to be adjusted, thereby attenuating the voltage signal received from amplifier 705 and reducing the voltage signal as required. The response of Z-axis servo motor 50 to these signals generated from amplifier 705 is accordingly reduced. The potentiometer 703 is connected to the surface 41 of the mold.
By allowing "fine adjustment" of the response during the automatic shape following operation to changes in the shape of the mold surface 4, positional response deviations, i.e. conversely,
This prevents over-correction for changes in 12.

Having described the main Z-axis adaptive control channels, reference is again made to FIG. 16. Another reference voltage potentiometer 720, similar to reference voltage potentiometer 707, is provided to set an adjustable reference voltage for the tipping input side of voltage comparator 721. This allows the operator to adjust the reference voltage sensed by voltage comparator 721 to correspond to the point at which the Z axis takes up conformance tracking once shoe 46 captures mold 413. The non-tipping input side of comparator 721 is connected in turn via conductor 722 and conductor 704 to receive the voltage level (indicative of Z-axis position) received from unitized output current amplifier 701. The output of comparator circuit 721 is a digital signal indicative of contact by supply shoe 465 with the flat surface of mold 412. An overcapacitor 723 is connected between the output of potentiometer 720 and analog voltage comparator 721 . The output of analog voltage comparator 721 is routed through lead 725 and a hysteresis feedback circuit. The hysteresis circuit includes a resistor 730 connected in series between the non-overturning input side and the output side of the voltage comparator 721, and further connected in series between the non-overturning input side of the voltage comparator 721 and the conductor 722. This provides a 1:10 feedback hysteresis, or negative feedback, through voltage comparator 721 to prevent significant excitations in the signal output. If there is no hysteresis feedback circuit, comparator 7
When the input of comparator 721 approaches or reaches the equivalence limit switching point, the output voltage from comparator 721 tends to oscillate. As will be understood by those skilled in the art, the hysteresis circuit moderates the voltage to the non-tipping input of comparator 721 until the magnitude of the voltage provided to the non-tipping input is significantly greater than the limit reference voltage. Prevents the switch effect until it grows larger. A 10 to 1 ratio has been found to be effective in this circuit in that a high level of hysteresis is preferred.

The potentiometer 720 is “on-plane”
potentiometer 40 required to generate a digital output signal along conductor 725 indicating the state of the
The operator can adjust the degree of depression of the first plunger. The output conductor is connected to a NOR gate 732 adopted as a NAND gate via a reverse rotary current transformer 735, and other inputs of the NOR gate are sent via a conductor 733 from a manual adjustment circuit section 734, which will be described later. The output from the voltage comparator circuit 721 is connected to a reverse rotary current transformer 735 connected in series to a NOR gate 732.
is reversed by NOR gate 73
Negative or “logic zero” supplied via 2
The signal normally activates analog switch 713,
A Z-axis differential voltage signal sent from conductor 706 is transmitted via conductors 708, 709 and buffer 710 to Z-axis power control device 712 (FIG. 15) and servo motor 50 (FIG. 15). .

Further, a transistor control circuit portion 740 (FIG. 16) is connected to the voltage comparator 7 via a conductive wire 726.
21, and the circuit portion 74
0 generates a digital output signal for CNC computer 603 indicating that contact has been made with the mold surface. Conductor 726 is NPN transistor 7
The emitter of this transistor is grounded, and the collector is connected to the base of relay 7.
42 and the other side of the relay is connected to a 24 volt power source 743. When transistor 741 is turned on by the signal from comparator 721, relay 742
energizes, closing the contacts of relay 742 and providing 24 volts to output terminal 744. The output terminal 744 from the relay is conveniently powered through an input/output terminal rack 604 (FIG. 15) from which input to the processor computer 603 is provided. In this way, control circuit portion 740
transmits an "on-plane" signal to computer 603, informing the computer that the Z-axis positioning adaptive control is now active.

The output generated by the auto-tracking sensor potentiometer 401 is routed through the auto-tracking sensing circuit 605 of FIG. 15, which generally includes a differential amplifier 705, an analog voltage comparator 707, and associated circuitry (FIG. 16) to automatically follow the shape of mold 412 as tape head 413 traverses mold 412 as tape 110 is laid down. Alternatively, (came out of the part program)
CNC control, or manual control of the Z-axis position, is performed via the process computer 603 via an input/output rack 604, allowing initial or total control of the Z-axis, and manual control of automatic feature tracking. It enables override or "automatic tracking" under certain conditions described below.The automatic tracking input (output from the potentiometer 401) for Z-axis control is the "Z-axis rise" command. Overridden only by CNC control. Of course, this could damage some parts of the tape head 413.
This is for safety reasons to prevent downward movement of the

The CNC computer 603 controls each relay 752,
753, first and second command input terminals 750, 7 for Z-axis up and Z-axis down
51 (FIG. 16), and the relays 752 and 753 are bipolar and have a double-throw contact shape. The contacts illustrated as "top" contacts of switch elements 754, 755 of relays 753, 753, respectively, are connected to differential voltage operated amplifier 760.
For overturning and non-overturning inputs, conductors 756,
757, and the amplifier 76
The purpose of 0 is to generate a command signal having a predetermined polarity and magnitude to ultimately drive the Z-axis servo motor 50. Analog gradient voltage generator 763 to modify the signal provided to servo motor 50 to smooth the response.
(and a similar gradient voltage generator circuit 764 connected to the second relay contact 757). Considering circuit 761 and assuming that contact 754 is normally open, capacitor 763 is
It is normally discharged in that it is discharged through conductor 765, contact 754, conductor 766, and resistor 767 to ground. When relay 752 is energized, the current conducted through contact 754 charges capacitor 763 . The contacts are connected to a 5 volt positive voltage source 770 via conductor 768 and resistor 769. in this way,
The voltage of conductor 763 changes depending on the values of capacitor 763 and resistor 769 when relay 752 is energized.
The RC time constant begins to rise, thereby increasing the potential difference at the tipping input side of the differential voltage operated amplifier 760. This produces a negative voltage at the output of the differential voltage operated amplifier 760 which is proportional to the positive signal received via conductor 756 and which initially drives the Z-axis servo motor 50 at an increased output level. By operating the tape supply head 4
Pick up 13. If resistors 767 and 769 have equal values as in this circuit,
When the position of relay contact 754 is reversed, conductor 75
The output voltage at 6 decreases at the same rate it rose when contact 754 first closed, stopping Z-axis motor 50 for the desired amount of time. similar,
The output from the second switch circuit 762 operates in conjunction with the signal sent via contact 755 to generate a similar control signal to the differential voltage operated amplifier 760, but the signal is not the non-overturning input. 2, thereby generating an output signal of the opposite polarity, thus driving the Z-axis servo motor 50 in the opposite direction to lower the tape head 413.

The gain feedback circuits 771, 772 of the first and second amplifiers connected in parallel with each other are connected in series across the differential voltage operated amplifier 760 and differential voltage operated with respect to the positive and negative signals, i.e. the rise and fall command signals. Additionally, the gain of amplifier 760 is
and independently controlled. For example, circuit 772 reduces the gain provided by diode 776 during the rise command (ie, of negative potential difference). The diode is connected to the feedback circuit 7 when the output from the differential voltage operated amplifier 760 is negative.
It is pressed forward to allow current to pass through 72. A potentiometer 775 is connected in series with a diode 776 in circuit 772 to control the feedback and therefore the gain of the amplifier.
Diode 773 of feedback circuit 771 is connected with opposite polarity to diode 776, so that when a negative potential difference is received via the output of differential voltage operational amplifier 760, feedback loop 771
Prevents the flow of current through. During command of descent, a reversal takes place. Diode 776 blocks current flow through feedback loop 772, and control of the amplification is provided by feedback circuit 771 by adjusting a corresponding potentiometer 774. Another potentiometer 777
60 and ground, and connects the Z-axis servo control motor via a second analog gate 781 and conductors 709 and 711, described below, to enable damping of the servo motor response as desired. 50 allows manual control or fine adjustment by the operator of the output signal provided to 50.

780, and a logic circuit including a plurality of gates and switches described below can be operated manually and
Provides a function to selectively enable or disable the use of control signals by the CSC part program. The second function of logic circuit 780 is to
A digital safety interlock circuit prevents any downward, operator-controlled movement of the tape head 413 that would cause it to pass the safety position relative to It is to form.

A second analog gate 781 is connected in series between conductor 709 and the output of potentiometer 777. Analog gates 781 and 713 receive bias voltages from positive and negative potential difference sources 782 and 782B, respectively, and conductors 783 from NOR gates (configured as NAND gates).
The usable voltage can be received via the . Analog gate 781 is electrically conductive, enabled by gate 784, and provides manual raise and lower command signals via conductor 709.
If no enable signal is received from NAND gate 784, analog gate 781 is blocked and the signal is received via differential voltage amplifier 760.
Cut the CNC command and connect the conductor 7 from the amplifier 705.
Automatic adaptive Z-axis control is possible via control signals sent via 08. NAND gate 784 includes a first input connected via conductor 785, a second input connected via conductor 786, and an analog gate 781;
It is enabled when the potential difference between both input sides of NAND gate 784, ie, from both conductors 785 and 786, is zero.

Circuits connected to the lower set of relay contacts 787, 788 of relays 750, 751, respectively, are operable in conjunction with logic circuit 780.
A conductor 785 connected to one input of NAND gate 784 is connected to the output of a NOR gate 790, which is connected to contact 78.
A first input 791 is connected to the common (switch element) terminal of 8, said contact being grounded via conductors 792 and 794 in the illustrated non-actuated state. The opposite input side of the NOR gate 790 connected via the conductor 793 is also connected to contact 7.
87 and is similarly grounded via conductor 794. In this way, in the illustrated state, NOR gate 7
The inputs to 90 are the same (at ground level)
The output sent from NOR gate 790 via conductor 785 is connected across NOR gate 790 and also across NAND gate 784.
It has a positive magnitude of 5 volts (sent from a voltage source, not shown). A 5 volt potential difference provided via conductor 785 enables NAND gate 784 and analog gate 7 at conductor 783.
81 to generate a zero potential difference output. Therefore, the differential voltage operated amplifier 760 and the conductor 7
09 to prevent Z-axis operation via amplifier 760. Contacts 78 shown
The state of 4,788 means that the Z-axis command signal is output to the Z-axis command input terminal 75 in response to either manual Z-axis control or Z-axis control by a "part program" via the CNC computer 603.
Equivalent to nothing being sent via 0.751. The CNC Z-axis raise and lower command signals are dedicated, namely two relays 752, 7
A safety interlock circuit is provided within computer 503 to prevent both 53 from operating at the same time.

Now, as the voltage supplied to terminal 751
Assuming that the CNC lowering signal is received,
Relay 753 is activated, contacts 755 are closed,
As previously discussed, an analog drop signal is generated via differential voltage-operated amplifier 760. Additionally, relay contacts 788 are closed, conductor 798 and conductor 7
91 from power supply 770 to NOR gate 790
Provides a positive 5 volt potential difference to. Conductor 793
The potential difference sent to NOR gate 790 from
The output of is zero potential difference, so the NAND gate 784 is disabled, and the analog gate 781 is connected to the manual CNC via the output terminal 711.
command signal to drive the Z-axis servo motor downward. This operation is also affected by the activation of other circuit elements (ie, AND gate 796 and reverse rotary converter 797, discussed below) upon contact with mold surface 412.

Similarly, NOR gate 790 is enabled to disable NAND gate 784 and then enables analog gate 781 when a signal is received via input terminal 750 to move tape head 413 upwardly. do. At this time, the contact 787 is reversed from the illustrated position, and the power supply 787 is
A positive potential difference from 70 is applied via conductor 793.
It is made to flow to NOR gate 790. Conductor 7
A positive potential difference from 93 enables NOR gate 790 and disables NAND gate 784, thereby enabling analog gate 781. In response to a CNC generated upward command received at terminal 750, via conductor 793,
A positive 5 volt potential difference is then supplied via conductor 798, so that a positive 5 volt potential difference is supplied to the input side of the reversing rotary current transformer 797. Also,
The conductor 798 is connected to the NOR gate 7 via the conductor 733.
32 second input terminal. A positive voltage is applied to the NAND gate 732 via conductor 733.
, which enables gate 732 and therefore disables analog gate 713 , and an adapted (auto-tracking) control signal is sent to Z-axis control circuit 711 via conductor 708 .
Prevent it from being supplied to Thus, under any circumstances, automatic tracking is prohibited during a command to ascend. In addition, the conductor 7
Rotary current transformer 79 for reverse potential difference of 98 to 5 volts
7, where it is inverted, and the resulting signal disables AND gate 796 and (unless no usable voltage is provided via conductor 785) disables NAND gate 783, thus Analog gate 781 is enabled to energize the Z-axis via differential voltage amplifier 760.

To summarize the operation of the circuit described above, conductor 785 to NAND gate 784 connects to relays 752 and 753.
and CNC input sides 750, 751 for inputting commands for raising or lowering. If there is no command signal on the conductor 785, the NAND gate 784 is enabled,
As a result, analog gate 781 is enabled and CNC control is enabled if no disable signal is received via conductor 786. AND
The purpose of gate 796 is that (1) a signal indicating that the Z-axis is on plane is received via conductor 799, or (2) a command to ascend results in zero voltage being reversed. NAND gate 7 when there is an omission between the input sides of gate 796 by either result received via current transformer 797
83 to provide a prohibition signal. The "on plane" signal received via conductor 799 is also communicated via conductor 800 in its opposite extension to the R-axis control circuitry that will now be described.

The output received via conductor 799 is
As shown in the figure, it is guided to the R-axis circuit via a connecting conductor 800. The output sent through conductor 799 generates an "on-plane" signal as a result of contact being made with the surface of the mold;
The signal is a positive 5 volt signal generated by voltage comparator 721 (FIG. 16). The "on-plane" signals described above are received in two parts of the R-axis control circuit as shown in FIG. Referring primarily to FIG.
01 can be used. As will be understood in more detail from the following description, gate 801 is connected to automatic R-axis control signals, R-axis servo motor 72 (fifteenth
to the R-axis power amplifier 805 that drives the first
5 to a unitized gain current amplifier or buffer circuit 803 connected via conductor 804 to enable positioning of tape head 413 about the R axis. Also, as will be better understood from the following explanation, the second
The "on-plane" signal received via conductor 800, which is shown connected to one of the input sides of NAND gate 810, is the NAND
Enable gate 810 and disable second analog gate 811, manually or
CNC computer control signal output lead 812
Gain current amplifier 803 unitized via
Prevent transmission to.

Automatic or adapted R-axis control is provided for the first and second
are obtained from R-axis sensors 813 and 814. The sensors are located on the right and left sides of tape head show 465, as shown in FIG. Referring to FIG. 4, sensors 813 and 814 are connected to the
It is attached to the support frame 416 of 2,
It has a spring loaded plunger held in contact with flanges 815, 816 mounted on the right and left sides of the shoe element structure. sensor 8
13,814 is also shown in FIG. Therefore, by performing a limited rocking movement of the shoe 465 about the bolt 466, the transducer 813,8
Differential movement of the 14 plungers generates a position control signal that is sensed by circuitry to be described below. Referring again to FIG. 17, positive and negative 5 volt potential sources are connected to each side of the resistive elements of potentiometers 813, 814 (as in the Z-axis transducer 401 of FIG. 16 discussed above). ing. Output conductors 817 and 818 lead from the movable elements of potentiometers 813 and 814 to first and second unity gain and buffer amplifiers 819 and 8, respectively.
20 is connected to the non-tipping input side. Buffer amplifiers 819 and 820 are provided with feedback loops 821 and 822 to set unity gain (no voltage amplification), and in this way, amplifiers 819 and 820 are impedance filters and closed devices.
It also acts as a current amplifier and provides a low impedance input to the differential voltage amplifier 823. The differential voltage amplifier 823 has its respective input sides connected to conducting wires 824, 825 and resistors 826, 8.
27, buffer amplifiers 819 and 819, respectively.
820 output side. The output of the differential voltage amplifier 823 is proportional to the voltage difference between the outputs of the R-axis sensors 823A and 814 in voltage level,
Its polarity corresponds to the direction of error (differential voltage on the R axis), so that its output is proportional to the degree of motion on the R axis. Additionally, its output is controlled by amplifying a gain loop circuit 828 connected in series across output conductor 829 and its tipping input, and feedback loop 828 incorporates an adjustable potentiometer 830. The potentiometer operates in conjunction with fixed resistor 823 to control the voltage gain of differential voltage amplifier 832. Differential voltage amplifier 8
The resistor 832 connected between the non-overturning input side of 23 and the ground includes resistors 827, 826, 831,
In combination with variable resistor 830, the overall gain of differential voltage amplifier 823 is determined. Next, the operator controlled potentiometer 833 has an output conductor 829,
By being able to adjustably reduce the output delivered from differential voltage amplifier 823 connected in series between conductor 828 and analog gate 801, R of a predetermined differential voltage can be adjusted as desired by the operator.
The response of the R-axis servo control device to shaft input can be attenuated. Essentially, this adjustment slightly delays the R-axis response to a given input.

When the analog gate circuit 801 is enabled by an "on-plane" signal sent from the conductor 800, the output received from the potentiometer 833 is passed through the analog gate circuit 801, and the output is then set to unity gain. The R-axis servo devices 804, 805, 806 (15th
Figure) is activated. A command signal passed through current amplifier 803 via conductors 802, 812 is proportional in magnitude to the differential voltage signal sent from right and left sensors 813, 814, and is proportional to the movement of each sensing element of said sensor. The polarity corresponds to the relative difference in potential between the two sensors 813, 814, determined by the relative direction. Thus, the automatic R-axis tracking control circuit described above adjusts the R-axis angle of the tape supply head 413 and the surface of the local portion of the mold as the tape head 413 passes over the changing shape positions of the mold 412. It continuously corrects the imbalance between the two. This is the computer control (CNC) command sent from the part program, that is, the programmed "X", "Y", "C"
``Independently of the ``D'' and ``W'' axis commands, type 4
It is an important and advantageous feature of the present invention that automatic or adaptive tracking of twelve shapes is achieved. This feature simplifies machine programming, reduces the complexity of computer-controlled circuits and computer programs, and increases machine flexibility. Operator controls are provided to adjust the actual responsiveness of the machine to predetermined dynamic parameters. Without an adapted control circuit, a detailed table of parallel coordinates would have to be plotted for each individual mold, and the particular three dimensions of mold 412 would have to be determined by constantly solving a large number of parallel coordinate equations. Complex computer programs must be set up to cover or track the shapes. Due to the complexity of such calculations and equipment, current tape laying equipment in the art does not incorporate devices that track variable or feature height changes, i.e., the surface of a three-dimensionally shaped mold. do not have.

Analog gate 80 is led through conductor 802.
In addition to the adapted R-axis control with signals generated via 840, the R-axis control can also be controlled by the operator or the part through the CNC machine by a second input circuit indicated generally at 840. This is accomplished through a program. First and second control signal input terminals 841, 8 (connected via outputs from input/output circuit rack 604 shown in FIG. 15).
42 each have a single relay contact set 84
First and second relays 84 incorporating 5,846
3,844 on the non-grounded side. Input side 842 receives a command signal that causes the R-axis to move to the left, and input side 841 receives a command signal that causes the R-axis to move to the right. relay 84
3, it is assumed that a command signal is received via input 841 to close the movable element of contact 845. A potential of 5 volts is therefore supplied via conductor 848 and subsequently via conductor 849 from power supply 847 to the inverting input of differential voltage amplifier 850 . A bridge circuit including a bridge resistor 851 is connected in series between the inverting input side and the output side of the differential voltage amplifier 850. Resistor 8
51 has the same value as the resistor 852 connected in series between the conducting wire 849 and the inverted input side of the differential voltage amplifier 850, so that a unity gain can be obtained. Also,
The resistor 853 is the resistor 851,
Unity gain is also achieved for the non-tipping input side in that the values are equal for the grounded resistor 854. A ground reference resistor 855 is connected between ground and output conductor 849 and a ground reference resistor 856 is connected between ground and a corresponding conductor 857 connected to the movable element of switch element 846. Therefore, relay contacts 845, 84
6 movable switch elements are shifting (the switch elements are moving or "floating" between the fixed contacts, otherwise they would create an undesirable shifting voltage on the input side of the differential voltage amplifier 850). ) provides a time ground reference voltage.

The output of differential voltage amplifier 850 determines whether its input side is activated (i.e., its relays 843, 844
Since its polarity changes depending on whether it is energized or not and its output is unity gain, its output is at a significant level. Its output is transmitted via conductors 858 and 859 and potentiometer 860, which can be controlled by the operator to reduce the response of the R-axis servo controller as desired. Subsequently, the differential voltage amplifier 850
The output from is transmitted via conductor 861 to analog gate 811 which, when enabled, connects conductor 812 and unity gain amplifier 80.
3 to the R-axis servo controller.

Analog gate 811 is NAND gate 810
The NAND gate is activated by a signal sent from a conductor 370 connected to the output side of the Z-axis on-plane output voltage comparator 721.
(FIG. 16) and the first input side 800 from NOR
A second input side is connected from the gate 872 via a conductive wire 871. Izuka input conductivity 87
1, or if no signal is received through 800, the output of NAND gate 810 is a "logic 1", which enables analog gate 811. However, when a 5 volt on-plane signal is sent from conductor 800, NAND gate 810 is unconditionally enabled and outputs a "logic 0" signal.
(zero voltage) is created at the analog gate 811,
Gate 811 is prohibited from operating. This prevents manual control or part-program commands for the R-axis from activating the R-axis servo when the tape head is "on-plane" or in contact with the mold. In this way, the NAND gate 810 is disabled and the analog gate 811 is disabled.
To enable the ``logic 0'' output is
It must be received from NOR gate 872 as well as conductor 800. Relay contacts 843, 844
Enables NOR gate 872 by energizing one of them, producing a "logic 0" signal via conductor 871, and if no on-plane signal is sent via conductor 800.
The NAND gate 810 is disabled and the analog gate 811 is activated.

As tape head 413 rotates, supply shoe 465 can be temporarily moved out of alignment with mold surface 412. If the plane of the mold where the tape head is lifted is not perfectly parallel to the supply shoe 465, a correction to the R-axis position is made. An internal program within the computer controller (CNC) then aligns the feed head with the mold by providing an R-axis drive signal of sufficient time and direction to "complement" the alignment angle of the previous feed shoe. Before returning to the plane, a substantially parallel state is created between the mold 412 and the supply shoe 465.

The purpose of the R-axis nulling circuit 865 is to provide an , Y, C, D and W axes. Without this delay, Mazu tape 110
is applied to the mold face 412 at an angle that causes the tape to warp laterally, placing significant non-uniform pressure on the tape 110 laterally across the tape shoe 465.

Referring to FIG. 17, a first voltage comparator 876 has its non-tipping input connected via conductor 878 to conductor 880, which is connected to the output of potentiometer 833. Second
The voltage comparator 877 is the voltage comparator 8
76 , and its tipping input terminal is connected to a common conductor 880 via a conductor 876 . The parallel voltage comparator circuit is connected to the R-axis sensor 8, as will be better understood from the following description.
A reference voltage proportional to the R-axis correction command signal sent from 13,814 is generated. The negative input of voltage comparator 876 is connected via conductor 881 to negative 5
A potentiometer 882 is connected between the volt potential source 875 and ground and provides a reference comparison voltage to the fall input of the voltage comparator 876 . A resistor 883 is connected between potentiometer 882 and negative voltage source 875 to form a voltage divider that adjusts the voltage level. Similarly, variable potentiometer 88
6 is connected between ground and a 5 volt positive potential source 874 through a resistor 873, and a resistor 88
8 to the non-tipping input side of voltage comparator 877. Adjustment of potentiometers 882, 886 allows adjustment of a reference voltage to which the R-axis master error sent via conductor 880 is compared. The output sides of voltage comparators 876 and 877 are connected via a common conducting wire 889. Resistors 884, 855 of the first and second voltage comparators are connected in series across the non-overturning input circuits of voltage comparators 876, 877, respectively, and are associated with input resistors 887, 888, respectively, to A hysteresis response is provided to prevent excitation of the outputs of nearby voltage comparators 876 and 877. Both voltage comparators 876, 877 have potentiometers 882, 877 at their input leads 878, 879.
Upon receiving a potential within the preset zero limit defined by 886 (as shown at 891, 892)
Continuity to ground is removed and the potential at conductor 889 can be increased. Conductor 889 connects to positive 5 volt potential source 893 through resistor 875.
, and a positive potential is then directed to the base of NPN transistor 894 . transistor 89
4 has its emitter connected to ground, and its collector connected via a conductor 895 to a NOR gate 896, which is employed as a NAND gate. NAND gate 896 receives half of the disable signal through conductor 897 on one input side.
It is connected to receive an inverted, Z-axis, on-plane signal from a logic reverse rotary current transformer 735 (FIG. 16) that provides a NOR gate 896.
The other half of the disable signal (sent via conductor 895) is transmitted by tape head 413 to potentiometer 88.
Sent when within the zero limit set by 6,882. If both of these input signals are low, the output of NOR gate 896 is enabled and goes "high" or rises to a "logic one" level, causing flipping transistor 900 to turn on; The circuit from the positive 25 volt power supply 901 to ground by supplying ground potential through the emitter/collector circuit of
Closed to ground via relay 902.
Therefore, relay 902 is activated and its contact 903
is closed and the input/output rack 604 (first
5) to the output terminal 905 connected to the computer 603 to enable the computer to follow the X, Y, C, D and W axis commands from the part program.

To summarize the above discussion, circuit 865 suppresses actuation signals from the part program until the R-axis normalizes within the limits set by potentiometers 886 and 882.

Homing modification circuit 910 is employed to generate a damping signal input to conductor 802 to damp the R-axis motion as the tape approaches the center position as during initial homing of all axes of the machine. has been done. The centripetal position of the R axis is tape head 41
3 toward the center position and causing the tape head 413 to actuate an outer limit switch (not shown) for sensing the center home position of the R-axis. These limit switches generate a voltage input to the CNC computer to set the home position condition during the initial centripetal movement of the tape head 413 about the R-axis. The CNC computer then generates a voltage input to analog gate 916 via line 917 and sequentially via voltage divider 914 and line 915. Thus, gate 916 is turned ON when a sensor (not shown) receives an enable signal generated just as tape head 413 is being tripped just before reaching the center position. Potentiometer 917, conductor 918, gate 91
The circuit from conductor 802 to ground via 6 is completed when enabled. To this end, in conjunction with resistor 919, a voltage divider is formed which reduces the voltage signal supplied to the Z-axis servo device via conductor 812, during movement of the R-axis approaching the center position. , prevent overriding of the central axis position. The CNC computer, according to its internal program, subsequently activates the relay section (relay 841,
842) is deactivated and then the controlled voltage is set to R
The shaft servo motor 72 is removed. Centripeting tape head 413 about the R axis standardizes initial operation. It can now be seen that the apparatus according to the present invention provides a new and improved tape feeding apparatus that eliminates many of the difficulties experienced with conventional tape laying machines. For example, the cutting assembly 474 can separate the fibrous tape 19 from the backing tape 112 prior to application to the mold face 412 and subsequently cut the fibrous tape 19 from the backing tape 112 without having to re-adhere the fibrous tape 19 to the backing tape 112. Allows for cutting. The resin within the fiber tape 19 is not exposed to heat before adhering to the mold surface 412 and remains in its desired state of plasticity and tackiness. Additionally, the tape can be cut along an angle oblique to the longitudinal axis without having to stop the X/Y axis movement of the tape head 413.

Double X-axis rail 14,1 that can be installed directly on the floor
5 and a conveniently transportable mold structure 412, the apparatus 410 has been employed in certain prior apparatuses to support the work surface and gantry. No bulky, monolithic, base structure required. For this mounting device, the mold structure 412
on permanently mounted or removable wheels (not shown) which can be conveniently located between the X-axis rails and below the gasoline 11 and which can be connected to the bottom of the support legs of the face table of the mold. mounted so that the mold table and workpiece can be conveniently transported from the tape laying machine 410 to an autoclave compartment (not shown) while the formed composite structure workpiece rests on the mold structure 412. Allows for hardening of the workpiece. Such capabilities eliminate the need to transport workpieces from work station to work station during laying and processing, and make positioning of the work table under the gantry 11 more convenient. Thus, the mold 412 and support legs further include equipment for supporting the workpiece within the autoclave oven for curing.

The numerical control device, in combination with the specific electrical, mechanical, and pneumatic devices employed in the present device 410 for actuation, position sensing, and calibration, provides many of the advantages described above and is commercially available. This makes it possible to employ numerically controlled computer equipment. Standard ASC11 for various part shapes
In code formatting, convenient programming is utilized, while the complex position corrections required for Z- and R-axis adjustments to accommodate the three-dimensional mold geometry are additional and Covered by pre-wired adaptive control equipment without requiring significantly expensive programming. Additionally, control of the major axes, X, Y, and W axes, allows tape 110 to be efficiently cut along varying axes without the need to stop the X-Y axial movement of the tape laying head. Because of its control, position feedback, and cutting device, this machine allows you to select the appropriate length of tape, cutting angle, and produce workpieces of the desired shape with no or minimal post-lay trimming. It is operable to preset an initial point of supply of tape to mold 412 for laying. In addition to providing the operational advantages described above, device 410 provides practical fabrication and construction utilizing commercially available components.

While only one embodiment of the invention, together with modifications thereof, has been described in detail and illustrated in the accompanying drawings, it is contemplated that the arrangement of its elements may be changed without departing from the scope of the invention.
Obviously, various other modifications in the structure are possible.

[Brief explanation of drawings]

1 is a perspective view of one embodiment of a tape laying machine according to the present invention showing a non-planar mold and a partially formed workpiece; FIG. 2 is a perspective view taken along line 2--2 of FIG. 1; 1 is a sectional view of the tape laying machine shown in FIG. 1, FIG. 3 is an enlarged perspective view of the tape supply head assembly adopted in the tape laying machine shown in FIG.
4a is a side view of the tape supply head assembly shown in FIG. 3, looking from the left side as indicated by line 4--4; FIG. 4a is a front view of the tape head show member showing the R-axis sensor; FIG. 3 is a cross-sectional view of the supply reel employed in the tape head assembly shown in FIG. 3, taken along line 5--5, FIG. 6 is a front view of the tape head assembly shown in FIG. 3, and FIG. 7
-7, an enlarged, partial side view of the cutter mechanism employed in the tape feed head assembly shown in FIG. 3; FIG. 7th along 8-8
A cross-sectional view of the cutter mechanism shown in Figure 9, line 9--9
an enlarged, partially cutaway front view of the cutter mechanism shown in FIG. 7; FIG. 10 is shown mounted on the tape guide device of the tape supply head shown in FIG. 3; FIG. 11 is a partial front view of the needle cutter of the cutter mechanism shown in FIG. 7; FIG. 12 is a partial side view of the needle cutter of the cutter mechanism shown in FIG. 7. Figure 13 is a sectional view of the W-axis motor and its related elements, Figure 14 is a sectional view of the W-axis motor and its related elements.
Figure 15 is a cross-sectional view of the W-axis disassembly device and its related elements, Figure 15 is a block diagram of the automatic control device for the tape laying machine, and Figure 16 is the independent control of the Z-axis movement of the tape supply head during tape laying work. Z to control
Axis Control Circuit Diagram FIG. 17 is a diagram of an R-axis control circuit for independently controlling the R-axis movement of the tape supply head during tape laying operations. In the figure, 14...rail, 19...tape,
20, 22...Rail, 410...Tape laying machine,
412...table, 413...tape head,
414...Feed reel, 415...Take-up reel, 416...Plate structure, 432...Mounting plate, 462...Supply shoe, 463...Mounting block, 470...Mounting plate, 479...Katsuta needle housing , 478...anvil, 508...
...Needle, 530...Sprocket.

Claims (1)

[Scope of Claims] 1. An apparatus for making a composite structure of a type adapted to supply synthetic tape in a desired pattern to a receiving surface, comprising: a structure defining a surface of a mold; a first device for dispensing; a second device for moving the first device across the face of the mold along a selected trajectory; and a second device for moving the first device across the face of the mold. While in motion, a preselected pattern of various lengths of tape is defined on the surface of the mold by cutting the tape into lengths corresponding to each spaced dimension creating the desired shape. a third device having an operator programmable device for making a composite structure. 2. Apparatus for making a composite structure according to claim 1, characterized in that the third apparatus includes a tape cutting device and a control device for operating the tape cutting device. 3. The apparatus of claim 2, wherein a control device is responsive to movement of the first device across the surface of the mold to bring the first device into a predetermined position relative to the surface of the mold. An apparatus for making a composite structure, further comprising a device for activating a tape cutting device upon reaching the device. 4. Apparatus for making composite structures from several layers of synthetic tape material, comprising: (a) a surface of a mold corresponding to said structure; and (b) a device for containing and distributing said tape and in contact with said surface of said mold. (c) a second device for moving the first device across the face of the mold; and (d) moving the second device along a preselected trajectory. a third device having an operator programmable device for movement across the surface of the mold; (e) causing the first device to dispense the tape across the surface of the mold; and a fourth device including a shoe member that maintains a generally constant pressure on the tape. 5. An apparatus for making structures from layered synthetic tape material, comprising: (a) a mold comprising a working surface corresponding to said structure; (b) a first apparatus for containing and dispensing said tape; (c ) moving the first device across the work surface, the first device dispensing the tape onto the work surface while the first device is moving across the work surface; (d) the first device is in contact with the orienting device and the working surface as the second device is moved across the working surface; a device for detecting the shape of a work surface; and a signaling device for causing the shape sensing device to generate a signal to the orientation device such that the first device is oriented generally perpendicular to the work surface. A device for making a structure characterized by: 6. The apparatus according to claim 5, wherein the contact device includes a shoe member having a contact point that contacts the work surface, and a shoe member that guides the tape so that the contact point is in the longitudinal direction of the tape. a guide chute for tracking a centerline. 7. The apparatus of claim 5, wherein a gantry is movably mounted on two mutually parallel tracks for movement of the second device in a first direction; a tape supply head movably attached to the gantry such that the second device moves the gantry in a second direction; a device for moving the tape supply head along the gantry in two directions and across the working surface of the mold structure. 8. The apparatus according to claim 6, characterized in that the mold further includes a device for positioning the working surface relative to the first device within the working range of the second device. A device that creates structures. 9 Claims, paragraphs 5, 6, 7,
or an apparatus according to any one of clauses 8, in which the method device is arranged generally radially relative to the point of contact between the first device and the working surface. a first positioning device for moving the first positioning device generally radially relative to the point of contact between the first device and the work surface;
and a second positioning device for moving the device. 10 Claims 5, 6, 7,
or the apparatus according to any one of clauses 8, wherein the shape detection device detects the vertical position of the first device with respect to the contact point between the first device and the work surface. 1 detection device;
An apparatus for making a structure, characterized in that it includes a second detection device for detecting the radial position of the first device with respect to the point of contact between the first device and the work surface. 11. An apparatus for making structures from layered synthetic tape material, comprising: (a) a mold comprising a working surface corresponding to said structure; (b) a surface of said mold containing and distributing said tape; (c) a second device for moving the first device across the work surface; (d) the first device includes a device for contacting the first device; A second device includes a shoe member that applies pressure to the tape while moving the first device across the face of the mold, and a device that keeps the pressure generally constant. A device that creates structures. 12. The apparatus according to claim 11, wherein the contact device includes a shoe member having a contact point that contacts the work surface, and a shoe member that guides the tape so that the contact point is in the longitudinal direction of the tape. and a guide chute for tracking along a centerline. 13. A device according to claim 11 or 12, wherein the gantry is movably mounted on two mutually parallel tracks so that the second device moves in a first direction. and the first
a tape supply head movably mounted on the gantry such that the first device moves in a second direction; a device for moving said tape supply head along said gantry in a direction and across said working surface of said mold structure. 14. The apparatus of claim 13, wherein the pressure applying device coordinates the first device with a device for detecting pressure on the synthetic tape as the tape is fed to the work surface. Apparatus for making structures, characterized in that the apparatus further comprises a regulating device, wherein a generally constant pressure is directed to the tape as it is fed to the work surface. 15. The apparatus of claim 13, wherein the mold further includes a device for positioning the working surface relative to the first device and within the working range of the second device. A device that creates characteristic structures. 16. Apparatus for making structures from layered synthetic tape material, comprising: (a) a mold comprising a working surface corresponding to said structure; (b) containing and dispensing said tape and having said working surface. (c) a second device for moving the first device across the work surface; (d) a cutting device for cutting the tape; (e) a first device including a contacting device; defining a preselected pattern of tape lengths corresponding to the work surface and automatically actuating the second device so that the first device is moved across the work surface by the second device; an operator programmable device for automatically activating the cutting device to cut the tape to the length corresponding to the pattern during exercise; . 17. The apparatus of claim 16, wherein a gantry is movably mounted on two mutually parallel tracks for movement of the second device in a first direction; a tape supply head movably mounted on the gantry such that the first drive moves the gantry in a second direction; an apparatus for making structures, including a second drive for moving the tape supply head along the gantry and across the working surface of the mold structure. 18. The apparatus of claim 16 or 17, wherein the mold comprises a device for positioning the working surface relative to the first device and within the working range of the second device. A device for making a structure characterized by comprising: 19. The apparatus of claim 16 or 17, further comprising an orientation device for positioning the cutting device to cut the tape at a predetermined angle. A device that makes 20 a first device comprising a tape dispensing head; a gantry extending over the mold for moving said dispensing head over the mold in a desired pattern; and a gantry support device configured to be mounted on a support bed; and a second device movably supporting the mold on a floor below the gantry. 21. The apparatus of claim 20, wherein the surface of the mold comprises a non-planar surface, and the control device controls the surface of the mold as the first device moves across the surface of the mold. A device for dispensing synthetic tape, further comprising a fourth device that allows the first device to shape the surface of the mold. 22. The apparatus of claim 21, wherein the control device includes a numerically controlled digital computer and a programming device to guide the formation of the desired shape, and further the first device comprises Apparatus for dispensing synthetic tape, characterized in that it includes a device which, upon movement, activates the fourth device independently of the programming device. 23. A device for feeding synthetic tapes into molds in a desired pattern, mounted on the floor surface parallel to each other and in alignment;
first and second rails extending along a first axis such that a portion of the floor surface can extend between them; and a floor between the first and second rails; a mold structure constructed to rest on a surface; a tape dispensing device; and a gantry device supporting the dispensing device above a floor surface extending between the first and second rails; a gantry assembly including a drive unit that engages first and second rails to move the gantry unit along the rails; and a unit to move a tape dispensing unit along the gantry unit. Equipment for feeding synthetic tape. 24. The device according to claim 23, wherein the mold structure engages with a floor surface and forms a mold between the first and second rails at a predetermined height above the floor surface. Device for feeding synthetic tape, characterized in that it has a support device with a vertical extension for positioning. 25. In the apparatus according to claim 23, the mold structure positions the mold between the first and second rails at a predetermined height above the floor surface, and Apparatus for dispensing synthetic tape, characterized in that it has a support device movably engaged with a floor surface to permit movement of the mold. 26. The apparatus according to claim 25, wherein the support device for positioning the mold between the first and second rails at a predetermined height above the floor surface is a device for supporting the mold in an autoclave furnace. An apparatus for dispensing synthetic tape, further comprising: 27 In a device that supplies synthetic tape to a mold,
a tape dispensing head for dispensing the synthetic tape, a mold having a surface configured to receive the tape, and a gantry device for moving the dispensing head over the mold in the desired pattern, corresponding to each lateral dimension of the selected pattern. a control device for defining a preselected pattern of various tape lengths on the surface of the mold by activating a dispensing head to cut the tape into lengths of different lengths. device to do. 28. The apparatus of claim 27, wherein the tape dispensing device has a supply reel and comprises a synthetic tape having a fibrous tape impregnated with uncured resin and a backing tape adjacent to the fibrous tape. a device configured to receive the blade and the fiber tape layer across and through the fibrous tape layer;
An apparatus for dispensing synthetic tape, the apparatus comprising a device for moving said blade adjacent to a backing tape, said device for moving said blade including a device for preventing cutting of the backing tape. 29. Apparatus according to claim 28, characterized in that the cutting device includes a device for cutting the fiber synthetic tape extending between the supply reel and the feeding device. . 30. The apparatus of claim 29, wherein the cutting device includes a blade device and a device for moving the blade device across the synthetic tape. 31. The apparatus of claim 29, wherein the cutting blade device is mounted to expose a selectable cutting blade height that projects toward the tape structure by a distance approximately equal to the thickness of the fibrous tape. An apparatus for supplying a synthetic tape, characterized in that the apparatus includes an apparatus for dispensing a synthetic tape. 32 A device for supplying synthetic tape adhered to a backing tape to the surface of a mold, comprising: a feeding device that presses the synthetic tape against the mold and causes the synthetic tape to adhere to the surface of the mold; and a fiber tape adhered to the surface of the mold. An apparatus for separating a backing tape from a synthetic tape, the apparatus comprising: an apparatus for collecting the backing tape and applying tension to the backing tape for separation from the synthetic tape; and a cutting apparatus for cutting the fibrous tape. A device that supplies synthetic tape. 33. The apparatus of claim 32, wherein the device for separating the textile tape from the backing tape maintains tension on the backing tape extending between the supply reel and the take-up reel. , a device for dispensing synthetic tape, further comprising a tensioning device to collect the backing tape separated from the textile tape. 34. The apparatus of claim 33, wherein the tape supply device is located near the surface of the mold and includes means for pressing the tape structure against the surface of the mold, and the tension device a first relative direction including means for guiding the backing tape along a trajectory spaced from the face of the mold and spaced from the face of the mold and from the fibrous tape adhered to the face of the mold; , the tape supply device is spaced apart from the surface of the mold, the tension device is located near the surface of the mold, and the fiber tape is attached to the surface of the mold to apply a portion of the backing tape separated from the fiber tape to the surface of the mold. further comprising means for moving the tape supply device and the tension device between a second relative direction including means for pressing the tape supply device into contact with the second relative direction; A taut length of fibrous tape extending between the feeding device and the tensioning device by guiding the fibrous tape from the feeding device into contact with the surface of the mold when in relative orientation toward the tensioning device. 1. A tape feeding device comprising a section defining device. 35. The apparatus of claim 34, wherein the cutting device cuts a tensioned length of the fiber tape extending between the feeding device and the tensioning device when the feeding device and the tensioning device are in a second relative direction. A tape feeding device further comprising a device for cutting a portion. 36. The apparatus of claim 32, wherein the cutting device includes a device for cutting the synthetic tape adjacent the backing tape. 37. In a tape supply head for supplying tape to a mold comprising a working surface for receiving tape, (a) a support device; (b) a device for receiving and dispensing tape operatively attached to said support device; (c) a drive for moving said tape receiving and dispensing device across said work surface; (d) a device for bringing said tape into contact with said work surface; and (e) said tape is an apparatus including a shoe member that applies pressure to the tape while in contact with the work surface and maintains the pressure against the tape while the tape supply head moves across the surface of the mold; A tape supply head comprising: 38. A tape supply head according to claim 37, wherein a device for bringing the tape into contact with the work surface guides the tape to the show member so that the show member is aligned in the longitudinal direction of the tape. A tape supply head further comprising a guide chute for applying pressure along the axis. 39. In the tape supply head according to claim 37 or 38, the pressure on the tape is detected and a signal is generated from the pressure detection device to the pressure supply device to control the tape. and a device for maintaining a generally constant pressure. 40. A tape supply head according to claim 39, further comprising a device for cutting said synthetic tape. 41. The tape supply head of claim 40, further comprising an orientation device for positioning the cutting device so that the cutting device cuts the tape at a preselected angle. Head. 42. The tape supply head of claim 41, further comprising an operator programmable device for controlling the drive, the device for contacting the tape with the work surface, and the tape cutting device. A tape supply head further comprising: 43. In a tape supply head for supplying tape to a mold comprising a working surface for receiving said tape, comprising: (a) a support device; and (b) a device for receiving and dispensing tape, operatively attached to said support device. (c) a drive for moving said tape receiving and dispensing device across said work surface; and (d) a device for bringing and maintaining said tape in contact with said work surface. (e) a device for cutting the tape while the tape supply head continues to move across the work surface. 44. The apparatus of claim 43, wherein the device for bringing the tape into contact with the work surface includes a show member, and the show member guides the tape to the show member so that the show member brings the tape into contact with the work surface. a guide chute adapted to follow along a longitudinal centerline. 45. The tape supply head of claim 43 further including an orientation device for positioning the cutting device so that the cutting device cuts the tape at a preselected angle. 46. The tape supply head according to any one of claims 43, 44, or 45, comprising: the drive device, the device for bringing the tape into contact with the work surface, and the tape cutting device. A tape supply head further comprising an operator programmable device for independently controlling each tape supply head. 47. In a tape supply head for supplying tape to a mold comprising a working surface for receiving tape, comprising: (a) a support device; (b) a device operatively attached to said support device for receiving and dispensing the tape; (c) a drive for moving said tape receiving and dispensing device across the surface of said mold; and (d) a device for bringing and maintaining said tape in contact with said working surface. (c) said device for contacting said work surface is connected to said work surface at a point of contact between said tape head and said work surface while said drive means moves said tape head across said work surface; (f) an orienting device; and (g) generating a signal to the orienting device to orient the tape supply head so that the tape head is oriented generally perpendicular to the work surface. A tape supply head comprising: a signal device; 48. The tape dispensing head of claim 47, wherein the contacting device guides the tape to the contact point so that the contact point follows along the longitudinal axis of the tape. A tape supply head characterized in that it includes a guide chute that allows the tape to be supplied. 49. The tape supply head of claim 47, wherein the orienting device directs the tape supply head in a direction generally perpendicular to a point of contact between the tape supply head and the work surface. a first positioning device for moving the tape supply head; and a second positioning device for moving the tape supply head in a generally radial direction relative to a point of contact between the tape supply head and the work surface. tape supply head. 50. The tape supply head of claim 47, 48, or 49, wherein the sensing device detects the vertical position of the tape supply head relative to a point of contact between the tape supply device and a work surface. A tape supply head comprising a first detection device for sensing and a second detection device for detecting the radial position of the tape supply head relative to a point of contact between the tape head and a work surface. 51. In a tape supply head for supplying tape material to a mold comprising a working surface for receiving tape, comprising: (a) a support device; and (b) a device operatively attached to said support device for receiving and dispensing the tape; (c) a drive for moving said tape receiving and dispensing device across said work surface; and (d) a device for bringing said tape into contact with said work surface, said shoe for maintaining said contact. (e) an apparatus for cutting said tape; (f) a drive means for cutting said tape to define a preselected pattern of various tape lengths corresponding to said work surface; automatically actuating a device for bringing a tape into contact with the work surface and activating the cutting device to cut the tape to a length corresponding to the pattern while the tape head is moved across the work surface. and an operator programmable device for automatic activation. 52. The tape feed head of claim 51, wherein the cutting device further includes an orientation device for positioning the cutting device at a preselected angle. 53 providing control information for a working structure movable relative to a working surface, said working structure moving in a longitudinal direction X with respect to said working surface;
said working structure which is primarily and primarily controlled in its movement by the input of a program via an axis, a lateral Y-axis and a rotational C-axis and is in contact with said work surface at the beginning of said program input; to the input of the program in its movement through a Z-axis perpendicular to the working surface so as to bring about a contact point of the input of the program and remove the contact point from contact with the working surface at the end of the input of the program. an automatic tracking device, such as a device for orienting the point of contact, and an adaptive control for detecting the shape of the work surface at the point of contact as the work structure moves across the work surface; An automatic tracking device comprising: a device; and a signal device that signals the orientation device to orient the contact point so that the contact point is oriented generally perpendicular to the work surface. 54. The automatic tracking device of claim 53, wherein said orientation device directs said working structure in a direction generally perpendicular to a point of contact between said working structure and said working surface. further comprising a first positioning device for moving the body and a second positioning device for moving the work structure in a generally radial direction relative to a point of contact between the work structure and the work surface. An automatic tracking device characterized by: 55. In the automatic tracking device according to claim 53 or 54, the shape detection device of the adaptation control device detects the shape of the work surface relative to the contact point between the work structure and the work surface. a first sensing device for detecting vertical changes and generating a signal to the orienting device to orient the working structure to follow the vertical changes in the continuous working surface; detecting a radial change in the work surface with respect to a point of contact between the work surface and providing a signal to the orientation device to orient the work structure to follow the radial change in the work surface; The second to occur
An automatic tracking device further comprising: a detection device. 56. The automatic tracking device of claim 55, further comprising a contact device including a shoe member for bringing the contact surface of the working structure into contact with the working surface at a generally constant pressure. An automatic tracking device characterized by: 57. Apparatus for making composite structures of a type adapted to dispense synthetic tape in a desired pattern onto a receiving surface, comprising: a structure defining the surface of the mold; and a first structure for containing and dispensing the tape. a second device for moving the first device across the face of the mold along a selected trajectory; and an operator programmable device, wherein the first device moves the first device across the face of the mold. of various tape lengths on the face of the mold by cutting the tape to lengths corresponding to the respective spacing dimensions that constitute the desired shape while moving across the face of the mold.
a third device for defining a preselected pattern; and a third device for defining a preselected pattern;
a fourth device for causing the first device to follow the shape of the surface of the mold while the device is moving across the surface of the mold. The device that makes it. 58. In an apparatus for making a three-dimensionally shaped composite structure consisting of a layer of adhered elastic tape formed in a desired pattern on a peelable, non-planar receiving surface, comprising: (a) a support structure; (b) a first device movably mounted to the support structure, including a tape dispensing device for controllably dispensing the tape and a cutting device for controllably cutting the tape; ) a floor member supporting a mold having a non-planar receiving surface; and (d) selectively moving said first device at least horizontally relative to said non-planar receiving surface along a selected trajectory. a second device for movement, the first device being controllable to dispense the tape to the receiving surface as the first device selectively moves relative to the receiving surface; (e)(i) coupled to said second device and responsive to digital coordinate data, said first device selectively dispensing said tape over said receiving surface; controlling the second device to move, and a contour of the receiving surface defined by the digital coordinate data while the first device is moving across the receiving surface; a third user-programmable device for controlling the cutting device to selectively cut the tape to lengths corresponding to dimensions; (ii) a sensor device for detecting the shape of the surface; a device coupled to a second device for vertically positioning the first device in relation to the non-planar receiving surface, the automatic second device operating independently of the third device; 4. A device for making a three-dimensional composite structure, characterized in that it includes a control device including the device of item 4. 59. The apparatus of claim 58, wherein the programmable third device includes a device for overall control of the vertical position of the first device; Apparatus for making composite structures, characterized in that the apparatus includes a device for finely controlling the vertical position of the first device. 60. The device of claim 59, wherein the first device is radially movable about an axis, and the automatic fourth device determines the shape of the receiving surface. Apparatus for making a composite structure, comprising a device for controlling the position of the first device about the axis. 61 Including the adoption of a device of the type having a device operatively mounted on a support device for receiving and dispensing the tape, and a device for moving said device for receiving and dispensing the tape, in which the operator is layered. A method of making a composite structure from a synthetic tape, comprising: (a) defining a mold having a working surface corresponding to the composite structure and receiving the tape; (b) forming a mold of the synthetic tape corresponding to the working surface; defining suitable patterns for various lengths; (c) inserting said synthetic tape into said tape receiving and dispensing device; and (d) inserting said tape into said tape receiving and dispensing device. (e) energizing the device for moving the tape receiving and dispensing device; (f) moving the movement device to accommodate various lengths of the tape; a composite structure comprising guiding the tape across the work surface according to a pattern while simultaneously energizing the tape dispensing device to supply the tape in the required length to the work surface. How to build your body. 62. In an apparatus for making structures from layered synthetic tape material: (a) movably attached to and engaged with two mutually parallel rails for movement in a first direction; (b) a tape supply movably attached to the gantry for movement in a second direction perpendicular to the first direction; (c) a drive for moving the tape supply head along the gantry; (d) a drive corresponding to one of the outer surfaces of the structure and between the tracks and for movement of the gantry and the tape head; (e) defining a preselected trajectory along which said gantry and said tape head move;
an operator programmable device associated with said gantry and said tape head; and (f) a tape storage and dispensing device including a supply reel and a take-up reel attached to said mounting plate; is mounted on a vertical drive for moving the mounting plate in a generally vertical direction, and the vertical drive is mounted on a radial drive for moving the mounting plate in a radial direction relative to the mounting plate. an apparatus for bringing the tape into contact with a surface of the mold, the show member maintaining constant pressure on the tape, and the show member for guiding the tape to the show member; (g) a guide shoe for causing the needle to follow along the longitudinal axis of the tape; A needle is prepositioned in a direction facing the track, the needle is rotatably mounted within the needle housing, and while the tape head continues to move across the work surface, the preselected a needle that is spring-loaded in a direction away from the needle and that is programmable by an operator programmable device to cut the tape at an angle; (h) a first sensor for detecting a vertical change in the shape of a surface of the mold; a second sensor for detecting radial changes in the shape of the mold surface; a second sensor for detecting radial changes in the shape of the mold surface; a device for generating a signal to the radial drive for radially positioning the tape head to follow changes; the sensor orients the tape head generally perpendicular to the plane of the mold; an apparatus for tracking a surface of a mold operative to maintain a generally constant pressure on the tape as the tape is fed to the surface of the mold. 63 a movably mounted detection head, a first drive for vertically moving said detection head into and out of engagement with a work surface, and a first drive for moving said detection head across said work surface; a second drive for moving the work surface; and a third drive for radially positioning the sensing head, the sensing head detecting a vertical change in the shape of the work surface, and detecting a vertical change in the shape of the work surface. a first sensor for detecting a radial change in the shape of the working surface and for generating a signal to the first drive to adjust the sensing head to follow the radial change; a second sensor for generating a signal to the third drive for adjusting the sensing head so that: (a) the sensing head is (b) energizing the third drive until the sensing head is generally perpendicular to the working surface; (c) energizing the sensing head until it contacts the work surface; a signal to the first device to vertically adjust the sensing head by an amount corresponding to a plane perpendicular to the point of contact between the sensing head and the working surface and commensurate with vertical changes in the working surface; (d) an amount corresponding to a plane perpendicular to contact between the sensing head and the working surface and commensurate with a radial change in the working surface; (e) by moving the sensing head across the work surface; , the first and second sensors continuously send signals to the first and third drives to orient the sensing head to remain generally perpendicular to the work surface. A method for automatically tracking a work surface, the method comprising the step of energizing the second drive device to generate .