JPH0232126B2 - - Google Patents

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a method and apparatus for pasting FRP prepreg tape, and particularly to a method and apparatus for pasting FRP prepreg tape to a predetermined mold. The application speed can be improved and the control method of automatic pasting equipment can be simplified.
Concerning an automatic pasting method and device for FRP tape.

[Conventional technology]

Conventional FRP prepreg tape (hereinafter referred to as FRP tape) automatic pasting equipment consists of a tape supply reel, tape supply device, tape cutting cutter, pasting roll, protective sheet winding device, temperature control device, etc. The components are integrally mounted on the frame. In addition, this automatic pasting device is controlled by NC control according to a predetermined program according to the curvature of the surface of a predetermined mold, and the entire device is moved along the X axis (longitudinal direction) and the Y axis (X
axial direction and perpendicular direction), Z axis (vertical direction) and
Turning around the Y and Z axes Turning around the a, b, and c axes.

[Problem that the invention seeks to solve]

This kind of FRP tape automatic pasting equipment is suitable for FRP
When applying the tape, it is necessary to always press the adhesive roll perpendicularly to the surface of the mold depending on the curved surface of the mold. For this reason, the FRP tape is attached while moving in the X, Y, and Z axes directions while rotating the entire device by controlling the a, b, and c axes. Therefore, the X, Y, Z, a, b, and c axes are controlled by the NC control mechanism as a program in advance to operate the apparatus. However, in this case, since the surface of the predetermined mold to which the FRP tape is attached is a three-dimensionally curved free-form surface, it is complicated to express the shape of this mold numerically and to express the results in the equipment operation program. And it is a troublesome work. Further, this type of automatic pasting device is heavy and requires a large amount of force to perform linear motion or turning motion, and there is a time delay in the operation of the drive device. As a result, it is extremely difficult for the device to operate in immediate response to a given type of curvature. For this reason,
There is also a limit to the operating speed of the device, and the more curved and strongly curved the shape, the slower the attachment speed needs to be.

Furthermore, among the six control axes, if a method is adopted in which the a-axis and Z-axis are automatically operated by following the curvature of the surface of a predetermined type, in order to implement the a-axis copying method, It is also possible to detect the inclination of the mold surface and feed back the measurement results to rotate the entire device along the a-axis, but since the device itself is heavy, it is necessary to immediately rotate the a-axis according to the inclination of the mold surface. It is difficult to do so, and there is a drawback that there is a time delay in the turning movement.

As mentioned above, on a mold surface with many changes in curvature,
When attaching FRP tape, there is a limit to the attaching speed, and it is difficult to attach at high speed.

Therefore, the purpose of the present invention is that the most important of the six axes to be controlled are the X, Y, Z, a, and c axes, but in order to simplify the program control of the device, the a-axis is (rotation around the An object of the present invention is to provide an automatic FRP tape application method and device that achieves an improvement in application speed.

[Means for solving problems]

The method for automatically pasting FRP tape according to the present invention is as follows:
A protective sheet is pasted on one side and wrapped.
The FRP tape is fed out one after another, the FRP tape is cut into a predetermined size without cutting the protective sheet, and transferred to the adhesive roll, and the FRP tape cut into the predetermined size is placed on the protective sheet at the adhesive roll section. In an automatic pasting method for FRP tape, in which the FRP tape is pressed and pasted onto a predetermined mold while being separated from Detecting and controlling the a-axis rotation of the device that automatically attaches FRP tape, and when the attaching roll is tilted.
There is a difference in tension between the left and right edges of the FRP tape, which causes the FRP tape to shift to one side.
In order to prevent this, the present invention is characterized in that a tension difference absorbing device for both left and right edges of the FRP tape is installed on the upstream side of the FRP tape running path from the pasting roll.

Furthermore, in this case, if the slope of the surface of a given mold is small, the a
By only following the inclination of the pasting roll and the tension difference absorbing device without controlling the shaft rotation, the control operation becomes simpler and the control speed is improved.

Further, in the present invention, when carrying out the automatic pasting method, an FRP tape supply reel for winding the FRP tape with a protective sheet pasted on one side, and a feed device for reversibly feeding out the FRP tape are provided. , a cutting device that cuts only the FRP tape into specified dimensions without cutting the protective sheet, an adhesive roll that separates the cut FRP tape from the protective sheet and presses it onto a specified mold, and a protective sheet. In an automatic FRP tape applicator equipped with a take-up roll for winding and collecting, the applicator roll rotates around the longitudinal center of the roll's outer periphery that is in contact with a predetermined mold. The automatic pasting device is configured and arranged so as to be able to turn according to the slope, and further detects the amount of tilt of the pasting roll and
This can be achieved by providing a sensor that controls the shaft rotation.

Furthermore, a device for absorbing the tension difference between the left and right edges of the FRP tape is installed upstream of the FRP tape travel path from the pasting roll to prevent the FRP tape from shifting.

[Effect]

According to the present invention, the sticking roll can be turned around its longitudinal center as a turning center inside an apparatus that automatically sticks FRP tape, and when the surface of a predetermined type is curved, the sticking roll can be rotated. follows the mold surface and automatically rotates around the a-axis due to the force received from the mold surface. As a result, even if the device is moved at high speed in the X-axis direction, the adhesive roll follows the curved surface of the mold, and the FRP tape can be properly adhered. Furthermore, by detecting the inclination of the adhesive roll and controlling the control axis of the entire apparatus, the adhesive roll can be appropriately caused to follow any curvature of the surface of the mold. Therefore, quick and appropriate automatic application of FRP tape can be achieved through simple program control without the need for program control to set detailed numerical values for each control axis of the device.

〔Example〕

Next, the method for automatically pasting FRP tape according to the present invention will be described in detail below in relation to the apparatus that implements this method.

FIG. 1 is a schematic diagram showing the principle of an automatic pasting device that implements the method of the present invention. That is, the first
In the figure, reference numeral 10 indicates an FRP tape supply reel, and this reel 10 holds and winds an FRP tape 12 with a protective sheet attached to one side. Below this reel 10, an appropriate number of roll pairs consisting of a feed roll 14 and a pressing roll 16 for sequentially feeding out the FRP tape 12 are provided. Below these pairs of rolls, a cutting device 18, a heater 20, and a pasting roll 22 are sequentially arranged to cut the FRP tape 12 into a predetermined size while pasting it onto a mold 24 having a predetermined shape. Configure.

The FRP tape 12 used in this example is
Carbon fibers, Kepler fibers, glass fibers, etc. are arranged in a certain direction or formed as a fabric,
It is made of prepreg tape impregnated with thermosetting resin, and one side of this tape is covered with a protective sheet made of paper or plastic film.
3 is attached (see Figure 2). Also,
The cutting device 18 is configured to cut only the FRP tape without cutting the protective sheet 13.
Further, the heater 20 is provided as a means for heating the surface of the FRP tape 12 to increase its adhesive strength and to remove residual air inside. In this way, the FRP tape 12 imparted with the required adhesive strength is pressed and adhered to a predetermined mold 24 by the adhesive roll 22, while the uncut protective sheet 13 passes through the adhesive roll 22. It is appropriately wound onto a winding roll 26 and recovered.

As shown in FIG. 1, the automatic FRP tape pasting device having the above-mentioned configuration is connected to a predetermined drive device (not shown), and is connected to the X-axis, Y-axis, Z-axis, and each of these. rotation around the a axis, b
Simultaneous control of six axes consisting of the axis and the c-axis is performed so that the adhesive roll 22 is always in perpendicular contact with the mold 24 having a predetermined shape, and the FRP tape 12 is pressed into the mold 24 having a predetermined shape.
4, to form a laminate of several to several dozen layers.

However, the shape of the mold 24, which is the object to which the FRP tape 12 is generally attached, is a three-dimensional free-form surface, and in order to attach the FRP tape 12 to such a mold 24, the entire curved surface shape of the mold was digitized. It is extremely complicated and difficult to express this in a value, program it, and operate the entire automatic pasting device according to this program.

Therefore, in the present invention, the sticking roll 22 is made to be able to freely turn around the center point "P" in the longitudinal direction of the roll in contact with the mold 24, following the slope of the surface of the curved mold. By rotating the entire automatic pasting device by the amount of the inclination, the six-axis control of X, Y, Z, a, b, and c can be easily and quickly achieved.

2 and 3 show an embodiment of the device of the present invention, and FIG. 2 is a schematic diagram showing the arrangement of each component as seen from the front of FIG.
FIG. 3 is a sectional view taken along the line -- in FIG. 2, and schematically shows the arrangement of rolls viewed from the side.

That is, in FIG. 3, the adhesive roll 22
The automatic pasting device is configured to be able to freely rotate (a' turn) around the center point "P" in the longitudinal direction of the roll in contact with the mold 24, following the slope of the surface of the curved mold, and the entire automatic pasting device is capable of pasting. The structure is such that the roll 22 is turned by following the inclination of the roll 22 (a-turn). In the device of this embodiment, a protective sheet 13 was attached to one side.
The FRP tape 12 is sequentially fed out from the supply reel 10 under the action of the feed roll 14, and is cut by the cutting device 18 into dimensions preset according to a predetermined mold 24. At this time, the protective sheet 13 is transferred together with the FRP tape 12 to the adhesive roll 22 via the guide bar 56 without being cut.
Only the FRP tape 12 is attached to the mold 24. In this case, the FRP tape 12 is pasted to the mold 24 by moving the entire device in the X-axis and Y-axis directions while pressing the pasting roll 22 against the mold 24. The border pasting roll 22 is a mold 24
The mold 24 is configured to automatically turn a' inside the device around a point "P" shown in FIG. In addition, the amount of inclination of the pasting roll 22 inside the device is detected,
The entire apparatus is configured to follow the inclination of the pasting roll 22 and make a turn. In addition, when the degree of curvature of the mold 24 is low and the shape is close to a flat surface, it is not necessary to rotate the entire device a, but by configuring only the pasting roll 22 to rotate a slight amount a', Adhesion of the FRP tape 12 is possible.

FIG. 4 and FIG. 5 show an example of a specific mounting state of the pasting roll 22 in the automatic pasting apparatus of the present invention.

That is, in this embodiment, the sticking roll 22
is attached to the lower end of the bracket 28, and a bracket 30 is provided adjacent to the bracket 28, and the upper end of the bracket 28 is displaceably suspended from a part of the bracket 30 via a coil spring 54. do. The bracket 30 includes:
A plurality of bolts 34 are provided on the surface facing the bracket 28.
The curved guide plate 32 is attached to the bracket 28 through the bracket 28, and rotating wheels 36 and 38 are rotatably attached to the bracket 28 so as to sandwich the curved guide plate 32 from above and below. In this case, the curvature of the curved guide plate 32 is set to form a circular arc centered at the center point "P" in the roll longitudinal direction of the portion of the pasting roll 22 that contacts the mold 24. The rotating wheels 36 and 38 are also set to freely rotate about their axes. Therefore, if the predetermined mold 24 is curved and the surface is inclined, the pasting roll 22 receives a force from the mold 24 and rotates around the rotation center "P" using the curved guide plate 32 as a guide. I will do it. On the other hand, reference numeral 40 is a cylinder using air pressure or oil pressure, and this cylinder 4
The tip of the piston shaft 42 of cylinder 40 is fastened to the bracket 30, and the piston shaft 42 of this cylinder 40 pushes the bracket 30, the curved guide plate 32, and the bracket 28 downward, and presses the pasting roll 22 into the mold 24.
is configured to be pressed against with a predetermined force. Further, the cylinder 40 is attached to a frame 46, and the frame 46 is configured to be inserted through two guide shafts 44, 44 and slid in the longitudinal direction.
Therefore, these guide shafts 44, 44 act as guides when the bracket 30 moves up and down. Incidentally, reference numeral 48 indicates a frame plate for integrally attaching each component of the automatic pasting device, and a frame body 46 is attached to this frame plate 42 via bolts 50.

In the mounting structure for the pasting roll 22 configured in this way, the bracket 30 has the bracket 2 attached to it.
A sensor 52 for detecting the amount of displacement with respect to 8.
is provided as appropriate to detect the amount of inclination of the bracket 28 with respect to the bracket 30. In this way, according to this embodiment, the sticking roll 22
rotates following the mold 24 around point "P" according to the inclination of the mold 24. In addition, the adhesive roll 22
is pressed against the mold 24 with a predetermined force by the cylinder 40. At this time, the sensor 52 detects the amount of inclination of the bracket 28 relative to the bracket 30, which occurs in accordance with the inclination of the mold 24 of the pasting roll 22. Therefore, in the device of this embodiment, the bracket 28 detected by the sensor 52
The entire apparatus is rotated about the rotation center "P" according to the amount of inclination of the brackets 28 and 30, and the relative positional deviation of the brackets 28 and 30 is controlled to be small. In the device of this embodiment, the coil spring 54 that suspends the upper end of the bracket 28 from the bracket 30 is designed to prevent the bonding roll 22 from moving away from the surface of the mold 24 when the entire device is raised and the bonding roll 22 is separated from the surface of the mold 24. It acts to restore the original slope. Furthermore, as means for detecting the inclination of the bracket 28, it is of course possible to employ various methods other than the illustrated example.

FIG. 6 shows a sectional view taken along the line -- in FIG. As mentioned above, when the pasting roll 22 rotates around the point P, the FRP tape 1
2, as a result of the occurrence of kinks, a difference occurs in the tension between the left and right edges of the FRP tape, which causes a phenomenon in which the FRP tape shifts in a direction perpendicular to its length. To prevent this, the guide bar 5 mentioned above
6 according to the amount of inclination of the pasting roll 22.
Turn it as shown by the arrow in the figure to absorb the difference in tension between the left and right edges of the FRP tape. Although the drive mechanism for turning the guide bar 56 is not shown, it may be similar to the above-described turning mechanism for the pasting roll 22, but a different system may also be adopted, and the drive mechanism may be linked to the amount of inclination of the pasting roll 22. Just move it.

〔Effect of the invention〕

As is clear from the embodiments described above, according to the present invention, the pasting roll is tilted to follow the curvature of the mold surface, and the amount of this tilt is detected, and the entire automatic pasting apparatus is
By controlling by rotating the axes, the control system is simplified without requiring the simultaneous program control of 6 axes as in the past, which improves the adhesion speed and allows for proper FRP that follows the curvature of the mold surface. Automatic pasting of tape can be achieved.

In addition, in the case of a mold with a low degree of curvature on the mold surface, which is close to a flat surface, the pasting roll can be rotated in a copying manner (a′ rotation).
Proper adhesion of FRP tape is possible with just
Quick and reliable automatic application of FRP tape can be achieved without controlling the rotation of the entire automatic application device.

Although the preferred embodiments of the present invention have been described above, it goes without saying that various design changes can be made without departing from the spirit of the present invention.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram showing the basic principle of an apparatus for carrying out the automatic pasting method of FRP tape according to the present invention, FIG. 2 is a configuration layout diagram showing the arrangement of each component of the apparatus shown in FIG. 1, FIG. 3 is a cross-sectional view taken along the - line in FIG. 2, showing the side arrangement of the rolls;
5 and 5 show an embodiment of the installation state of the pasting roll in the device of the present invention. FIG. 4 is a front view of the main part, FIG. 5 is a right side view of FIG. 4, and FIG. FIG. 3 is a sectional view taken along the line -- in FIG. 2, and is a schematic configuration diagram showing the operation method of the tension difference absorbing guide bars on both edges of the FRP tape. 10...FRP tape supply reel, 12...
FRP tape, 13...protective sheet, 14...feed roll, 16...pressing roll, 18...
Cutting device, 20... Heater, 22... Pasting roll, 24... Mold, 26... Winding roll, 28,
30...Bracket, 32...Curved guide plate, 3
4... Bolt, 36, 38... Rotating wheel, 40...
Cylinder, 42...Piston shaft, 44...Guide shaft, 46...Frame body, 48...Frame plate, 50...
...Bolt, 52...Sensor, 54...Coil spring, 56...Guide bar.

Claims (1)

[Claims] 1. A protective sheet is attached to one side and wrapped.
The FRP tape is fed out one after another, the FRP tape is cut into a predetermined size without cutting the protective sheet, and transferred to the adhesive roll, and the FRP tape cut into the predetermined size is placed on the protective sheet at the adhesive roll section. In an automatic pasting method for FRP tape, in which the FRP tape is pressed and pasted onto a predetermined mold while being separated from the mold, the pasting roll is tilted following the slope of the surface of the predetermined mold, and the FRP tape is An FRP characterized by having a device for absorbing the tension difference between the left and right edges, and controlling the a-axis rotation of the entire device for automatically bonding the FRP tape by detecting the amount of inclination of the bonding roll. Automatic tape application method. 2. In the method for automatically pasting FRP tape according to claim 1, if the slope of the surface of a predetermined mold is small, the automatic pasting method for FRP tape can be applied without controlling the a-axis rotation of the entire device. An automatic method for pasting FRP tape, which comprises following only the slope of the pasting roll and activating a tension difference absorbing device on both the left and right edges of the FRP tape. 3 An FRP tape supply reel wrapped with FRP tape with a protective sheet attached to one side, and the FRP
A feed device that reversibly feeds out the tape, a cutting device that cuts only the FRP tape to the specified dimensions without cutting the protective sheet, and the cut FRP
FRP equipped with an adhesive roll that separates the tape from the protective sheet and presses it onto a predetermined mold, a tension difference absorber on both the left and right edges of the FRP tape, and a take-up roll that winds up and collects the protective sheet. In the automatic tape pasting device, the pasting roll is configured and arranged so as to be able to rotate along the slope of the surface of the given mold, with the center of the longitudinal direction of the roll's outer periphery in contact with the given mold as the turning center; A device that operates an edge tension difference absorbing device for the FRP tape according to the amount of inclination of the adhering roll, detects the amount of inclination of the adhering roll, and controls the a-axis rotation of the entire automatic adhering device. An automatic affixing device for FRP tape, which is characterized by: