TWI750106B - Method for making composite material structure using mechanical arm - Google Patents

Method for making composite material structure using mechanical arm Download PDF

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TWI750106B
TWI750106B TW110134655A TW110134655A TWI750106B TW I750106 B TWI750106 B TW I750106B TW 110134655 A TW110134655 A TW 110134655A TW 110134655 A TW110134655 A TW 110134655A TW I750106 B TWI750106 B TW I750106B
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composite material
target
robotic arm
pressing wheel
mechanical arm
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TW110134655A
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TW202220828A (en
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楊景森
魏嘉正
蔡宗翰
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楊景森
魏嘉正
蔡宗翰
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Abstract

本發明係一種利用機械手臂製作複合材料結構物的方法，其將一帶狀之複合材料加熱後，以一第一機械手臂帶動一可轉動的壓輪緊抵複合材料，並使複合材料緊抵並貼合一目標物。接著以第一機械手臂帶動壓輪沿目標物的表面移動，以使複合材料覆蓋目標物而形成複合材料結構物。第一機械手臂及壓輪之間設有一緩衝件，緩衝件使壓輪抵靠於目標物時，可朝向第一機械手臂移動以達緩衝的效果。最後，以一裁切裝置裁斷複合材料。藉此，本發明可提高製作速度，並且可準確控制複合材料的位置及角度，製作出質輕、高強度且品質穩定的結構件。The present invention is a method for manufacturing a composite material structure using a robotic arm. After heating a strip-shaped composite material, a first robotic arm drives a rotatable pressing wheel against the composite material, and the composite material is pressed tightly against the composite material. And fit a target object. Then the first mechanical arm drives the pressing wheel to move along the surface of the target, so that the composite material covers the target to form a composite structure. A buffer member is arranged between the first mechanical arm and the pressing wheel. When the buffer member makes the pressing wheel abut against the target, it can move toward the first mechanical arm to achieve a buffering effect. Finally, a cutting device is used to cut the composite material. Thereby, the present invention can increase the production speed, and can accurately control the position and angle of the composite material, so as to produce light-weight, high-strength and stable quality structural parts.

Description

利用機械手臂製作複合材料結構物的方法Method for making composite material structure using mechanical arm

本創作係涉及一種複合材料結構物的製作方法，尤指一種結合鋪設貼合與纏繞的設備，以複合材料捲帶的形式，利用自動控制設備或機械手臂以黏貼或纏繞的方式形成結構物的方法。This creation relates to a method of making composite material structures, especially a device that combines laying, lamination and winding, in the form of composite material rolls, using automatic control equipment or robotic arms to form structures by pasting or winding method.

現有的複合材料結構物，如應用於汽車或航太領域的複合材料零組件，或是碳纖維壓力容器殼體等，在製作時係以人工的方式將多個片狀的複合材料覆蓋在一模具上，接著將樹脂塗佈於複合材料上形成結構物的形狀，然後進行加熱固化，使複合材料形成具強度的結構物。Existing composite material structures, such as composite material components used in the automotive or aerospace fields, or carbon fiber pressure vessel shells, are manufactured by manually covering multiple sheets of composite materials in a mold Then, the resin is coated on the composite material to form the shape of the structure, and then heated and cured, so that the composite material is formed into a strong structure.

然而，以人工的方式製作複合材料結構物具有以下缺點：However, artificially fabricating composite material structures has the following disadvantages:

第一，人工貼附的位置重複性不佳，也就是說，每一個結構物上的複合材料的位置及角度都會有些許差異，導致產品的品質較不穩定，且製作速度緩慢。First, the position repeatability of manual attachment is not good, that is, the position and angle of the composite material on each structure will be slightly different, resulting in unstable product quality and slow production speed.

第二，目前複合材料產品製程中，現場人員與有機溶劑直接接觸，潛存現場作業人員健康危害。Second, in the current manufacturing process of composite products, on-site personnel are in direct contact with organic solvents, potentially posing health hazards to on-site workers.

第三，當使用的複合材料為碳纖維時，碳纖維的延伸方向(即纖維貼附的角度)會對結構物的強度產生很大的影響，然而傳統製程較難精確地控制結構物各個位置的碳纖維排列角度，只能大略地將碳纖維以水平、垂直或是大致斜向45度等方式貼附在模具上，無法充分發揮碳纖維的強度。尤其當結構物具有曲面(如壓力容器的兩端)時，以傳統製程工法不易完整鋪設貼合於曲面上，須以更多補強材增強結構物強度，除增加材料成本及耗費製程時間，亦影響結構物強度。Third, when the composite material used is carbon fiber, the extension direction of the carbon fiber (that is, the angle at which the fiber is attached) will have a great impact on the strength of the structure. However, it is difficult to accurately control the carbon fiber in each position of the structure in the traditional manufacturing process. For the arrangement angle, the carbon fiber can only be attached to the mold in a horizontal, vertical, or approximately 45-degree oblique manner, and the strength of the carbon fiber cannot be fully utilized. Especially when the structure has a curved surface (such as the two ends of a pressure vessel), it is not easy to lay it on the curved surface using traditional manufacturing methods. More reinforcing materials must be used to increase the strength of the structure. In addition to increasing material costs and consuming process time, it also Affect the strength of the structure.

因此，雖然複合材料本身是一種輕量且強度極佳的材料，理論上能夠製作出比現有金屬材料更輕且強度更佳的結構物，但受限於目前的傳統製程工法，通常只能用於製作對強度要求不高的外觀零組件，而無法用於製作需要強度的結構零組件。Therefore, although the composite material itself is a lightweight and extremely strong material, it can theoretically produce a structure that is lighter and stronger than the existing metal materials, but it is limited by the current traditional manufacturing methods, and usually can only be used It is used to make appearance components that do not require high strength, and cannot be used to make structural components that require strength.

因此，現有技術中製作複合材料結構物的加工設備及方法實有待加以改良及整合。Therefore, the processing equipment and methods for making composite material structures in the prior art really need to be improved and integrated.

有鑑於前述之現有技術的缺點及不足，本創作提供一種結合鋪設貼合及纏繞工法，可利用自動化系統設備或機械手臂製作複合材料結構物的加工設備及方法，使複合材料結構物的生產能夠自動化，藉此提升產品品質及生產速度，並且維護作業人員的健康。In view of the aforementioned shortcomings and deficiencies of the prior art, this creation provides a processing equipment and method that combines paving, lamination and winding methods, which can use automated system equipment or robotic arms to make composite material structures, so that the production of composite material structures can be Automation, to improve product quality and production speed, and maintain the health of workers.

為達到上述的創作目的，本創作提供一種利用機械手臂製作複合材料結構物的方法，其將一帶狀之複合材料加熱後，以一第一機械手臂帶動一可轉動的壓輪緊抵該複合材料，並使該複合材料緊抵並貼合一目標物；接著以該第一機械手臂帶動該壓輪沿該目標物的表面移動，以使該複合材料覆蓋該目標物；該第一機械手臂及該壓輪之間設有一緩衝件，該緩衝件使該壓輪抵靠於該目標物時，可朝向該第一機械手臂移動以達緩衝的效果；最後以一裁切裝置裁斷該複合材料。In order to achieve the above-mentioned creative purpose, this creation provides a method for making composite material structures using a robotic arm. After heating a strip of composite material, a first robotic arm drives a rotatable pressing wheel against the composite material. Material, and make the composite material close to and fit a target; then the first robotic arm drives the pressing wheel to move along the surface of the target, so that the composite material covers the target; the first robotic arm A buffer member is arranged between the pressing wheel and the pressing wheel can move toward the first robotic arm to achieve a buffering effect when the pressing wheel abuts against the target; finally, a cutting device is used to cut the composite material .

本發明的優點在於：The advantages of the present invention are:

第一，第一機械手臂能夠模仿人類手臂功能並可精準且迅速地將複合材料沿著特定路徑黏貼覆蓋於目標物上，藉此提高製作速度，並且可提供穩定的產品品質。本創作將傳統鋪設貼合及纏繞所需之二種設備，整合為單一設備，並可直接結合傳統自動控制設備與機械手臂使用。First, the first robotic arm can imitate the function of a human arm and can accurately and quickly paste the composite material along a specific path to cover the target, thereby increasing the production speed and providing stable product quality. This creation integrates the two types of equipment required for traditional laying, lamination and winding into a single equipment, which can be directly combined with traditional automatic control equipment and robotic arms.

第二，搭配複合材料預浸帶捲方式進行加工製程，增進作業現場環境安全，降低人員曝露有機溶劑危害風險。Second, the processing process is carried out with the composite material prepreg tape coil method, which improves the environmental safety of the work site and reduces the risk of personnel exposure to organic solvents.

第三，能夠事先根據結構物的強度需求估算出結構物上每個位置的最佳纖維排列角度，並以機械手臂將碳纖維精準的依照估算的位置及角度覆蓋於目標物的表面，即使在結構物的曲面處也能準確控制碳纖維的位置及角度。藉此，本創作能夠充分發揮碳纖維的強度，製作出比現有的複合材料重量更輕、強度更高且品質穩定的結構物，特別適合用於製作工字樑或壓力容器等需要強度的結構零組件。Third, the optimal fiber arrangement angle for each position on the structure can be estimated in advance according to the strength requirements of the structure, and the carbon fiber can be accurately covered on the surface of the target according to the estimated position and angle with the robot arm, even in the structure The position and angle of the carbon fiber can also be accurately controlled on the curved surface of the object. In this way, this creation can give full play to the strength of carbon fiber and produce structures that are lighter in weight, stronger, and stable in quality than existing composite materials. It is especially suitable for making I-beams or pressure vessels that require strength. Components.

進一步而言，所述之利用機械手臂製作複合材料結構物的方法，其中將該複合材料加熱前，先以一上膠裝置朝該複合材料塗佈附著劑。Furthermore, in the method for manufacturing a composite material structure using a robotic arm, before heating the composite material, a gluing device is used to coat the composite material with an adhesive.

進一步而言，所述之利用機械手臂製作複合材料結構物的方法，其中先以一第二機械手臂將該目標物從一儲料區域移動至一加工區域，再以該第二機械手臂改變該目標物於該加工區域的位置及角度。Furthermore, in the method for manufacturing a composite material structure using a robotic arm, a second robotic arm is used to move the target from a storage area to a processing area, and then the second robotic arm is used to change the The position and angle of the target in the processing area.

請參閱圖1、圖4及圖6所示，本發明之利用機械手臂製作複合材料結構物的加工設備用於將帶狀的複合材料M貼合至一加工區域W(如圖6所示)中的一目標物T。本實施例中的目標物T為一柱狀壓力容器的內膽，本發明將複合材料M覆蓋於內膽外而形成完整的壓力容器；但不以此為限，目標物T也可以是加工完成後需與複合材料M分離的模具。Please refer to Figure 1, Figure 4 and Figure 6, the processing equipment of the present invention using a robotic arm to make a composite material structure is used to attach a strip-shaped composite material M to a processing area W (as shown in Figure 6) One target in T. The target T in this embodiment is the inner bladder of a cylindrical pressure vessel. The present invention covers the composite material M outside the inner bladder to form a complete pressure vessel; but not limited to this, the target T can also be processed After completion, the mold must be separated from the composite material M.

本發明包含：一第一機械手臂10(如圖6所示)、一供料裝置20、一加熱裝置30、一貼合裝置40及一裁切裝置50；且在本實施例中，進一步包含有一上膠裝置60、一張力感測器70、一第二機械手臂80(如圖6所示)。複合材料M較佳地為混合有樹脂的預浸單向碳纖維布，但不以此為限，複合材料M也可以是玻璃纖維等其他混合有樹脂的複合材料預浸布(捲帶)。The present invention includes: a first robotic arm 10 (as shown in FIG. 6), a feeding device 20, a heating device 30, a laminating device 40, and a cutting device 50; and in this embodiment, it further includes There is a gluing device 60, a force sensor 70, and a second robotic arm 80 (as shown in FIG. 6). The composite material M is preferably a prepreg unidirectional carbon fiber cloth mixed with resin, but is not limited to this. The composite material M may also be glass fiber or other composite material prepreg cloth (roll tape) mixed with resin.

前述之第一機械手臂10的一端具有可移動且可轉動的一結合座11，前述供料裝置20、加熱裝置30、貼合裝置40、裁切裝置50、上膠裝置60、張力感測器70均設於結合座11。第一機械手臂10具體來說為一多軸手臂，而使結合座11具有多個方向的移動以及旋轉自由度。在本實施例中，第一機械手臂10、第二機械手臂80以及結合座11上的各裝置均與一控制單元電連接，由控制單元整合控制各裝置的動作。One end of the aforementioned first robotic arm 10 has a movable and rotatable coupling seat 11, the aforementioned feeding device 20, heating device 30, laminating device 40, cutting device 50, gluing device 60, and tension sensor 70 are all located in the joint base 11. The first robotic arm 10 is specifically a multi-axis arm, so that the joint base 11 has multiple directions of movement and rotation degrees of freedom. In this embodiment, the first robotic arm 10, the second robotic arm 80, and each device on the coupling base 11 are electrically connected to a control unit, and the control unit integrates and controls the actions of each device.

請配合參閱圖2至圖4所示，前述之供料裝置20朝貼合裝置40輸送複合材料M。在本實施例中，供料裝置20具有一供料軸21、一供料馬達22及複數導輪23。供料軸21及導輪23可轉動地連接結合座11；待加工的複合材料M在供料軸21外捲繞成圈狀；供料馬達22驅動供料軸21轉動，使複合材料M沿一傳輸路徑依序通過各導輪23並朝貼合裝置40輸送，並且可透過調整供料馬達22的扭力來改變複合材料M的張力。Please refer to FIGS. 2 to 4 in which the aforementioned feeding device 20 conveys the composite material M toward the laminating device 40. In this embodiment, the feeding device 20 has a feeding shaft 21, a feeding motor 22 and a plurality of guide wheels 23. The feeding shaft 21 and the guide wheel 23 are rotatably connected to the coupling seat 11; the composite material M to be processed is wound into a loop outside the feeding shaft 21; the feeding motor 22 drives the feeding shaft 21 to rotate, so that the composite material M is moved along A transmission path sequentially passes through the guide wheels 23 and is conveyed to the laminating device 40, and the tension of the composite material M can be changed by adjusting the torsion force of the feeding motor 22.

前述之加熱裝置30位於貼合裝置40及供料裝置20之間，並且對複合材料M加熱，使複合材料M在預熱後能夠定型及附著於目標物T上。在本實施中，加熱裝置30包含二電熱棒31，其分別位於複合材料M的相對兩側面，且其中一電熱棒31接觸複合材料M以進行加熱，但不以此為限，加熱裝置30也可以利用雷射或是熱風對複合材料M進行加熱。The aforementioned heating device 30 is located between the laminating device 40 and the feeding device 20 and heats the composite material M so that the composite material M can be shaped and attached to the target T after preheating. In this embodiment, the heating device 30 includes two electric heating rods 31, which are respectively located on two opposite sides of the composite material M, and one of the electric heating rods 31 contacts the composite material M for heating, but it is not limited to this, and the heating device 30 also The composite material M can be heated by laser or hot air.

前述之上膠裝置60位於加熱裝置30及供料裝置20之間。上膠裝置60可朝複合材料M塗佈附著劑，以強化複合材料M附著於目標物T的效果。附著劑較佳地為樹脂。本實施例中的複合材料M為混合有樹脂的預浸碳纖維，經適當加熱後即可定型附著於目標物T上，無須以上膠裝置60塗佈附著劑，但藉由設置上膠裝置60，本發明可適用於需要額外塗佈附著劑的複合材料M。The aforementioned gluing device 60 is located between the heating device 30 and the feeding device 20. The gluing device 60 can apply an adhesive to the composite material M to enhance the effect of the composite material M on the target T. The adhesive is preferably a resin. The composite material M in this embodiment is pre-impregnated carbon fiber mixed with resin, which can be shaped and attached to the target T after proper heating. There is no need for the glue device 60 to coat the adhesive, but by setting the glue device 60, The present invention can be applied to the composite material M that needs to be additionally coated with an adhesive.

請配合參閱圖4及圖5所示，前述之貼合裝置40具有一緩衝件41及一壓輪42。緩衝件41具有一固定端411及一移動端412，固定端411固設結合座11，移動端412可移動地連接固定端411。壓輪42可轉動地設於緩衝件41的移動端412，並且壓輪42的外環面緊抵複合材料M，以使複合材料M緊抵並貼合目標物T。Please refer to FIG. 4 and FIG. 5. The aforementioned bonding device 40 has a buffer 41 and a pressing wheel 42. The buffer member 41 has a fixed end 411 and a moving end 412. The fixed end 411 is fixedly provided with the coupling seat 11, and the moving end 412 is movably connected to the fixed end 411. The pressing wheel 42 is rotatably disposed at the moving end 412 of the buffer member 41, and the outer ring surface of the pressing wheel 42 is pressed against the composite material M so that the composite material M is pressed against and adheres to the target T.

在本實施例中，緩衝件41為一電控氣缸，其透過控制單元電連接第一機械手臂10。控制單元透過程式控制而使移動端412相對固定端411的位置根據第一機械手臂10的位置及角度而改變，以控制壓輪42緊抵複合材料M的力量大小，藉此，即使目標物T表面為曲面，壓輪42也能夠對複合材料M施加適當的壓力，使複合材料M能夠良好地貼合於目標物T。在其他較佳地實施例中，緩衝件41也可以是其他類型的電控致動器，甚至也可以是彈簧等被動緩衝元件。In this embodiment, the buffer member 41 is an electronically controlled cylinder, which is electrically connected to the first robot arm 10 through the control unit. The control unit changes the position of the moving end 412 relative to the fixed end 411 according to the position and angle of the first robot arm 10 through program control, so as to control the force of the pressing wheel 42 against the composite material M, so that even if the target T The surface is a curved surface, and the pressing wheel 42 can also apply appropriate pressure to the composite material M, so that the composite material M can be attached to the target T well. In other preferred embodiments, the buffer 41 can also be other types of electronically controlled actuators, or even a passive buffer element such as a spring.

前述之張力感測器70抵靠並偵測複合材料M之張力。張力感測器70透過前述控制單元電連接供料裝置20之供料馬達22，使供料馬達22根據偵測到的張力調整輸出扭力，以將複合材料M的張力控制在設定範圍內。The aforementioned tension sensor 70 abuts and detects the tension of the composite material M. The tension sensor 70 is electrically connected to the feeding motor 22 of the feeding device 20 through the aforementioned control unit, so that the feeding motor 22 adjusts the output torque according to the detected tension to control the tension of the composite material M within a set range.

前述之裁切裝置50用於裁斷複合材料M。在本實施例中，裁切裝置50利用雷射裁斷壓輪42處之複合材料M，但不以此為限，裁切裝置50也可以是切刀等其他形式。The aforementioned cutting device 50 is used to cut the composite material M. In this embodiment, the cutting device 50 uses a laser to cut the composite material M at the pressure wheel 42, but it is not limited to this, and the cutting device 50 may also be in other forms such as a cutter.

在本實施例中，供料裝置20處的複合材料M貼附有一層離型紙K，以避免複合材料M在捲繞狀態下發生沾黏，但離型紙K需在加熱前剝離。因此，本發明進一步具有一離型紙復捲裝置55，其具有一復捲軸551及一伺服馬達552；復捲軸551可轉動地設於結合座11；伺服馬達552驅動復捲軸551轉動，以將剝離的離型紙K捲繞於復捲軸551外。In this embodiment, the composite material M at the feeding device 20 is attached with a layer of release paper K to prevent the composite material M from sticking in the wound state, but the release paper K needs to be peeled off before heating. Therefore, the present invention further has a release paper rewinding device 55, which has a rewinding shaft 551 and a servo motor 552; the rewinding shaft 551 is rotatably arranged on the coupling base 11; the servo motor 552 drives the rewinding shaft 551 to rotate to remove The release paper K is wound around the rewinding shaft 551.

請配合參閱圖6所示，前述之第二機械手臂80可將目標物T從一儲料區域S移動至位於第一機械手臂10及第二機械手臂80之間的加工區域W，並且可改變目標物T於加工區域W內的位置及角度。第二機械手臂80較佳地為一多軸機械手臂，使本發明可對形狀複雜的目標物T加工。Please refer to FIG. 6, the aforementioned second robotic arm 80 can move the target T from a storage area S to a processing area W located between the first robotic arm 10 and the second robotic arm 80, and can change The position and angle of the target T in the processing area W. The second robotic arm 80 is preferably a multi-axis robotic arm, so that the present invention can process a target T with a complex shape.

本發明之利用機械手臂製作複合材料結構物的方法係透過前述之利用機械手臂製作複合材料結構物的加工設備進行作業，但不以此為限。方法如下：The method for manufacturing a composite material structure using a robotic arm of the present invention is operated through the aforementioned processing equipment for manufacturing a composite material structure using a robotic arm, but is not limited to this. Methods as below:

請配合參閱圖4至圖6所示，首先，將目標物T定位於一加工區域W；在本實施例中，是以第二機械手臂80自動將目標物T從儲料區域S移動並定位於加工區域W，藉此自動完成進料動作，但不以此為限，也可以不設置第二機械手臂80，而是以人工等其他方式將目標物T固定於加工區域W。Please refer to FIGS. 4-6. First, the target T is positioned in a processing area W; in this embodiment, the second robotic arm 80 is used to automatically move and position the target T from the storage area S In the processing area W, the feeding action is automatically completed by this, but it is not limited to this, and the second mechanical arm 80 may not be provided, and the target T is fixed to the processing area W by other methods such as manually.

接著，供料裝置20朝貼合裝置40移動複合材料M，過程中以加熱裝置30將複合材料M加熱。當有需要時，以上膠裝置60先對複合材料M塗佈附著劑後再以加熱裝置30進行加熱。Next, the feeding device 20 moves the composite material M toward the laminating device 40, and the heating device 30 heats the composite material M in the process. When necessary, the gluing device 60 first coats the composite material M with an adhesive and then uses the heating device 30 to heat it.

然後，第一機械手臂10帶動貼合裝置40的壓輪42緊抵加熱後的複合材料M，並使複合材料M緊抵並貼合目標物T。而後第一機械手臂10以結合座11帶動壓輪42沿目標物T的表面移動，以使複合材料M覆蓋目標物T。緩衝件41使壓輪42抵靠於目標物T時，壓輪42可朝向第一機械手臂10移動以達緩衝的效果。最後，以裁切裝置50裁斷多餘的複合材料M。Then, the first robotic arm 10 drives the pressing wheel 42 of the laminating device 40 to press against the heated composite material M, and the composite material M is pressed against and adhered to the target T. Then, the first robotic arm 10 drives the pressing wheel 42 to move along the surface of the target T with the coupling seat 11 so that the composite material M covers the target T. When the cushion 41 makes the pressing wheel 42 abut against the target T, the pressing wheel 42 can move toward the first robot arm 10 to achieve a cushioning effect. Finally, the surplus composite material M is cut by the cutting device 50.

藉由使用第一機械手臂10帶動壓輪42，本發明可將複合材料M以任意角度貼合於目標物T的任意位置，以充分發揮複合材料M的強度。另外，第一機械手臂10可使複合材料M貼合覆蓋目標物T的外表面以形成工字樑等結構，或者第一機械手臂10也可使複合材料M以纏繞的方式覆蓋於柱狀之目標物T的外環面以形成壓力容器等圓柱狀結構；也就是說，所謂覆蓋也包含了纏繞在內。By using the first mechanical arm 10 to drive the pressing wheel 42, the present invention can attach the composite material M to any position of the target T at any angle, so as to fully exert the strength of the composite material M. In addition, the first robotic arm 10 can make the composite material M fit and cover the outer surface of the target T to form a structure such as an I-beam, or the first robotic arm 10 can also make the composite material M cover the columnar shape in a winding manner. The outer ring surface of the target T forms a cylindrical structure such as a pressure vessel; that is, the so-called covering also includes winding.

本發明於使用時，前端可搭配自動化儲料系統，其可自動將目標物T移動至儲料區域S，以供本發明的第二機械手臂80夾取。而本發明的後端可配合設置自動化產品外型加熱定型系統、高解析影像辨識偵測系統、智能產品外型辨識分析檢系統、自動化產品上架系統，以增進加工、品檢及倉儲的自動化程度。When the present invention is in use, the front end can be equipped with an automatic storage system, which can automatically move the target T to the storage area S for the second robotic arm 80 of the present invention to pick up. And the back end of the present invention can be equipped with automatic product appearance heating setting system, high-resolution image recognition and detection system, intelligent product appearance recognition analysis and inspection system, and automatic product shelf system to increase the degree of automation in processing, quality inspection and warehousing. .

綜上所述，本發明透過加熱裝置30及壓輪42對複合材料M進行加熱加壓，使複合材料M貼合於目標物T表面，同時以第一機械手臂10精準且迅速地帶動壓輪42沿事先估算好的最佳路徑移動，進而使複合材料M貼合覆蓋目標物T而形成結構物。藉此，本發明可提高複合材料結構物的製作速度，並且可提供穩定的產品品質，且避免人員傷害；此外，本發明也可製作出質輕且高強度的結構零組件。In summary, the present invention heats and presses the composite material M through the heating device 30 and the pressing wheel 42 so that the composite material M is attached to the surface of the target T, and at the same time, the first robot arm 10 drives the pressing wheel accurately and quickly. 42 moves along the optimal path estimated in advance, so that the composite material M is attached to cover the target object T to form a structure. In this way, the present invention can increase the production speed of composite material structures, provide stable product quality, and avoid personal injury; in addition, the present invention can also produce lightweight and high-strength structural components.

以上所述僅是本創作的較佳實施例而已，並非對本創作做任何形式上的限制，雖然本創作已以較佳實施例揭露如上，然而並非用以限定本創作，任何所屬技術領域中具有通常知識者，在不脫離本創作技術方案的範圍內，當可利用上述揭示的技術內容作出些許更動或修飾為等同變化的等效實施例，但凡是未脫離本創作技術方案的內容，依據本創作的技術實質對以上實施例所作的任何簡單修改、等同變化與修飾，均仍屬於本創作技術方案的範圍內。The above are only the preferred embodiments of this creation, and do not limit the creation in any form. Although this creation has been disclosed as above in preferred embodiments, it is not intended to limit this creation. Any technical field has Generally knowledgeable persons, without departing from the scope of this creative technical solution, can use the technical content disclosed above to make slight changes or modification into equivalent embodiments with equivalent changes, but any content that does not deviate from this creative technical solution shall be based on this Any simple modifications, equivalent changes and modifications made to the above embodiments by the technical essence of the creation still fall within the scope of the technical solution for creation.

10:第一機械手臂 11:結合座 20:供料裝置 21:供料軸 22:供料馬達 23:導輪 30:加熱裝置 31:電熱棒 40:貼合裝置 41:緩衝件 411:固定端 412:移動端 42:壓輪 50:裁切裝置 55:離型紙復捲裝置 551:復捲軸 552:伺服馬達 60:上膠裝置 70:張力感測器 80:第二機械手臂 M:複合材料 K:離型紙 T:目標物 W:加工區域 S:儲料區域10: The first robotic arm 11: Combination seat 20: Feeding device 21: Feed shaft 22: Feed motor 23: guide wheel 30: heating device 31: electric heating rod 40: Fitting device 41: Buffer 411: fixed end 412: mobile 42: pressure wheel 50: Cutting device 55: Release paper rewinding device 551: Rewind Scroll 552: Servo motor 60: Gluing device 70: Tension sensor 80: The second robotic arm M: composite material K: Release paper T: target W: Processing area S: storage area

圖1為本發明的立體外觀示意圖。 圖2為本發明於另一角度的立體外觀示意圖。 圖3為本發明的立體元件分解示意圖。 圖4及圖5為本發明的側視動作示意圖。 圖6為本發明的側視使用示意圖。 Fig. 1 is a schematic diagram of the three-dimensional appearance of the present invention. Fig. 2 is a schematic view of the three-dimensional appearance of the present invention from another angle. Fig. 3 is an exploded schematic view of the three-dimensional element of the present invention. Fig. 4 and Fig. 5 are schematic diagrams of side view actions of the present invention. Fig. 6 is a schematic diagram of the side view of the use of the present invention.

10:第一機械手臂 10: The first robotic arm

11:結合座 11: Combination seat

20:供料裝置 20: Feeding device

21:供料軸 21: Feed shaft

22:供料馬達 22: Feed motor

30:加熱裝置 30: heating device

40:貼合裝置 40: Fitting device

80:第二機械手臂 80: The second robotic arm

M:複合材料 M: composite material

T:目標物 T: target

W:加工區域 W: Processing area

S:儲料區域 S: storage area

Claims (3)

一種利用機械手臂製作複合材料結構物的方法，其將一帶狀之複合材料加熱後，以一第一機械手臂帶動一可轉動的壓輪緊抵該複合材料，並使該複合材料緊抵並貼合一目標物；接著以該第一機械手臂帶動該壓輪沿該目標物的表面移動，以使該複合材料覆蓋該目標物；該第一機械手臂及該壓輪之間設有一緩衝件，該緩衝件使該壓輪抵靠於該目標物時，可朝向該第一機械手臂移動以達緩衝的效果；最後以一裁切裝置裁斷該複合材料。A method for manufacturing a composite material structure using a robotic arm. After heating a strip-shaped composite material, a first robotic arm drives a rotatable pressing wheel to press against the composite material, and the composite material is pressed tightly against the composite material. Fit a target; then the first robot arm drives the pressing wheel to move along the surface of the target, so that the composite material covers the target; a buffer is provided between the first robot arm and the pressing wheel When the buffer member makes the pressing wheel abut against the target, it can move toward the first mechanical arm to achieve a buffer effect; finally, a cutting device is used to cut the composite material. 如請求項1所述之利用機械手臂製作複合材料結構物的方法，其中將該複合材料加熱前，先以一上膠裝置朝該複合材料塗佈附著劑。The method for manufacturing a composite material structure using a robotic arm as described in claim 1, wherein before heating the composite material, a gluing device is used to coat the composite material with an adhesive. 如請求項1或2所述之利用機械手臂製作複合材料結構物的方法，其中先以一第二機械手臂將該目標物從一儲料區域移動至一加工區域，再以該第二機械手臂改變該目標物於該加工區域的位置及角度。The method for manufacturing a composite material structure using a robotic arm as described in claim 1 or 2, wherein a second robotic arm is used to move the target from a storage area to a processing area, and then the second robotic arm is used to move the target from a storage area to a processing area. Change the position and angle of the target in the processing area.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000015354A1 (en) 1998-09-11 2000-03-23 Hitachi Chemical Company, Ltd. Device and method for lamination
TW200539357A (en) * 2004-04-28 2005-12-01 Lintec Corp Adhering apparatus and adhering method
CN111823613A (en) * 2020-07-23 2020-10-27 江苏理工学院 Pressure shearing device, laying head and automatic fiber laying machine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000015354A1 (en) 1998-09-11 2000-03-23 Hitachi Chemical Company, Ltd. Device and method for lamination
TW200539357A (en) * 2004-04-28 2005-12-01 Lintec Corp Adhering apparatus and adhering method
CN111823613A (en) * 2020-07-23 2020-10-27 江苏理工学院 Pressure shearing device, laying head and automatic fiber laying machine

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