WO2025186233A1 - Method for operating a manufacturing system for producing a fiber composite component - Google Patents

Abstract

The invention relates to a method for operating a manufacturing system (1) for producing a fiber composite component (2), the manufacturing system (1) comprising a manipulator (6) which has an end effector (3) with a compacting body (7), in particular a compacting roller (8), wherein at least one fiber strand (4) is provided from a reel (9) and is applied onto a molded body (5) by means of the end effector (3) to produce the fiber composite component (2), wherein the production of the fiber composite component (2) comprises the compacting body (7), in particular the compacting roller (8), applying, by deposition, a first portion (11) of the fiber strand (4) onto the molded body (5) and/or onto fiber material (10) already applied onto the molded body (5); and applying, by winding, a further portion (12) of the fiber strand (4) onto the molded body (5) and/or onto fiber material (10) already applied onto the molded body (5), wherein, during the application of the further portion (12), the fiber strand tension (13) is higher than the fiber strand tension (13) during the application of the first portion (11), preferably at least by a factor of three, more preferably at least by a factor of five, more preferably at least by a factor of ten.

Description

Method for operating a production plant for producing a fiber composite component

The present invention relates to a method for operating a production plant for producing a fiber composite component according to claim 1 and to a production plant for producing a fiber composite component according to claim 14. Furthermore, the present invention relates to a use of an end effector according to claim 15 and to a fiber composite component according to claim 16.

In principle, various manufacturing systems, end effectors, and methods for operating them are known for producing fiber composite components. When processing fiber strands, especially when they are provided on spools, a distinction must be made between fiber laying and fiber winding.

During fiber placement, fiber strands are deposited onto a molded body using a pressure roller, usually located on an end effector. The fiber strand is applied by deposition. The goal here is to deposit the fibers with as little tension as possible, preferably even without tension. In this case, the fiber strand in the end effector can be actively conveyed to the pressure roller by a drive unit to minimize the introduction of tension into the deposited fiber strand.

During fiber winding, one or more fiber strands are wound onto a formed body. The formed body is usually driven around a formed body axis, and the fiber strand(s) are wound onto it by the rotation of the formed body. To change the orientation of the fiber strand during winding, it is usually guided through an eyelet that can be moved laterally along the formed body in the direction of the rotation axis. A brake then slows the unwinding of the fiber strand from a spool to ensure tension during winding onto the formed body and secure guidance. Here, the fiber strand is applied by winding. The document DE 202017 106 345 U1, from which the invention is based, describes the case of applying a fiber strand to a molded body by depositing it using an end effector. There is still potential for optimization with regard to the adaptability of the fiber application to the desired properties of the fiber structural components to be manufactured.

The invention is based on the problem of designing and developing the known method in such a way that further optimization is achieved with regard to the challenge mentioned.

The above problem is solved by the features of claim 1.

The fundamental idea is to apply a fiber strand to a molded body with an end effector both by deposition and by winding. In particular, it is possible to adapt the fiber strand tension during component manufacturing to the desired component properties in the fiber strand and for different fiber strands. The properties of a fiber composite component can be adjusted and optimized particularly easily, enabling particularly simple and/or automated production of fiber composite components.

Specifically, a method for operating a production plant for producing a fiber composite component is proposed, wherein the production plant has a manipulator with an end effector having a compacting body, in particular a compacting roller. It is provided that at least one fiber strand is provided from a spool and applied to a molded body by means of the end effector for producing the fiber composite component, wherein the production of the fiber composite component comprises application by depositing a first section of the fiber strand by means of the compacting body, in particular the compacting roller, onto the molded body and/or onto fiber material already applied to the molded body, and application by winding a further section of the fiber strand onto the molded body and/or onto fiber material already applied to the molded body. During application of the further section, the fiber strand tension is higher, preferably by at least a factor of three. higher, further preferably at least by a factor of five higher, further preferably at least by a factor of ten higher, than the fiber strand tension when applying the first section.

According to the preferred embodiment according to claim 2, several fiber strands are applied in parallel. This can increase the productivity of the production plant.

In the further development according to claim 3, preferred forces are described which act on the respective fiber strands during application by laying down or during application by winding.

According to the further development according to claim 4, the fiber strand is pressed during application by depositing it onto the molded body and/or onto fiber material already applied to the molded body. During application by winding, the compacting body is preferably spaced apart from the molded body and/or already onto the fiber material applied by the body. This enables very precise deposition on the one hand, and a reduction in the forces acting on the manipulator during winding on the other.

The features of claims 5 and 6 also make it possible to optimize the application accuracy on the one hand and the force acting on the manipulator, in particular during winding.

Claim 7 describes preferred embodiments which enable a precisely aligned application of the fiber strands and are particularly easy to implement in terms of control technology.

Preferred embodiments of the end effector for the application of the fiber strand(s) are described in claims 8 to 11.

Claims 12 and 13 describe preferred developments of the production plant concerning the design of the manipulator and the molded body. According to a further teaching according to claim 14, which has independent significance, a production plant for producing a fiber composite component with a manipulator with an end effector is claimed, wherein at least one fiber strand can be provided from a spool and can be applied to a molded body by means of the end effector for producing the fiber composite component, which production plant is designed and equipped to carry out the method of the type described.

Reference may be made to all statements relating to the proposed procedure.

According to a further teaching according to claim 15, which also has independent significance, a use of an end effector for applying at least one fiber strand to a molded body for producing a fiber composite component, in particular according to the method of the type described, is claimed, wherein a first section of the fiber strand is applied by means of a compacting roller to the molded body and/or to fiber material already applied to the molded body by laying it down, and wherein a further section of the fiber strand is applied to the molded body and/or to fiber material already applied to the molded body by winding, wherein the material tension during winding is higher, preferably at least by a factor of three higher, further preferably at least by a factor of five higher, further preferably at least by a factor of ten higher, than the material tension during laying down.

Reference may be made to all statements relating to the proposed process and the proposed production facility.

According to a further teaching according to claim 16, which also has independent significance, a fiber composite component is claimed, comprising a first section of a fiber strand which was applied by laying down and a further section of the fiber strand which was applied by winding, wherein in the further section the fiber strand tension is higher, preferably at least by a factor of three higher, further preferably at least by a factor of five higher, further preferably at least by a factor of ten higher, than the fiber strand tension in the first section. Reference may be made to all statements relating to the proposed process, the proposed manufacturing facility and the proposed use of an end effector.

In the following, the invention is explained in more detail with reference to a drawing which merely represents exemplary embodiments. In the drawing,

Fig. 1 shows a proposed production plant for carrying out a proposed method in a) when applying by laying and in b) when applying by winding,

Fig. 2 the end effector of the production plant from Fig. 1 a) during the application of fiber strands by deposition,

Fig. 3 the end effector of the production plant from Fig. 1 b) when applying fiber strands by winding,

Fig. 4 is a schematic plan view of the end effector from Figures 2 and 3 to illustrate the fiber strand guide on the end effector,

Fig. 5 a representation of a coil unit of the end effect with brake and

Fig. 6 is a schematic view of the brake of a coil.

The exemplary embodiment illustrated in the figures and thus preferred relates to a method for operating a production plant 1 for producing a fiber composite component 2, a production plant 1 for producing a fiber composite component 2, and the use of an end effector 3 for applying at least one fiber strand 4 to a molded body 5 for producing a fiber composite component 2. Furthermore, the exemplary embodiment relates to a correspondingly produced fiber composite component 2.

In Fig. 1, an embodiment of the production plant 1 is shown, which has a manipulator 6 with an end effector 3. The end effector 3 has a compacting body 7, in particular a compacting roller 8. Furthermore, at least one fiber strand 4 is provided from a spool 9 and applied to a molded body 5 by means of the end effector 3 to produce the fiber composite component 2.

The fiber material 10 of the fiber strand 4 can, in particular, be dry fibers and/or prepreg fibers and/or thermoplastic fibers. Typical widths for such a fiber strand 4 are 1/8", 1/4", 1/2", 1", 1.5", or 2" (inches). In the exemplary embodiment, fiber strands 4 with a width of less than or equal to 2", more preferably less than or equal to 1", more preferably less than or equal to less than 1/2" are used.

In the exemplary embodiment, and preferably, a plurality of fiber strands 4 are provided, which are provided, in particular, each from a spool 9 and are applied, here and preferably in parallel, to a molded body 5 by means of the end effector 3 to produce the fiber composite component 2. In particular, at least two, more preferably at least four, more preferably at least eight, more preferably at least twelve, more preferably at least sixteen fiber strands 4 can be provided, here and preferably each from a spool 9, and are applied to the molded body 5 by means of the end effector 3 to produce the fiber composite component 2.

According to the proposal, the production of the fiber composite component 2 comprises applying a first section 11 of the fiber strand 4 by means of the compacting body 7, in particular the compacting roller 8, onto the molded body 5 and/or onto fiber material 10 already applied to the molded body 5, as shown in Fig. 1 a) and Fig. 2. Furthermore, the production of the fiber composite component 2 comprises applying a further section 12 of the fiber strand 4 onto the molded body 5 and/or onto fiber material 10 already applied to the molded body 5, as shown in Fig. 1 b) and Fig. 3. When applying the further section 12, the fiber strand tension 13 is higher than the fiber strand tension 13 when applying the first section 11. The fiber strand tension 13 is shown schematically in the enlargements in Figs. 2 and 3. In the exemplary embodiment and preferably when applying the further section 12, the fiber strand tension 13 is at least three times higher, more preferably at least five times higher, more preferably at least ten times higher, than the fiber strand tension 13 when applying the first section 11.

As a result, the properties of a fiber composite component 2 can be adjusted particularly easily and a particularly simple and/or automated production of fiber composite components 2 can be enabled.

In particular, it enables the introduction of the fiber strand 4 into the fiber composite component 2 with different fiber strand tensions 13. By depositing, a particularly precise deposition of the fiber strand 4 can be made possible in individual areas, in particular in the first section 11, and on the other hand, advantageous component properties can be created in the fiber composite component 2 by winding and the greater fiber strand tension 13 in the further section 12.

With the proposed method, a proposed fiber composite component 2 can be produced in which a first section 11 of a fiber strand 4 is provided, which was applied by laying down, and a further section 12 of the fiber strand 4 is provided, which was applied by winding, wherein in the further section 12 the fiber strand tension 13 is higher, preferably at least by a factor of three higher, further preferably at least by a factor of five higher, further preferably at least by a factor of ten higher, than the fiber strand tension 13 in the first section 11.

It should be noted that the fiber strand 4 or the fiber strands 4 may have additional sections beyond the further section 12. For example, application by winding may be followed by application by deposition for an additional section. Here, and preferably, the beginning of a fiber strand 4 and/or the end of a fiber strand 4 is applied by application by deposition. In between, several alternations of application by deposition and application by winding may preferably occur. Here, the first section 11 and the further section 12 as well as any additional sections of a fiber strand 4 that may be present beyond the further section 12 are parts of a continuous fiber strand 4. This is or was applied here in one piece.

During application by deposition, the attempt is made to deposit the fiber strand 4 with as little fiber strand tension 13 as possible. During application of the first section 11 by deposition, the individual fiber strand 4 is subjected to a force 14 of less than or equal to 10 N, preferably less than or equal to 5 N, more preferably less than or equal to 1 N. In the exemplary embodiment, the individual fiber strand 4 is even subjected to a force 14 of less than or equal to 5 N. Here, the force application 14 in the longitudinal direction of the fiber strand 4 is meant. This is also referred to as web tension.

When applying the additional section 12 by winding, the individual fiber strand 4 is subjected to a force 14 greater than or equal to 10 N, preferably greater than or equal to 50 N, more preferably greater than or equal to 100 N, more preferably greater than or equal to 150 N. Here, too, the force 14 is applied in the longitudinal direction of the fiber strand 4. This is also generally referred to as web tension.

The production plant 1 and in particular the manipulator 6 and the end effector 3 are here and preferably designed in such a way that both a laying down of the fiber strand 4 with a particularly low fiber strand tension 13 and a winding with a particularly high fiber strand tension 13 is possible.

Furthermore, it is preferably provided here, as shown in Figures 1 a) and 2, that during application by laying down the first section 11 of the fiber strand 4, the fiber strand 4 is pressed with the compacting body 7, in particular the compacting roller 8, onto the molded body 5 and/or onto fiber material 10 already applied to the molded body 5. During laying down, a compaction of the fiber strand 4 onto the molded body 5 or onto the fiber material 10 already applied to the molded body 5 is preferably achieved here. Fibre material 10 is produced by pressing with the compacting body 7, here the compacting roller 8.

When applying by winding the further section 12 of the fiber strand 4 onto the molded body 5 and/or onto fiber material 10 already applied to the molded body 5, the compacting body 7, here the compacting roller 8, is spaced from the molded body 5 and/or fiber material 10 already applied to the molded body 5, as shown in Figs. 1 b) and 2. Here, when applying by winding the further section 12 of the fiber strand 4 onto the molded body 5 and/or onto fiber material 10 already applied to the molded body 5, the compaction is preferably generated by the higher fiber strand tension 13 during application.

As shown in Fig. 1, when applying the fiber strand 4 with the same orientation relative to its base 15, the manipulator 6 assumes a different pose 16 when applying by laying than when applying by winding. This allows the force 14 acting on the manipulator 6 and/or end effector 3 to be optimized, particularly during winding. A different position of the manipulator 6 preferably results in a stiffer configuration than when laying. A pose 16 here refers to the combination of position and orientation of the manipulator 6 in three-dimensional space.

Furthermore, to optimize the deposition accuracy, it can be provided that the fiber strand 4 or the fiber strands 4 are guided during application by deposition by at least 30°, preferably at least 60°, more preferably at least 85° around the compacting body 7, in particular the compacting roller 8. In the exemplary embodiment, and preferably, this is essentially 90°.

Additionally or alternatively, it can be provided, in particular to optimize the force introduction 14 into the end effector 3 and/or the manipulator 6, that the fiber strand 4 or the fiber strands 4 are guided by winding during application by a maximum of 30°, preferably a maximum of 10°, more preferably a maximum of 5° around the compacting body 7, in particular the compacting roller 8. In the exemplary embodiment, the fiber strand 4 or the fiber strands 4 are deflected less around the compacting body 7, in particular the compacting roller 8, during application by winding than during application by laying.

Furthermore, it is preferably provided here that the orientation of the fiber strand 4 or strands 4 during application is determined by the alignment of the compacting body 7, in particular the compacting roller 8, relative to the molding body 5, in particular during application by winding and/or during application by deposition. This allows for particularly high deposition precision.

In the exemplary embodiment, and preferably, a controller 17, in particular an NC controller 18, is provided for controlling the production system 1. Particularly simple programming of the production system 1 can be achieved by changing the tool center point 19 for the end effector 3 in the control system 17 when switching between application by depositing and application by winding.

In the exemplary embodiment and preferably during application by depositing, the tool center point 19 is selected such that it lies on the circumference of the compacting body 7, in particular the compacting roller 8, at the point at which the fiber strand 4 or the fiber strands 4, in particular normal to the surface of the molded body 5, are pressed onto the molded body 5 and/or material already deposited onto the molded body 5.

When applied by deposition, the tool center point 19 is defined differently here and preferably. In particular, it can be a virtual tool center point 19. In the exemplary embodiment and preferably, the tool center point 19 is selected such that it lies on the circumference of the compacting body 7, in particular the compacting roller 8, at the point at which the fiber strand 4 or the fiber strands 4 detach from the compacting body 7, in particular the compacting roller 8, during winding. In the exemplary embodiment, the fiber strand 4 or the fiber strands 4 detach from the compacting roller 8 in a tangential direction, as shown in Figures 1 b) and 3. As shown when comparing Figures 2 and 3, it is here and preferably the case that the manipulator 6 presses the compacting roller 8 onto the molded body 5 during application by depositing, here and preferably acting with a pressing force 20 in the direction of the molded body 5, and/or that during application by winding the manipulator 6 acts with a counter-holding force 21 on the end effector 3, which is directed away from the molded body 5 with respect to the end effector 3, in particular with respect to the tool center point 19 of the end effector 3.

The end effector 3 will be briefly described below, which, as already explained above, is designed both for depositing and for winding a fiber strand 4 or fiber strands 4.

Here, and preferably, it is provided that the coil 9 or the coils 9 for providing the fiber strand 4 or the fiber strands 4 are accommodated on the end effector 3. This is shown in Figures 2 to 5.

As can be seen particularly clearly when comparing Figures 2 to 4 with Figure 5, a dancer roller 22 is assigned to the fiber strand 4 or the fiber strands 4, in particular to each of them, to reduce fiber strand tension peaks. This is preferably designed to be pivotable, in particular around the spool 9 and/or around a deflection roller 23. In the exemplary embodiment, the dancer roller 22 is arranged essentially between the spool 9 and the deflection roller 23. In this way, a particularly compact arrangement of the spool 9, dancer roller 22, and deflection roller 23 is achieved.

As further shown particularly clearly in Fig. 5, a deflection roller 23 is assigned to the fiber strand 4 or the fiber strands 4, in particular to each of them. In the exemplary embodiment, it is additionally or alternatively provided that the fiber strand 4 is provided with a backing film on the spool 9 and that a backing film is wound onto the deflection roller 23 during the provision of the fiber strand 4.

Furthermore, it is preferably provided that the end effector 3 has a brake 24, in particular one brake each, for braking the coil 9 or the coils 9. In the exemplary embodiment, the brake 24 is a disc brake, more preferably a pneumatic disc brake.

Here, and preferably, each brake 24 can be individually controlled and/or regulated for each individual coil 9. Furthermore, additionally or alternatively, the coil 9 or coils 9 can be braked less during application by laying than during application by winding. It is preferably provided that the braking torque 25 generated by the brake 24 on the coil 9 or coils 9 during application by winding is at least three times higher, more preferably at least five times higher, more preferably at least ten times higher, than during application by laying.

When applying by winding, the fiber tension is determined here and preferably essentially by the braking torque 25. When applying by laying, the braking torque 25 is as low as possible and preferably as already described. It can be provided that the conveyor unit at least partially compensates for the braking torque 25 provided by the brake 24.

The design of the brake 24 is described in more detail in connection with Fig. 6.

As already explained above, the fiber strand 4 is guided here and preferably from the spool 9 or from the spools 9 to a deflection roller 23 assigned to the respective spool 9, on which a back film of the respective fiber strand 4 is wound up if necessary.

From the deflection roller 23 and/or the spool 9, the fiber strand 4 is guided here and preferably under the action of the dancer roller 22 and past this to a further deflection roller 26, in particular into a corner region of the end effector 3, as shown in Fig. 4.

Here and preferably, a reel 9 and a dancer roller 22 associated with its fiber strand 4 and/or a Deflection pulley 23 a coil unit 9. Here and preferably, each coil 9 on the end effector 3 is assigned to such a coil unit 9.

Preferably, the fiber strands 4 from spools 9 or spool units 9 arranged on different sides of the end effector 3, in particular in the corner region of the end effector 3, are brought together by means of the additional deflection rollers 26 and guided from there, in particular in parallel, into a central region of the end effector 3. From the central region of the end effector 3, the fiber strands 4 are guided here and preferably via additional deflection rollers 26 in the direction of the compacting body 7, in particular the compacting roller 8.

Preferably, the course of the fiber strand 4 or the individual fiber strands 4 from the deflection rollers 23 arranged in the central region of the end effector 3 to the compacting body 7, in particular to the compacting roller 8, is linear.

As shown in Figures 2 to 4, the fiber strands 4 here and preferably alternately intertwine on the compacting body 7, in particular the compacting roller 8, and run parallel therefrom along the same. This is the case here and preferably both when applying by deposition and when applying by winding.

Here and preferably, a conveying device 27 and/or a cutting unit 28 can act on the individual fiber strand(s) 4 along the linear course of the fiber strand(s) 4.

Furthermore, it is preferably provided here that the end effector 3 has a conveyor device 27 for conveying the fiber strand 4 or the fiber strands 4 in the direction of the compacting body 7, in particular the compacting roller 8. This allows a particularly low fiber strand tension 13 to be achieved during application by deposition by conveying the fiber strand 4 toward the compacting body 7, in particular toward the compacting roller 8. In the exemplary embodiment, the conveyor device 27 is preferably arranged along the fiber strand(s) 4 between the further deflection rollers 26 and the compacting roller 8. In the exemplary embodiment and preferably, the conveying device 27, as shown in Figures 2 and 3, has a motor 29 for driving the fiber strands 4. The advantage is that the conveyed fiber strands 4 can be conveyed synchronously. Here and preferably, it is provided that each fiber strand 4 can be conveyed individually by the conveying device 27. This is realized in the exemplary embodiment and preferably in that the conveying device 27 has a drive roller 30 and/or two drive rollers 30 and adjustable pressure rollers 31 for pressing the fiber strand(s) 4 against the drive rollers 30. In the exemplary embodiment, two drive rollers 30 are provided, which are driven by a motor 29, in particular synchronously. A fiber strand 4 is conveyed when it is pressed against a drive roller 30 by a pressure roller 31. The pressure roller 31 is then active. If the pressure roller 31 does not press the fiber strand 4 against the drive roller 30, it is also not conveyed by the conveyor unit. The pressure roller 31 is then inactive. The conveyor device 27, in particular the motor 29 and/or the pressure rollers 31, is/are controlled here and preferably by the controller 17.

Preferably, the conveying device 27 is operated synchronously with the feed-depositing movement of the compacting body 7, in particular the compacting roller 8, relative to the molding body 5. In this way, the fiber strand 4 or the fiber strands 4 can be deposited on the molding body 5 with particularly low fiber strand tension 13.

During application by winding, the conveyor device 27 is preferably inactive. In the exemplary embodiment, the pressure rollers 31 are inactive, lifted from the fiber strand 4, and/or the drive rollers 30 are inactive, not driven by the motor 29.

Additionally or alternatively, the conveying device 27 can serve to convey the fiber strand 4 or the fiber strands 4 to the compacting body 7, in particular the compacting roller 8. This is particularly preferred if one or more fiber strands 4 have been cut with a cutting unit 28. Accordingly, it is preferably provided here that the end effector 3 has a cutting unit 28 for cutting the fiber strand 4 or the fiber strands 4. Here and preferably, the cutting unit 28 is arranged in the immediate vicinity of the compacting body 7, in particular the compacting roller 8.

In the exemplary embodiment, each individual fiber strand 4 can be cut individually with the cutting unit 28. For this purpose, the cutting unit 28 has an individually controllable cutting actuator for cutting each fiber strand 4. The cutting unit 28 is controlled here, preferably, by the controller 17.

Furthermore, a guide unit is provided, which guides the fiber strand(s) 4 to the cutting unit 28. This is designed here as a non-driven pair of rollers.

Furthermore, it is preferably provided here that the manipulator 6 is designed as a robot 32, in particular as a linearly movable robot 32, as shown in Fig. 1. In the exemplary embodiment, the manipulator 6 is arranged on a linear slide 33.

Preferably, the manipulator 6 is adjustable in at least four axes 34, more preferably in at least five axes 34, more preferably in at least six axes 34. Here and preferably, the axes 34 are rotation axes.

Here, and preferably, it is provided that at least one of the axes 34, preferably at least two axes 34, more preferably at least three axes 34 of the robot 32 are braked during the application of at least a partial section of the further section 12 of the fiber strand 4. By activating an axis brake of the robot 32, the rigidity and counter-holding force 21 of the robot 32 can be increased in a simple manner during application by winding.

Furthermore, it is preferably provided that, as shown in Figures 2 and 3, when applying by laying down, essentially a pressure force on the flange of the robot 32 for the end effector 3 and when applied by winding, essentially a tensile force acts on the flange of the robot 32 for the end effector 3.

In the exemplary embodiment and preferably it is provided that the production plant 1 has an NC control 18 for controlling 17 the production plant 1.

Furthermore, it is preferably provided here that the production system 1 comprises the molded body 5 and that the molded body 5 can be driven in a controlled manner for rotation about a molded body axis 35. Here and preferably, the manipulator 6 and the molded body 5 are NC-controlled, in particular by the NC control 18.

Also proposed is a production plant 1 for producing a fiber composite component 2 with a manipulator s with an end effector 3, wherein at least one fiber strand 4 can be provided from a spool 9 and can be applied to a molded body 5 by means of the end effector 3 for producing the fiber composite component 2, which is designed and equipped to carry out the method of the type described.

Reference may be made to all statements relating to the proposed procedure.

Furthermore, the use of an end effector 3 for applying at least one fiber strand 4 to a molded body 5 for producing a fiber composite component 2, in particular according to the described method, is proposed. A first section 11 of the fiber strand 4 is applied by means of a compacting body 7, in particular a compacting roller 8, to the molded body 5 and/or to fiber material 10 already applied to the molded body 5 by deposition. Furthermore, a further section 12 of the fiber strand 4 is applied to the molded body 5 and/or to fiber material 10 already applied to the molded body 5 by winding. During winding, the fiber strand tension 13 is higher, preferably at least by a factor of three, more preferably at least by a factor of five. further preferably at least a factor of 10 higher than the fiber strand tension 13 during deposition.

Reference may be made to all statements relating to the proposed process and the proposed production plant 1.

Also proposed is a fiber composite component 2 comprising a first section 11 of a fiber strand 4, which was applied by laying down, and a further section 12 of the fiber strand 4, which was applied by winding, wherein in the further section 12 the fiber strand tension 13 is higher, preferably at least by a factor of three higher, further preferably at least by a factor of five higher, further preferably at least by a factor of ten higher, than the fiber strand tension 13 in the first section 11.

Reference may be made to all statements relating to the proposed process, production plant 1 and the proposed use of an end effector 3.

Particularly when the production system 1, in particular the end effector 3, has a plurality of spools 9 which provide the fiber strands 4 to be applied, it is advantageous if each spool 9 is assigned a brake 24 with which the spool 9 can be braked. Here, it can additionally or alternatively be provided that the braking torque 25 of the brakes 24 can be individually and independently controlled, and/or that the brake 24 has a first braking unit 36 and at least one further braking unit 37, wherein the brake 24 can be operated with the first braking unit 36 in a first braking torque range 38 and by activating the at least one further braking unit 37 in a second braking torque range 39. This is particularly advantageous for switching between application by depositing and application by winding.

The braking torque ranges 25 are shown as an example in Fig. 6b). The first braking torque range 38 allows a more precise setting of the braking torque 25 for low braking torques 25. The second braking torque range 39 enables braking with higher braking torques 25, whereby the However, braking torque 25 cannot be adjusted as precisely as in the first braking torque range 38. In the exemplary embodiment and preferably, the first braking torque range 38 is completely included in the second braking torque range 39.

Then, the fiber strand 4 or the fiber strands 4 can be applied during application by laying them down with the brake 24 or brakes 24 operated in the first braking torque range 38 and/or the fiber strand 4 or the fiber strands 4 can be applied during application by laying them down with the brake 24 or brakes 24 operated in the second braking torque range 39.

Furthermore, it is preferably provided here that the brake 24 is designed as a disc brake with a brake disc 40, as already described above, preferably that the first brake unit 36 is a first brake cylinder 41, and/or that the at least one further brake unit 37 is a further brake cylinder 42.

In the exemplary embodiment, and preferably, the brake disc 40 is arranged on the same shaft 43 as the spool 9. This allows the spool 9 to be braked particularly directly and the brake 24 to be controlled particularly well.

Furthermore, it is preferably provided here that the braking force 24 is provided pneumatically and/or hydraulically to the brake 24. In the exemplary embodiment, the brake 24 or brakes 24 are preferably operated pneumatically. This is particularly simple and safe during fiber application.

Furthermore, it is preferably provided here that the brake 24 has a second brake unit 36 as an additional brake unit 37. Preferably, the brake 24 can have a third brake unit 36 and, if appropriate, also a fourth brake unit 36 as an additional brake unit 37. This makes it particularly easy to set different braking torque ranges 25 for the brake 24. As shown in Fig. 6 and preferably provided here, the first brake unit 36 acts on the brake disc 40 only from one side. Preferably, it is also provided here that the second brake unit 36 acts on the brake disc 40 only from one side, further preferably that the third brake unit 36 acts on the brake disc 40 only from one side, and further preferably that the fourth brake unit 36 acts on the brake disc 40 only from one side.

Furthermore, it is preferably provided here that the braking torque 25 in the first braking torque range 38 during braking 24 with the first braking unit 36 can be regulated with a proportional valve 44. Here and preferably, the proportional valve 44 of the brake 24, in particular the first braking unit 36 and/or the further braking unit 37 or the further braking units 37, provides compressed air in a pressure range for generating the braking torque 25, preferably in a pressure range of 1 to 12 bar, more preferably in a pressure range of 1 to 6 bar.

In principle, the further brake unit 37 or the further brake units 37 can also be controlled with a separate proportional valve 44, but here and preferably it is provided that the braking torque 25 in the second braking torque range 39 can be controlled with the proportional valve 44 when braking with the first brake unit 36 and the at least one further brake unit 37.

Furthermore, it is preferably provided here that the change between the first braking torque range 38 and the second braking torque range 39 takes place by switching, in particular by switching the compressed air supply, to the brake units 36. Here, the compressed air supply is additionally switched in addition to the at least one further brake unit 37, as shown in Fig. 6. Preferably, the change takes place by switching one or more valves 45.

Furthermore, it is preferably provided that switching between the first braking torque range 38 and the second braking torque range 39 is possible independently of the setting of the proportional valve 44. This is achieved here by means of the valves 45 provided behind the proportional valve 44. realized. To control the brake 24, in particular the respective brake, it is controlled here and preferably by the controller 17 16; in particular, the proportional valve 44 and/or the valve 45 or the valves 45 are controlled by the controller 17.

Furthermore, it is preferably provided here that the brakes 24 are functionally identical for each spool 9. This is also shown schematically in Fig. 4. Furthermore, it is preferably provided here that when a first section 11 of the fiber strand 4 is applied by laying it down, the brake 24 or the brakes 24 brake the respective spool 9 in the first braking torque range 38 with the first braking unit 36, and when a second section of the fiber strand 4 is applied by winding, the brake 24 or the brakes 24 brake the respective spool 9 in the second braking range with at least one further braking unit 37.

List of reference symbols

Manufacturing plant fiber composite component end effector fiber strand molded body manipulator

Compacting body Compacting roller Coil

Fiber material first section further section fiber strand tension force

Base Pose Control NC Control Tool Center Point Pressure Force Counterforce Dancer Roller Deflection Roller Brake

Braking torque additional pulley conveyor cutting unit

Motor drive roller pressure roller robot linear slide 34 Axis

35 Form body axis

36 Brake unit

37 additional brake unit 38 first braking torque range

39 second braking torque range

40 brake disc

41 first brake cylinder

42 additional brake cylinder 43 shaft

44 Proportional valve

45 Valve

Claims

Patent claims 1. A method for operating a production plant (1) for producing a fiber composite component (2), wherein the production plant (1) has a manipulator (6) with an end effector (3) with a compacting body (7), in particular a compacting roller (8), wherein at least one fiber strand (4) is provided from a reel (9) and applied to a molded body (5) by means of the end effector (3) for producing the fiber composite component (2), wherein the production of the fiber composite component (2) Applying by depositing a first section (11) of the fiber strand (4) by means of the compacting body (7), in particular the compacting roller (8), onto the molded body (5) and/or onto fiber material (10) already applied to the molded body (5) and a Application by winding a further section (12) of the fibre strand (4) onto the shaped body (5) and/or onto fibre material (10) already applied to the shaped body (5), wherein during application of the further section (12) the fibre strand tension (13) is higher, preferably at least by a factor of three higher, further preferably at least by a factor of five higher, further preferably at least by a factor of ten higher, than the fibre strand tension (13) during application of the first section (11). 2. Method according to claim 1, characterized in that a plurality of fiber strands (4), preferably at least two, further preferably at least four, further preferably at least 8, further preferably at least 12, further preferably at least 16 fiber strands (4) are provided from, in particular each, a spool (9) and are applied to the molded body (5) by means of the end effector (3) for producing the fiber composite component (2), in particular in parallel. 3. Method according to claim 1 or 2, characterized in that when applying the first section (11) by laying down the individual fiber strand (4) is subjected to a force (14) of less than or equal to 10 N, preferably less than or equal to 5 N, more preferably less than or equal to 1 N, and/or that when applying the further section (12) by winding, the individual fibre strand (4) is subjected to a force (14) greater than or equal to 10 N, preferably greater than or equal to 50 N, further preferably greater than or equal to 100 N, further preferably greater than or equal to 150 N. 4. Method according to one of the preceding claims, characterized in that during application by laying down the first section (11) of the fiber strand (4), the fiber strand (4) is pressed with the compacting body (7), in particular the compacting roller (8), onto the molded body (5) and/or onto fiber material (10) already applied to the molded body (5), and/or that during application by winding the further section (12) of the fiber strand (4) onto the molded body (5) and/or onto fiber material (10) already applied to the molded body (5), the compacting body (7), in particular the compacting roller (8), is spaced apart from the molded body (5) and/or fiber material (10) already applied to the molded body (5). 5. Method according to one of the preceding claims, characterized in that the manipulator (6) assumes a different pose (16) when applying the fiber strand (4) with the same orientation relative to its base (15) when applying by laying than when applying by winding. 6. Method according to one of the preceding claims, characterized in that the fiber strand (4) or the fiber strands (4) are guided during application by laying at least 30°, preferably at least 60°, more preferably at least 85° around the compacting body (7), in particular the compacting roller (8), and/or that the fiber strand (4) or the fiber strands (4) are guided during application by winding at most 30°, preferably at most 10°, more preferably at most 5° around the compacting body (7), in particular the compacting roller (8), and/or that the fiber strand (4) or the fiber strands (4) are deflected less around the compacting body (7), in particular the compacting roller (8), during application by winding than during application by laying down. 7. Method according to one of the preceding claims, characterized in that the orientation of the fiber strand (4) or the fiber strands (4) during application is determined by the alignment of the compacting body (7), in particular of the compacting roller (8), relative to the molded body (5), in particular during application by winding and/or during application by laying down, and/or that a controller (17), in particular NC controller (18), is provided for controlling (17) the production plant (1), preferably that when changing between application by laying down and application by winding, the tool center point (19) for the end effector (3) is changed in terms of control technology (17). 8. Method according to one of the preceding claims, characterized in that the spool (9) or spools (9) for providing the fiber strand (4) or the fiber strands (4) are accommodated on the end effector (3), and/or that the fiber strand (4) or the fiber strands (4), in particular each, is assigned a dancer roller (22) for reducing fiber strand tension peaks, and/or that the fiber strand (4) or the fiber strands (4), in particular each, is assigned a deflection roller (23), and/or that the fiber strand (4) is provided with a backing film on the spool (9) and that a backing film is wound onto the deflection roller (23) during the provision of the fiber strand (4). 9. Method according to one of the preceding claims, characterized in that the end effector (3) has a brake (24), in particular one brake each, for braking the coil (9) or the coils (9), preferably, that the brake (24) is a disc brake, more preferably a pneumatic disc brake. 10. Method according to one of the preceding claims, characterized in that each brake (24) can be individually controlled and/or regulated for each individual coil (9), and/or that the coil (9) or the coils (9) are braked less during application by laying down than during application by winding, preferably that the braking torque (25) generated by the brake (24) on the coil (9) or the coils (9) during application by winding is at least three times higher, more preferably at least five times higher, more preferably at least ten times higher, than during application by laying down. 11. Method according to one of the preceding claims, characterized in that the end effector (3) has a conveying device (27) for conveying the fiber strand (4) or the fiber strands (4) in the direction of the compacting body (7), in particular the compacting roller (8), and/or that the end effector (3) has a cutting unit (28) for cutting the fiber strand (4) or the fiber strands (4). 12. Method according to one of the preceding claims, characterized in that the manipulator (6) is designed as a robot (32), in particular as a linearly movable robot (32), preferably that the manipulator (6) is adjustable in at least four axes (34), more preferably in five axes (34), more preferably in six axes (34), preferably that at least one of the axes (34), preferably at least two axes (34), more preferably at least three axes (34) of the robot (32) are braked during the application of a partial section of the further section (12) of the fiber strand (4). 13. Method according to one of the preceding claims, characterized in that the production plant (1) has the molded body (5) and that the molded body (5) is controlled to be rotatable about a molded body axis (35) can be driven, preferably that the production plant (1) has an NC control (18) for controlling (17) the production plant (1) and that the manipulator (6) and the molded body (5) are NC-controlled. 14. Production plant for producing a fiber composite component (2) with a manipulator (6) with an end effector (3), wherein at least one fiber strand (4) can be provided from a spool (9) and can be applied to a molded body (5) by means of the end effector (3) for producing the fiber composite component (2), which is designed and equipped to carry out the method according to one of claims 1 to 13. 15. Use of an end effector for applying at least one fiber strand (4) to a molded body (5) for producing a fiber composite component (2), in particular according to one of the methods according to one of claims 1 to 13, wherein a first section (11) of the fiber strand (4) is applied by means of a compacting body (7), in particular a compacting roller (8), to the molded body (5) and/or to fiber material (10) already applied to the molded body (5) by laying down, and wherein a further section (12) of the fiber strand (4) is applied to the molded body (5) and/or to fiber material (10) already applied to the molded body (5) by winding, wherein the fiber strand tension (13) during winding is higher, preferably at least by a factor of three higher, more preferably at least by a factor of five higher, more preferably at least by a factor of 10 higher, than the fiber strand tension (13) during laying down. 16. Fiber composite component comprising a first section (11) of a fiber strand (4) which was applied by laying down and a further section (12) of the fiber strand (4) which was applied by winding, wherein in the further section (12) the fiber strand tension (13) is higher, preferably at least by a factor of three higher, further preferably at least by a factor of five higher, further preferably at least by a factor of 10 higher, than the fiber strand tension (13) in the first section (11).