CN103029308A - Carbon fiber laying device - Google Patents
Carbon fiber laying device Download PDFInfo
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- CN103029308A CN103029308A CN2011102980405A CN201110298040A CN103029308A CN 103029308 A CN103029308 A CN 103029308A CN 2011102980405 A CN2011102980405 A CN 2011102980405A CN 201110298040 A CN201110298040 A CN 201110298040A CN 103029308 A CN103029308 A CN 103029308A
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Abstract
The invention relates to a carbon fiber laying device, which comprises an arm, a wrist, a laying head and a rotating mandrel assembly, wherein the arm comprises a first shaft linear motion assembly, a second shaft linear motion assembly which is connected with the first shaft linear motion assembly and a third shaft linear motion assembly which is connected with the second shaft linear motion assembly. The wrist is connected with the third shaft linear motion assembly, and the wrist has three rotational freedoms. The laying head is fixedly connected with the wrist. The rotating mandrel assembly comprises a rotatable mandrel which is arranged opposite to the laying head. The carbon fiber laying device disclosed by the invention is provided with seven free ends, the mandrel of the rotating mandrel assembly is rotatable, and the position of the laying head and the rotating position of the mandrel can be adjusted according to the shape of the mandrel, so that mandrel products in arbitrary shapes can be conveniently laid.
Description
[technical field]
The present invention relates to a kind of conveying device, particularly relate to a kind of carbon fiber laying apparatus.
[background technology]
In the composite low-cost manufacturing technique, such as infusion forming technology, low-temp low-pressure curing technology, Electron beam curing technology, Novel wound technology, fiber placement etc., wherein fiber placement is one of with fastest developing speed, the most effective automatic forming manufacturing technology.
The technology of fiber placement for composite materials forming technique is a kind of full-automatic composites processing technology that conduct grows up to the reform of Filament-wound Machine and automated tape-laying technology.System of Filament Winding Process is wrapped on the core according to certain rule after referring to adopt continuous fiber or band to infiltrate through resin, is made at last a kind of production technology of the goods of definite shape by a series of processing.The automated tape-laying technology adopts numerical control laying equipment exactly, realizes the preimpregnation cloth of composite, continuous surface trimming and the automatic placement of band by the means of digitlization, automation.Fiber placement is studied evening at home, and the starting basic point is lower, all starts to walk from device development.Nanjing Aero-Space University and Shanghai Wan Ge Composite Materials Tech cooperate to finish domestic First eight bunch fiber lay principle prototypes, develop the CAD/CAM software prototype based on the automatic placement of CATIA, begun to take shape fiber placement and equipment technology system; The unit cooperation development such as Wuhan University of Technology and Beijing aerospace processing research institute, Xi'an composite research institute the automatic placement technical research, finished the development of equipment technology and the research of technology; Harbin Institute of Technology has finished design and the debugging work of seven freedom four bunch fiber layers, and the fiber prepreg tow of using the 4mm width carries out the lay test, in the lay process of the test, lay control system working stability, reliable, tow control position, each axle movement position are accurate.
Yet, in the present fiber placement equipment, in configuration aspects, most complex structure, cantilever structure is in the majority, and Three Degree Of Freedom wrist quality is larger, is unfavorable for controlling the attitude of placement head; On lay efficient, tow control is difficult, and tow heavily send and is easy to failure, and lay efficient is lower; Aspect the core goods, mostly the external form of core there is certain requirement, relatively poor to the adaptability of core, can not finish the laying forming problems such as complex-curved, Varying-thickness, the reinforcement, be difficult to the core goods of lay arbitrary shape.
[summary of the invention]
In view of above-mentioned condition, be necessary to provide a kind of carbon fiber laying apparatus of being convenient to the core goods of lay various shape.
A kind of carbon fiber laying apparatus comprises:
Arm, the second rectilinear motion assembly that comprise the first axle rectilinear motion assembly, is connected with described the first axle rectilinear motion assembly reaches the 3rd axle rectilinear motion assembly with described the second axle rectilinear motion assembly;
Wrist is connected with described the 3rd axle rectilinear motion assembly, and described wrist has three rotational freedoms;
Placement head is fixedly connected with described wrist; And
The rotary core mould assembly comprises with described placement head being oppositely arranged and rotatable core.
Further, described the first axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before the first axle;
Screw mandrel supporting seat behind the first axle;
The first axial filament bar, two ends wear respectively screw mandrel supporting seat behind the front screw mandrel supporting seat of described the first axle and described the first axle rotationally;
The first axle servomotor, its output shaft is fixedly connected with an end of described the first axial filament bar, and described the first axial filament bar of described the first axle driven by servomotor rotates; And
The first axial filament stem nut is sheathed on described the first axial filament bar, and is fixedly connected with described the second rectilinear motion assembly.
Further, described the first axle rectilinear motion assembly also comprises:
The first axis rail be arranged in parallel with described the first axial filament bar;
The first axle slide block is located on described the first axis rail slidably, and is fixedly connected with described the second axle rectilinear motion assembly.
Further, described the second axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before the second axle;
Screw mandrel supporting seat behind the second axle;
The second axial filament bar, two ends wear respectively screw mandrel supporting seat behind the front screw mandrel supporting seat of described the second axle and described the second axle rotationally;
The second axle servomotor, its output shaft is fixedly connected with an end of described the second axial filament bar, and described the second axial filament bar of described the second axle driven by servomotor rotates; And
The second axial filament stem nut is sheathed on described the second axial filament bar, and is fixedly connected with described the 3rd rectilinear motion assembly.
Further, described the second axle rectilinear motion assembly also comprises:
The second axis rail be arranged in parallel with described the second axial filament bar;
The second axle slide block is located on described the second axis rail slidably, and is fixedly connected with described the 3rd axle rectilinear motion assembly.
Further, described the 3rd axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before the 3rd axle;
Screw mandrel supporting seat behind the 3rd axle;
The 3rd axial filament bar, two ends wear respectively screw mandrel supporting seat behind the front screw mandrel supporting seat of described the 3rd axle and described the 3rd axle rotationally;
The 3rd axle servomotor, its output shaft is fixedly connected with an end of described the 3rd axial filament bar, and described the 3rd axial filament bar of described the 3rd axle driven by servomotor rotates; And
The 3rd axial filament stem nut is sheathed on described the 3rd axial filament bar, and is fixedly connected with described wrist.
Further, described the 3rd axle rectilinear motion assembly also comprises:
Guide post be arranged in parallel with described the 3rd axial filament bar;
Guide pin bushing is sheathed on the described guide post slidably, and is fixedly connected with described wrist.
Further, described wrist comprises the first motor, the second motor, the 3rd motor, yaw axis, pitch axis, swinging axle and mechanical interface, and the described yaw axis of described the first motor-driven rotates, and described yaw axis drives described mechanical interface and does yawing rotation; The described pitch axis of described the second motor-driven rotates, and described pitch axis drives described mechanical interface and does elevating movement; The described swinging axle of described the 3rd motor-driven rotates, and described swinging axle drives described mechanical interface and does oscillating motion; Described mechanical interface is fixedly connected with described placement head.
Further, described placement head comprises oriented module, clamp module, heavily send module, shear module, the module of exerting pressure, heating collection modules, source of the gas, gas source purification device and bundle channel; Described oriented module is used for the guiding tow, makes tow can enter smoothly described bundle channel; Described clamp module clamped described tow before described shear module action, prevented that described tow from rebounding under the tension force effect; The described heavy module of sending is used to transport feeding; Described shear module is used for shearing described tow; The described module of exerting pressure is used for tow is pressed on surface of the work; Described heating collection modules is used for heating, gathers described tow.
Further, described rotary core mould assembly also comprises guide rail, clamping device, scroll chuck, servomotor and support, and described clamping device is located on the described guide rail slidably; Described scroll chuck is fixedly connected with the output shaft of described servomotor; Described core clamping is on described clamping device and scroll chuck, according to the position of the described clamping device of shape adjustment of described core.
Above-mentioned carbon fiber laying apparatus has seven free ends, and the core of rotary core mould assembly is rotatable, according to the position of the shape capable of regulating placement head of core and the position of rotation of core self, thus the core goods of lay arbitrary shape easily.
[description of drawings]
Fig. 1 is the stereogram of the carbon fiber laying apparatus of embodiment one;
Fig. 2 is the stereogram of the first axle rectilinear motion assembly of carbon fiber laying apparatus shown in Figure 1;
Fig. 3 is the stereogram of the second axle rectilinear motion assembly of carbon fiber laying apparatus shown in Figure 1;
Fig. 4 is the stereogram of the 3rd axle rectilinear motion assembly of carbon fiber laying apparatus shown in Figure 1;
Fig. 5 is the principle schematic of the wrist of carbon fiber laying apparatus shown in Figure 1;
Fig. 6 is the principle schematic of the placement head of carbon fiber laying apparatus shown in Figure 1;
Fig. 7 is the principle schematic of the clamp module of carbon fiber laying apparatus shown in Figure 6;
Fig. 8 is the principle schematic of heavily sending module of carbon fiber laying apparatus shown in Figure 6;
Fig. 9 is the principle schematic of the shear module of carbon fiber laying apparatus shown in Figure 6;
Figure 10 is the principle schematic of the module of exerting pressure of carbon fiber laying apparatus shown in Figure 6;
Figure 11 is the stereogram of the rotary core mould assembly of carbon fiber laying apparatus shown in Figure 1;
Figure 12 is the stereogram of the carbon fiber laying apparatus of embodiment two.
[specific embodiment]
For the ease of understanding the present invention, the below is described more fully the present invention with reference to relevant drawings.Provided preferred embodiment of the present invention in the accompanying drawing.But the present invention can realize with many different forms, be not limited to embodiment described herein.On the contrary, provide the purpose of these embodiment be make the understanding of disclosure of the present invention more comprehensively thorough.
Need to prove, when element is called as " being fixed in " another element, can directly can there be element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be to be directly connected to another element or may to have simultaneously centering elements.Term as used herein " vertical ", " level ", " left side ", " right side " and similar statement are just for illustrative purposes.
Unless otherwise defined, the employed all technology of this paper are identical with the implication that belongs to the common understanding of those skilled in the art of the present invention with scientific terminology.Employed term is not intended to be restriction the present invention just in order to describe the purpose of specific embodiment in specification of the present invention herein.Term as used herein " and/or " comprise one or more relevant Listed Items arbitrarily with all combinations.
The specific embodiment of the present invention provides a kind of carbon fiber laying apparatus of seven freedom, this carbon fiber laying apparatus mainly by with the arm of three rectilinear motion assemblies, with the wrist of three rotational motion assemblies, have the placement head of automatic placement function and can drive the rotating rotary core mould assembly of core and consist of.Each moving component of placement head occupies certain locus in assembly structure, this locus is described by the spatial pose information of each parts, and spatial pose information is comprised of two parts: a part is positional information, describes the locus of parts; Another part is attitude information, describes the direction of parts.The change that parts move through the space of components position embodies, and the change that parts rotate by the parts direction embodies.Wherein, arm and wrist play the effect of control placement head locus and attitude.With the locus of the motion control placement head of the arm of three rectilinear motion assemblies, play the effect that connects arm and placement head with the wrist of three rotational motion assemblies, and the spatial attitude by three rotational motion assemblies control placement heads; Placement head has the automated tape-laying function, and tow passes through oriented module, clamp module, heavily send module, shear module and tow set heating module, finally is laid in mandrel surface; The core rotating assembly can drive core and turn round around axis, and the motion of this gyration associating arm, wrist finally makes the core that laying apparatus in theory can any profile of lay.
See also Fig. 1 and Fig. 2, the carbon fiber laying apparatus 10 of embodiment one has seven freedom, and it comprises arm 100, wrist 200, has the placement head 300 of automated tape-laying function, can drive the rotating rotary core mould assembly 400 of core and fixed support 500.Arm 110 comprises three rectilinear motion assemblies.Wrist 120 comprises three rotational motion assemblies.The gyration of the rectilinear motion of arm 110 associating wrist 120 and rotary core mould assembly 140 is so that the core that placement head 130 can any complex profile of lay.According to actual conditions and Production requirement, carbon fiber laying apparatus 10 can be made planer-type equipment and cantilevered equipment.Specifically in the present embodiment, arm 110 is fixed on the fixed support 500, and wrist 120 and placement head 300 are suspended in the fixed support 500, and rotary core mould assembly 400 is fixed in fixed support 500 belows, and is oppositely arranged with placement head 300.Fixed support 500 is roughly square, thereby makes carbon fiber laying apparatus 10 make the planer-type equipment.
Specifically in the present embodiment, the arm 110 of carbon fiber laying apparatus 10 comprises by the first axle rectilinear motion assembly 110, the second axle rectilinear motion assembly 120 and the 3rd axle rectilinear motion assembly 130.By regulating the rectilinear motion of the first axle rectilinear motion assembly 110, the second axle rectilinear motion assembly 120 and the 3rd axle rectilinear motion assembly 130, thereby regulate placement head 130 in the position in space.
See also Fig. 2, the first axle rectilinear motion assembly 110 comprises screw mandrel supporting seat 118 behind screw mandrel supporting seat 112 before the first axle servomotor 111, the first axle, the first axis rail 113, the first axial filament bar 114, the first axial filament stem nut 115, the first axle slide block 116, the first axial filament stem nut seat 117, the first axle.Screw mandrel supporting seat 118 is fixed on the fixed support 500 behind the front screw mandrel supporting seat 112 of the first axle, the first axis rail 113 and the first axle.The two ends of the first axial filament bar 114 wear respectively before the first axle screw mandrel supporting seat 118 behind the screw mandrel supporting seat 112 and the first axle rotationally, and an end is fixedly connected with the output shaft of the first axle servomotor 111.The first axis rail 113 is three, is located at the both sides of the first axial filament bar 114 and be arranged in parallel with the first axial filament bar 114.The first axle slide block 116 is three, is located at slidably respectively on three the first axis rails 113.The first axial filament stem nut 115 is sheathed on the first axial filament bar 114, and is fixedly connected with the first axial filament stem nut seat 117.The first axle servomotor 111 drives the first axial filament bar 114 and rotates, and drives the first axial filament stem nut 115 drives the first axial filament stem nut seat 117 and travels forward, and the first axle slide block 116 and the first axial filament stem nut seat 117 are fixedly connected with the second axle rectilinear motion assembly 120.
See also Fig. 3, the second axle rectilinear motion assembly 120 comprises screw mandrel supporting seat 129 behind screw mandrel supporting seat 122 before the second axle servomotor 121, the second axle, the second axial filament bar 123, the second axis rail 124, the second axial filament stem nut 125, the second axle slide block 126, the second axial filament stem nut seat 127, horizontal beam 128, the second axle.The two ends of the second axial filament bar 123 wear respectively before the second axle behind the screw mandrel supporting seat 122 and the second axle screw mandrel supporting seat 129 rotationally and an end is fixedly connected with the output shaft of the second axle servomotor 121.The second axis rail 124 is two, is located at the both sides of the second axial filament bar 123 and be arranged in parallel with the second axial filament bar 123.The second axle slide block 126 is two, is located at slidably respectively on two the second axis rails 124.The second axial filament stem nut 125 is sheathed on the second axial filament bar 123, and is fixedly connected with the second axial filament stem nut seat 127.Screw mandrel supporting seat 122, the second axis rail 124 and the second axial filament stem nut seat 127 all are fixed on the horizontal beam 128 before the second axle.The second axle servomotor 121 drives the second axial filament bar 123 and rotates, and drives the second axial filament stem nut 125 drives the second axial filament stem nut seat 127 and travels forward, and the second axle slide block 126 and the second axial filament stem nut seat 127 are fixedly connected with the 3rd axle rectilinear motion assembly 130.
See also Fig. 4, the 3rd axle rectilinear motion assembly 130 comprises screw mandrel supporting seat 139 and vertical beam 1310 behind screw mandrel supporting seat 132 before the 3rd axle servomotor 131, the 3rd axle, the 3rd axial filament bar 133, the 3rd axial filament stem nut 134, the 3rd axial filament stem nut seat 135, guide post 136, guide pin bushing 137, connecting plate 138, the 3rd axle.The two ends of the 3rd axial filament bar 133 wear respectively before the 3rd axle behind the screw mandrel supporting seat 132 and the 3rd axle screw mandrel supporting seat 139 rotationally and an end is fixedly connected with the output shaft of the 3rd axle servomotor 131.Guide post 136 is two, is located at the both sides of the 3rd axial filament bar 133 and be arranged in parallel with the 3rd axial filament bar 133.Guide pin bushing 137 is two, is sheathed on slidably respectively on two guide posts 136.The 3rd axial filament stem nut 135 is sheathed on the 3rd axial filament bar 133, and is fixedly connected with the 3rd axial filament stem nut seat 135.Screw mandrel supporting seat 132 before the 3rd axle, guide post 136, and the 3rd axial filament stem nut seat 137 all be fixed on the vertical beam 1310.The 3rd axial filament stem nut seat 135 is fixed on the connecting plate 138, connecting plate 138 is fixed on the second axle rectilinear motion assembly 120, the 3rd axle servomotor 131 drives the 3rd axial filament bar 133 and rotates, and then will drive vertical beam 1310 in the vertical direction motion, and wrist 300 is connected to above the vertical beam 1310.
See also Fig. 5, wrist 200 plays the effect that connects hand 100 and placement head 300, and wrist 200 is regulated placement head 400 in the attitude in space by self driftage, pitching, three rotational motion assemblies of swing.Wrist 200 comprises the first motor 210, yaw axis 220, the 3rd motor 230, the second motor 240, pitch axis 250, swinging axle 260 and mechanical interface 270.210 work of the first motor by a series of transmissions, drive yaw axis 220 and rotate, thereby driving mechanical interface 270 are finished yawing rotation; 240 work of the second motor by a series of transmissions, drive pitch axis 250 and rotate, thereby driving mechanical interface 270 are finished elevating movement; 230 actions of the 3rd motor by a series of transmissions, drive swinging axle 260 and rotate, thereby driving mechanical interface 270 are finished oscillating motion.Mechanical interface 270 is fixedly connected with placement head 300.
See also Fig. 6, placement head 300 is as the core component of seven freedom carbon fiber laying apparatus, has guiding, clamping, shearing, a function such as the tow that heavily send, exerts pressure, and tow 20 finally is laid in surface of the work through placement heads 300.Placement head 300 is mainly by oriented module 310, clamp module 320, heavily send module 330, shear module 340, the module of exerting pressure 350, heating collection modules 360, source of the gas 370, gas source purification device 380, bundle channel 390 to form.310 main tow 20 guide effects of oriented module make tow 20 can enter smoothly bundle channel 390; Clamp module 320 plays the effect that clamps tow 20, and tow need to be cut off when a certain road, and before shear module 340 actions, clamp module 320 clamps tow, prevents that tow 20 from rebounding under the tension force effect; Heavily send module 330 to play the effect of transportation feeding; Shear module 340 plays the effect of shearing tow 20, and tow need to be cut off when a certain road, shear module 340 actions; The module of exerting pressure 350 plays the effect that tow is pressed on surface of the work; Heating collection modules 360 plays the effect of heating, set tow, and tow 20 has certain viscosity by heating, is pressed on surface of the work by the module 350 of exerting pressure after gathering together.For example, heating collection modules 360 comprises that the heating collection modules is by first via bundle channel, the second road bundle channel, Third Road bundle channel, the four road bundle channel, filament mouth and heater.Heater is in the filament mouth setting.
See also Fig. 7 to Figure 10, clamp module 320 comprises clamping cylinder 321, clamps connecting rod 322 and compact heap 323.When needs clamped tow 20, clamping cylinder 321 actions drove and clamp connecting rod 322, promote compact heap 323, and tow 20 is pressed on the bundle channel; When needs unclamped tow 20,321 commutations got final product to clamping cylinder.Heavily send module 330 to comprise heavily to supply gas cylinder 331, driven pulley connecting rod 332, driven pulley 333, heavily send motor 334 and driving wheel 335.Shear module 340 comprises shears cylinder 341, shearing connecting rod 342 and cutting knife 343.The module of exerting pressure 350 comprises exert pressure cylinder 351 and pressure roller 352.
Oriented module 310 changes the direction of motion of tow 20, and tow 20 can be entered in the bundle channel smoothly.Specifically in the present embodiment, oriented module 310 comprises the delivery wheel of the input port of being located at bundle channel, and this delivery wheel is rotatable.In other embodiments, oriented module 310 also can be conveyer belt, transmits roller bearing etc.
The two ends of the clamping connecting rod 322 of clamp module 320 are rotatably connected with piston and the compact heap 323 of clamping cylinder 321 respectively.When needs clamped tow 20, clamping cylinder 321 actions drove and clamp connecting rod 322, promote compact heap 323, and tow 20 is pressed on the bundle channel; When needs unclamped tow 20,321 commutations got final product to clamping cylinder.Clamp module 320 adopts Rodless cylinder as the power source mode, has optimized structure.
Heavily send module 330 driven pulley connecting rod 332 two ends respectively with heavily supply gas the piston of cylinder 331 and heavily send pressure roller to be rotatably connected, the cylinder 331 of heavily supplying gas drives driven pulley connecting rods 332 and rotates, driven pulley connecting rod 332 drives and heavily send pressure roller towards driving wheel 335 motions.The cylinder 331 of heavily supplying gas is Rodless cylinder.Heavily send motor 135 to drive driving wheels 335 and rotate, driving wheel 335 with heavily send pressure roller to be oppositely arranged, and can compress respectively the both sides of tow 20.The feeding function of heavily sending module 330 mainly to finish tow 20.When needs increase a certain road tow, the cylinder 331 of heavily supplying gas drives and heavily send pressure roller that tow 20 is pressed onto on the driving wheel 335, simultaneously, ventilating opening ventilates, and airflow direction is identical with the direction of transporting tow 20, tow 20 travels forward under driving wheel 335 and the extruding of heavily sending pressure roller and wind-force effect, finally arrives product surface.Heavily send module 330 to adopt Rodless cylinder to drive and heavily send pressure roller, saved the space.
The heating collection modules comprises first via bundle channel, the second road bundle channel, Third Road bundle channel, the four road bundle channel, filament mouth and the heater (not shown) that is parallel to each other.Heater is arranged at the filament mouth place.Tow 20 advanced oriented module 310, clamp module 320, heavily sent module 330, shear module 340, assembled the compact arranged silk ribbon of multi beam tow in the heating collection modules.Tow 20 was in low viscosity or substantially inviscid state before heating, with guarantee tow 20 can be in bundle channel smoothly by and arrive the module 350 of exerting pressure.Tow 20 has certain viscosity after through the heaters heating, guarantees that silk ribbon can be close to the goods profile.
The module of exerting pressure 350 comprises the cylinder 351 of exerting pressure, the connecting rod of exerting pressure, casing and pressure roller 352.Pressure roller 352 can pivot, and the rotating shaft of pressure roller 352 is fixed on the casing.The cylinder 351 of exerting pressure is Rodless cylinder.The exert pressure two ends of connecting rod are fixedly connected with piston and the casing of the cylinder 351 of exerting pressure respectively.After tow 20 arrives pressure roller 352, the cylinder 351 of exerting pressure applies certain pressure tow 20 is pressed on product surface, laying is played the effect of paving compacting, interlayer connection and deaeration, to eliminate the gap of inner fiber on width, the air pressure of controlling simultaneously the cylinder 351 of exerting pressure reaches the purpose of control pressure roller pressure.
The operation principle of placement head 300 is: open and heavily send motor 334, drive driving wheel 335 transmissions, tow 20 is unclamped in 321 commutations to clamping cylinder if tow 20 is clamped, open again the cylinder 331 of heavily supplying gas, by driven pulley connecting rod 332 driven pulley 333 is pressed onto on the driving wheel 335,20 motions of extruding tow, tow 20 arrives pressure roller 352 times, the cylinder 351 of exerting pressure is pressed in tow 20 on the surface of the work, counterweight cylinder 331 commutation of supplying gas, and driven pulley 333 lifts.When needs are sheared, start clamping cylinder 321 and clamp tow 20, restart afterwards and shear cylinder 341, tow 20 is implemented shear action, commutate to shearing cylinder 341 after action is finished, regain lower cutter 343, carry out the next round lay, above-mentioned actuation cycle is carried out.
See also Figure 11, rotary core mould assembly 400 comprises guide rail 410, clamping device 420, core 430, scroll chuck 440, servomotor 450 and support 460.Clamping device 420 is located on the guide rail 410 slidably.Scroll chuck 440 is fixedly connected with the output shaft of servomotor 450.Core 430 is rotatable, and clamping can be regulated the position of clamping device 420 according to the shape of core 430 on clamping device 420 and scroll chuck 440.
The above-mentioned carbon fiber laying apparatus 10 main rotation core Length Ratio workpiece narrow than the length and width degree that are fit to, rigidity is strong, and structural stability is relatively good, precision is higher, the vibrations that produce in the lay are reduced to minimum, and reliability ratio is higher, but the volume ratio that takes up room is larger.
Above-mentioned carbon fiber laying apparatus 10 has seven free ends, and the core 430 of rotary core mould assembly 400 is rotatable, according to the position of rotation of the position of the shape capable of regulating placement head 300 of core 430 and core 430 self, thus the core goods of lay arbitrary shape easily.
And the arm 100 of above-mentioned carbon fiber laying apparatus 10 and wrist 200 motions can make placement head 300 arrive the optional position, space flexibly in theory; Placement head 300 adopts modularized design, and cylinder increases force-increasing mechanism, has increased reliability; Above-mentioned carbon fiber laying apparatus 10 is owing to having 7 degree of freedom, and core 430 is rotatable, has improved utilization rate and the lay efficient of material, can finish the laying forming operations such as complex-curved, Varying-thickness, reinforcement.
Be appreciated that the linkage that each cylinder connects in the placement head 300 can be replaced by other force-increasing mechanism; Three Degree Of Freedom wrist 200 can be replaced by other the Three Degree Of Freedom device that can finish driftage, pitching, oscillating motion; Arm 100 and wrist 200 can be replaced by a 3P-3R robot.
See also Figure 12, the carbon fiber laying apparatus of embodiment 2 30 mainly is suitable for the revolving body small workpiece for cantilevered equipment, compact conformation, the cantilever design flexibility is larger, is convenient to lay, but cantilever design easily be out of shape, affect the lay effect.
The carbon fiber laying apparatus 30 of embodiment two and carbon fiber laying apparatus 10 basic simlarities of embodiment one, its difference is: the carbon fiber laying apparatus 30 of embodiment two has omitted fixed support, arm 500, wrist 600, placement head 700, rotary core mould assembly 400 integration of compact; The first axle rectilinear motion assembly 510 is located at a side of rotary core mould assembly 400, the second axle rectilinear motion assembly 520 is located at the first axle rectilinear motion assembly 510, the three axle rectilinear motion assemblies 530 and is located at the second axle rectilinear motion assembly 520 and is oppositely arranged with rotary core mould assembly 400.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a carbon fiber laying apparatus is characterized in that, comprising:
Arm, the second rectilinear motion assembly that comprise the first axle rectilinear motion assembly, is connected with described the first axle rectilinear motion assembly reaches the 3rd axle rectilinear motion assembly with described the second axle rectilinear motion assembly;
Wrist is connected with described the 3rd axle rectilinear motion assembly, and described wrist has three rotational freedoms;
Placement head is fixedly connected with described wrist; And
The rotary core mould assembly comprises with described placement head being oppositely arranged and rotatable core.
2. carbon fiber laying apparatus as claimed in claim 1 is characterized in that, described the first axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before the first axle;
Screw mandrel supporting seat behind the first axle;
The first axial filament bar, two ends wear respectively screw mandrel supporting seat behind the front screw mandrel supporting seat of described the first axle and described the first axle rotationally;
The first axle servomotor, its output shaft is fixedly connected with an end of described the first axial filament bar, and described the first axial filament bar of described the first axle driven by servomotor rotates; And
The first axial filament stem nut is sheathed on described the first axial filament bar, and is fixedly connected with described the second rectilinear motion assembly.
3. carbon fiber laying apparatus as claimed in claim 2 is characterized in that, described the first axle rectilinear motion assembly also comprises:
The first axis rail be arranged in parallel with described the first axial filament bar;
The first axle slide block is located on described the first axis rail slidably, and is fixedly connected with described the second axle rectilinear motion assembly.
4. carbon fiber laying apparatus as claimed in claim 1 is characterized in that, described the second axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before the second axle;
Screw mandrel supporting seat behind the second axle;
The second axial filament bar, two ends wear respectively screw mandrel supporting seat behind the front screw mandrel supporting seat of described the second axle and described the second axle rotationally;
The second axle servomotor, its output shaft is fixedly connected with an end of described the second axial filament bar, and described the second axial filament bar of described the second axle driven by servomotor rotates; And
The second axial filament stem nut is sheathed on described the second axial filament bar, and is fixedly connected with described the 3rd rectilinear motion assembly.
5. carbon fiber laying apparatus as claimed in claim 4 is characterized in that, described the second axle rectilinear motion assembly also comprises:
The second axis rail be arranged in parallel with described the second axial filament bar;
The second axle slide block is located on described the second axis rail slidably, and is fixedly connected with described the 3rd axle rectilinear motion assembly.
6. carbon fiber laying apparatus as claimed in claim 1 is characterized in that, described the 3rd axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before the 3rd axle;
Screw mandrel supporting seat behind the 3rd axle;
The 3rd axial filament bar, two ends wear respectively screw mandrel supporting seat behind the front screw mandrel supporting seat of described the 3rd axle and described the 3rd axle rotationally;
The 3rd axle servomotor, its output shaft is fixedly connected with an end of described the 3rd axial filament bar, and described the 3rd axial filament bar of described the 3rd axle driven by servomotor rotates; And
The 3rd axial filament stem nut is sheathed on described the 3rd axial filament bar, and is fixedly connected with described wrist.
7. carbon fiber laying apparatus as claimed in claim 6 is characterized in that, described the 3rd axle rectilinear motion assembly also comprises:
Guide post be arranged in parallel with described the 3rd axial filament bar;
Guide pin bushing is sheathed on the described guide post slidably, and is fixedly connected with described wrist.
8. carbon fiber laying apparatus as claimed in claim 1, it is characterized in that, described wrist comprises the first motor, the second motor, the 3rd motor, yaw axis, pitch axis, swinging axle and mechanical interface, the described yaw axis of described the first motor-driven rotates, and described yaw axis drives described mechanical interface and does yawing rotation; The described pitch axis of described the second motor-driven rotates, and described pitch axis drives described mechanical interface and does elevating movement; The described swinging axle of described the 3rd motor-driven rotates, and described swinging axle drives described mechanical interface and does oscillating motion; Described mechanical interface is fixedly connected with described placement head.
9. carbon fiber laying apparatus as claimed in claim 1 is characterized in that, described placement head comprises oriented module, clamp module, heavily send module, shear module, the module of exerting pressure, heating collection modules, source of the gas, gas source purification device and bundle channel; Described oriented module is used for the guiding tow, makes tow can enter smoothly described bundle channel; Described clamp module clamped described tow before described shear module action, prevented that described tow from rebounding under the tension force effect; The described heavy module of sending is used to transport feeding; Described shear module is used for shearing described tow; The described module of exerting pressure is used for tow is pressed on surface of the work; Described heating collection modules is used for heating, gathers described tow.
10. carbon fiber laying apparatus as claimed in claim 1 is characterized in that, described rotary core mould assembly also comprises guide rail, clamping device, scroll chuck, servomotor and support, and described clamping device is located on the described guide rail slidably; Described scroll chuck is fixedly connected with the output shaft of described servomotor; Described core clamping is on described clamping device and scroll chuck, according to the position of the described clamping device of shape adjustment of described core.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103496176A (en) * | 2013-10-22 | 2014-01-08 | 中国科学院自动化研究所 | Composite material guiding and shearing integrated device |
| CN103552253A (en) * | 2013-11-14 | 2014-02-05 | 中国科学院自动化研究所 | Re-conveying and compaction-stopping integrated device for strand placement head of composite material |
| CN103624401A (en) * | 2013-08-20 | 2014-03-12 | 南京理工大学 | Vertical type quantitative control automatic exploding composite explosive laying device |
| CN104097333A (en) * | 2014-06-18 | 2014-10-15 | 际华三五零二职业装有限公司 | Small sheet taking/feeding device and mold of automatic sheet paver of bulletproof helmet |
| CN105690801A (en) * | 2016-04-13 | 2016-06-22 | 李军利 | Universal laying device for automatic tow placement of carbon fiber composite |
| CN106808706A (en) * | 2017-03-20 | 2017-06-09 | 王智 | A kind of storage tank end socket producing device and method |
| CN108422685A (en) * | 2018-05-28 | 2018-08-21 | 保定标正机床有限责任公司 | A kind of automatic fiber placement equipment laid for fibrous composite |
| CN109279446A (en) * | 2018-11-22 | 2019-01-29 | 江苏科技大学 | A kind of wrapping device and wrapping track approach for tubulose carbon fiber wrapping mechanism |
| CN110789155A (en) * | 2019-11-08 | 2020-02-14 | 江苏科技大学 | Automatic forming equipment and laying process method for carbon fibers of offshore wind power blade |
| CN111300386A (en) * | 2020-03-31 | 2020-06-19 | 广东技术师范大学天河学院 | Multifunctional industrial robot |
| CN113021952A (en) * | 2021-03-17 | 2021-06-25 | 常州新创航空科技有限公司 | Automatic unit strutting arrangement is put in tape laying machine shop |
| CN114434827A (en) * | 2022-01-27 | 2022-05-06 | 西安交通大学 | Multi-station robot type automatic manufacturing method and device for special-shaped long purlin made of composite material |
| CN114851596A (en) * | 2022-04-22 | 2022-08-05 | 合肥工业大学 | Silk laying head and silk laying machine |
| CN118024621A (en) * | 2024-04-15 | 2024-05-14 | 杭州艾美依航空制造装备有限公司 | Horizontal wire laying bearing device and horizontal automatic wire laying system |
| CN118024620A (en) * | 2024-04-15 | 2024-05-14 | 杭州艾美依航空制造装备有限公司 | Wire laying robot and double-robot type automatic wire laying system |
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| CN103624401A (en) * | 2013-08-20 | 2014-03-12 | 南京理工大学 | Vertical type quantitative control automatic exploding composite explosive laying device |
| CN103624401B (en) * | 2013-08-20 | 2016-03-02 | 南京理工大学 | The automatic Explosion composite explosive laying device that vertical quantitative controls |
| CN103496176A (en) * | 2013-10-22 | 2014-01-08 | 中国科学院自动化研究所 | Composite material guiding and shearing integrated device |
| CN103496176B (en) * | 2013-10-22 | 2015-07-15 | 中国科学院自动化研究所 | Composite material guiding and shearing integrated device |
| CN103552253A (en) * | 2013-11-14 | 2014-02-05 | 中国科学院自动化研究所 | Re-conveying and compaction-stopping integrated device for strand placement head of composite material |
| CN104097333A (en) * | 2014-06-18 | 2014-10-15 | 际华三五零二职业装有限公司 | Small sheet taking/feeding device and mold of automatic sheet paver of bulletproof helmet |
| CN104097333B (en) * | 2014-06-18 | 2016-06-22 | 际华三五零二职业装有限公司 | A kind of fetched and delivered small powder sheet devices and mechanism that mould forms by the automatic tile machine of bulletproof halmet |
| CN105690801A (en) * | 2016-04-13 | 2016-06-22 | 李军利 | Universal laying device for automatic tow placement of carbon fiber composite |
| CN106808706A (en) * | 2017-03-20 | 2017-06-09 | 王智 | A kind of storage tank end socket producing device and method |
| CN108422685A (en) * | 2018-05-28 | 2018-08-21 | 保定标正机床有限责任公司 | A kind of automatic fiber placement equipment laid for fibrous composite |
| CN108422685B (en) * | 2018-05-28 | 2023-11-17 | 保定标正机床有限责任公司 | Automatic wire laying equipment for laying fiber composite material |
| CN109279446A (en) * | 2018-11-22 | 2019-01-29 | 江苏科技大学 | A kind of wrapping device and wrapping track approach for tubulose carbon fiber wrapping mechanism |
| CN110789155A (en) * | 2019-11-08 | 2020-02-14 | 江苏科技大学 | Automatic forming equipment and laying process method for carbon fibers of offshore wind power blade |
| CN111300386A (en) * | 2020-03-31 | 2020-06-19 | 广东技术师范大学天河学院 | Multifunctional industrial robot |
| CN113021952A (en) * | 2021-03-17 | 2021-06-25 | 常州新创航空科技有限公司 | Automatic unit strutting arrangement is put in tape laying machine shop |
| CN114434827A (en) * | 2022-01-27 | 2022-05-06 | 西安交通大学 | Multi-station robot type automatic manufacturing method and device for special-shaped long purlin made of composite material |
| CN114851596A (en) * | 2022-04-22 | 2022-08-05 | 合肥工业大学 | Silk laying head and silk laying machine |
| CN118024621A (en) * | 2024-04-15 | 2024-05-14 | 杭州艾美依航空制造装备有限公司 | Horizontal wire laying bearing device and horizontal automatic wire laying system |
| CN118024620A (en) * | 2024-04-15 | 2024-05-14 | 杭州艾美依航空制造装备有限公司 | Wire laying robot and double-robot type automatic wire laying system |
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