CN103029308B - Carbon fiber laying apparatus - Google Patents
Carbon fiber laying apparatus Download PDFInfo
- Publication number
- CN103029308B CN103029308B CN201110298040.5A CN201110298040A CN103029308B CN 103029308 B CN103029308 B CN 103029308B CN 201110298040 A CN201110298040 A CN 201110298040A CN 103029308 B CN103029308 B CN 103029308B
- Authority
- CN
- China
- Prior art keywords
- axle
- axial filament
- rectilinear motion
- motion assembly
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
A kind of carbon fiber laying apparatus, comprises arm, wrist, placement head and rotary core mould assembly.Arm comprises the first axle rectilinear motion assembly, the second rectilinear motion assembly be connected with described first axle rectilinear motion assembly and the 3rd axle rectilinear motion assembly with described second axle rectilinear motion assembly.Wrist is connected with described 3rd axle rectilinear motion assembly, and described wrist has three rotational freedoms.Placement head is fixedly connected with described wrist.Rotary core mould assembly comprises and being oppositely arranged and rotatable core with described placement head.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 whole placement head of the reconfigurable of core and the position of rotation of core self, thus the core goods of lay arbitrary shape easily.
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 composite low-cost manufacturing technique, 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.
Technology of fiber placement for composite materials forming technique is the full-automatic composites processing technology of one grown up as the reform to Filament-wound Machine and automated tape-laying technology.System of Filament Winding Process refers to and adopts continuous fiber or band after resin infiltrates, and is wrapped on core, is finally made into a kind of production technology of the goods of definite shape by a series of process according to certain rule.Automated tape-laying technology adopts numerical control laying equipment exactly, realizes the prepreg cloth of composite, the continuous surface trimming of band and automatic placement by the means of digitlization, automation.Fiber placement is studied more late at home, and starting basic point is lower, all starts to walk from device development.Nanjing Aero-Space University and Shanghai Wan Ge Composite Materials Tech have cooperated domestic First eight bunch fiber lay principle prototype, develop the CAD/CAM software prototype of the automatic placement based on CATIA, begin to take shape fiber placement and equipment technology system; Wuhan University of Technology and the unit cooperation development such as Beijing Space technical study institute, Xi'an composite research institute automatic placement technical research, completes the development of equipment technology and the research of technology; Harbin Institute of Technology completes design and the debugging efforts of seven freedom four bunch fiber layer, and the fiber prepreg tow applying 4mm width carries out lay test, in lay process of the test, lay control system working stability, reliable, tow control position, each axle movement position are accurate.
But, in current fiber placement equipment, in configuration aspects, most complex structure, cantilever structure is in the majority, and Three Degree Of Freedom wrist quality is comparatively large, is unfavorable for the attitude controlling placement head; In lay efficiency, it is more difficult that tow controls, and tow resends and is easy to failure, and lay efficiency is lower; For in core goods, the external form of large multipair core has certain requirement, poor to the adaptability of core, can not complete complex-curved, the laying forming problem such as Varying-thickness, 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 being convenient to the core goods of lay various shape.
A kind of carbon fiber laying apparatus, comprising:
Arm, comprises the first axle rectilinear motion assembly, the second rectilinear motion assembly be connected with described first axle rectilinear motion assembly and the 3rd axle rectilinear motion assembly with described second axle rectilinear motion assembly;
Wrist, be connected with described 3rd axle rectilinear motion assembly, described wrist has three rotational freedoms;
Placement head, is fixedly connected with described wrist; And
Rotary core mould assembly, comprises and being oppositely arranged and rotatable core with described placement head.
Further, described first axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before first axle;
Screw mandrel supporting seat after first axle;
First axial filament bar, two ends to wear before described first axle screw mandrel supporting seat after screw mandrel supporting seat and described first axle respectively rotationally;
First axle servomotor, its output shaft is fixedly connected with one end of described first axial filament bar, and described in described first axle driven by servomotor, the first axial filament bar rotates; And
First axial filament stem nut, is sheathed on described first axial filament bar, and is fixedly connected with described second rectilinear motion assembly.
Further, described first axle rectilinear motion assembly also comprises:
First axis rail, be arranged in parallel with described first axial filament bar;
First axle slide block, is located on described first axis rail slidably, and is fixedly connected with described second axle rectilinear motion assembly.
Further, described second axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before second axle;
Screw mandrel supporting seat after second axle;
Second axial filament bar, two ends to wear before described second axle screw mandrel supporting seat after screw mandrel supporting seat and described second axle respectively rotationally;
Second axle servomotor, its output shaft is fixedly connected with one end of described second axial filament bar, and described in described second axle driven by servomotor, the second axial filament bar rotates; And
Second axial filament stem nut, is sheathed on described second axial filament bar, and is fixedly connected with described 3rd rectilinear motion assembly.
Further, described second axle rectilinear motion assembly also comprises:
Second axis rail, be arranged in parallel with described second axial filament bar;
Second axle slide block, is located on described second axis rail slidably, and is fixedly connected with described 3rd axle rectilinear motion assembly.
Further, described 3rd axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before 3rd axle;
Screw mandrel supporting seat after 3rd axle;
3rd axial filament bar, two ends to wear before described 3rd axle screw mandrel supporting seat after screw mandrel supporting seat and described 3rd axle respectively rotationally;
3rd axle servomotor, its output shaft is fixedly connected with one end of described 3rd axial filament bar, and described in described 3rd axle driven by servomotor, the 3rd axial filament bar rotates; And
3rd axial filament stem nut, is sheathed on described 3rd axial filament bar, and is fixedly connected with described wrist.
Further, described 3rd axle rectilinear motion assembly also comprises:
Guide post, be arranged in parallel with described 3rd axial filament bar;
Guide pin bushing, is sheathed on 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 described first motor drives described yaw axis to rotate, and described yaw axis drives described mechanical interface to do yawing rotation; Described second motor drives described pitch axes, and described pitch axis drives described mechanical interface to do elevating movement; Described 3rd motor drives described swinging axle to rotate, and described swinging axle drives described mechanical interface to do oscillating motion; Described mechanical interface is fixedly connected with described placement head.
Further, described placement head comprise oriented module, clamp module, resend module, shear module, module of exerting pressure, heating collection modules, source of the gas, gas source purification device and bundle channel; Described oriented module, for the tow that leads, enables tow enter described bundle channel smoothly; Described tow, before described shear module action, clamps by described clamp module, prevents described tow from rebounding under tension; The described module that resends is for transporting feeding; Described shear module is for shearing described tow; Described module of exerting pressure is for being pressed on surface of the work by tow; 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 described guide rail slidably; Described scroll chuck is fixedly connected with the output shaft of described servomotor; Described core clamping on described clamping device and scroll chuck, the position of clamping device according to the 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 whole placement head of the reconfigurable of core and the position of rotation of core self, thus the core goods of lay arbitrary shape easily.
[accompanying drawing explanation]
Fig. 1 is the stereogram of the carbon fiber laying apparatus of embodiment one;
The stereogram of the first axle rectilinear motion assembly that Fig. 2 is the laying apparatus of carbon fiber shown in Fig. 1;
The stereogram of the second axle rectilinear motion assembly that Fig. 3 is the laying apparatus of carbon fiber shown in Fig. 1;
The stereogram of the 3rd axle rectilinear motion assembly that Fig. 4 is the laying apparatus of carbon fiber shown in Fig. 1;
Fig. 5 is the principle schematic of the wrist of the laying apparatus of carbon fiber shown in Fig. 1;
Fig. 6 is the principle schematic of the placement head of the laying apparatus of carbon fiber shown in Fig. 1;
Fig. 7 is the principle schematic of the clamp module of the laying apparatus of carbon fiber shown in Fig. 6;
Fig. 8 is the principle schematic resending module of the laying apparatus of carbon fiber shown in Fig. 6;
Fig. 9 is the principle schematic of the shear module of the laying apparatus of carbon fiber shown in Fig. 6;
Figure 10 is the principle schematic of the module of exerting pressure of the laying apparatus of carbon fiber shown in Fig. 6;
Figure 11 is the stereogram of the rotary core mould assembly of the laying apparatus of carbon fiber shown in Fig. 1;
Figure 12 is the stereogram of the carbon fiber laying apparatus of embodiment two.
[detailed description of the invention]
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Preferred embodiment of the present invention is given in accompanying drawing.But the present invention can realize in many different forms, is not limited to embodiment described herein.On the contrary, provide the object of these embodiments be make the understanding of disclosure of the present invention more comprehensively thorough.
It should be noted that, when element is called as " being fixed on " another element, directly can there is element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be directly connected to another element or may there is centering elements simultaneously.Term as used herein " vertical ", " level ", "left", "right" and similar statement are just for illustrative purposes.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present invention understand usually.The object of term used in the description of the invention herein just in order to describe specific embodiment, is not intended to be restriction the present invention.Term as used herein " and/or " comprise arbitrary and all combinations of one or more relevant Listed Items.
The specific embodiment of the present invention provides a kind of carbon fiber laying apparatus of seven freedom, this carbon fiber laying apparatus primarily of the arm with three rectilinear motion assemblies, the wrist with three rotational motion assemblies, have automatic placement function placement head and the pivotal rotary core mould assembly of core can be driven to form.Each moving component of placement head occupies certain locus in assembly structure, and this locus is described by the spatial pose information of each parts, and spatial pose information is made up of two parts: a part is positional information, describes the locus of parts; Another part is attitude information, describes the direction of parts.Parts are moved and are embodied by the change of parts locus, and the change that parts rotate through parts direction embodies.Wherein, arm and wrist play the effect controlling placement head locus and attitude.With the locus of the motion control placement head of the arm of three rectilinear motion assemblies, the wrist with three rotational motion assemblies plays the effect connecting arm and placement head, and controls the spatial attitude of placement head by three rotational motion assemblies; Placement head has automated tape-laying function, tow through oriented module, clamp module, resend module, shear module and tow set heating module, be finally laid in mandrel surface; Core rotating assembly can drive core to turn round around axis, the motion of this gyration associating arm, wrist, finally makes laying apparatus in theory can the core of any profile of lay.
Refer to Fig. 1 and Fig. 2, the carbon fiber laying apparatus 10 of embodiment one has seven freedom, it comprise arm 100, wrist 200, have automated tape-laying function placement head 300, the pivotal rotary core mould assembly 400 of core and fixed support 500 can be driven.Arm 110 comprises three rectilinear motion assemblies.Wrist 120 comprises three rotational motion assemblies.The rectilinear motion associating wrist 120 of arm 110 and the gyration of rotary core mould assembly 140, make placement head 130 can the core of any complex profile of lay.According to actual conditions and Production requirement, carbon fiber laying apparatus 10 can make planer-type equipment and cantilevered equipment.Specifically in the present embodiment, arm 110 is fixed on fixed support 500, and wrist 120 and placement head 300 are suspended in fixed support 500, and rotary core mould assembly 400 is fixed on below fixed support 500, and are oppositely arranged with placement head 300.Fixed support 500 is roughly square, thus makes carbon fiber laying apparatus 10 make 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, 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, second axle rectilinear motion assembly 120 and the 3rd axle rectilinear motion assembly 130, thus regulate placement head 130 in the position in space.
Refer to Fig. 2, the first axle rectilinear motion assembly 110 to comprise before the first axle servomotor 111, first axle screw mandrel supporting seat 118 after screw mandrel supporting seat 112, first axis rail 113, first axial filament bar 114, first axial filament stem nut 115, first axle slide block 116, first axial filament stem nut seat 117, first axle.Before first axle, after screw mandrel supporting seat 112, first axis rail 113 and the first axle, screw mandrel supporting seat 118 is fixed on fixed support 500.The two ends of the first axial filament bar 114 to wear before the first axle screw mandrel supporting seat 118 after screw mandrel supporting seat 112 and the first axle respectively rotationally, and one end is fixedly connected with the output shaft of the first axle servomotor 111.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.First axle slide block 116 is three, is located at slidably respectively on three the first axis rails 113.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.First axle servomotor 111 drives the first axial filament bar 114 to rotate, and drives the first axial filament stem nut 115 to drive the first axial filament stem nut seat 117 to travel 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.
Refer to Fig. 3, the second axle rectilinear motion assembly 120 comprises screw mandrel supporting seat 129 after screw mandrel supporting seat 122, second axial filament bar 123, second axis rail 124, second axial filament stem nut 125, second axle slide block 126, second axial filament stem nut seat 127 before the second axle servomotor 121, second axle, horizontal beam 128, second axle.Before the two ends of the second axial filament bar 123 wear the second axle respectively rotationally, after screw mandrel supporting seat 122 and the second axle, screw mandrel supporting seat 129 and one end are fixedly connected with the output shaft of the second axle servomotor 121.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.Second axle slide block 126 is two, is located at slidably respectively on two the second axis rails 124.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.Before second axle, screw mandrel supporting seat 122, second axis rail 124 and the second axial filament stem nut seat 127 are all fixed on horizontal beam 128.Second axle servomotor 121 drives the second axial filament bar 123 to rotate, and drives the second axial filament stem nut 125 to drive the second axial filament stem nut seat 127 to travel 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.
Refer to Fig. 4, the 3rd axle rectilinear motion assembly 130 comprises screw mandrel supporting seat 139 and vertical beam 1310 after 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.Before the two ends of the 3rd axial filament bar 133 wear the 3rd axle respectively rotationally, after screw mandrel supporting seat 132 and the 3rd axle, screw mandrel supporting seat 139 and one end are 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 136.3rd 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.Before 3rd axle, screw mandrel supporting seat 132, guide post 136 and the 3rd axial filament stem nut seat 137 are all fixed on vertical beam 1310.3rd axial filament stem nut seat 135 is fixed on connecting plate 138, connecting plate 138 is fixed on the second axle rectilinear motion assembly 120,3rd axle servomotor 131 drives the 3rd axial filament bar 133 to rotate, then vertical beam 1310 will be driven in vertical direction motion, and wrist 300 is connected to above vertical beam 1310.
Refer to Fig. 5, wrist 200 plays the effect connecting hand 100 and placement head 300, and wrist 200 regulates the attitude of placement heads 400 in space by self driftage, pitching, swing three rotational motion assemblies.Wrist 200 comprises the first motor 210, yaw axis 220, the 3rd motor 230, second motor 240, pitch axis 250, swinging axle 260 and mechanical interface 270.First motor 210 works, and by a series of transmission, drive yaw axis 220 to rotate, thus driving mechanical interface 270 completes yawing rotation; Second motor 240 works, and by a series of transmission, drive pitch axis 250 to rotate, thus driving mechanical interface 270 completes elevating movement; 3rd motor 230 action, by a series of transmission, drive swinging axle 260 to rotate, thus driving mechanical interface 270 completes oscillating motion.Mechanical interface 270 is fixedly connected with placement head 300.
Refer to Fig. 6, placement head 300, as the core component of seven freedom carbon fiber laying apparatus, has guiding, clamps, shears, resends, the functions such as tow of exerting pressure, and tow 20 is finally laid in surface of the work through placement head 300.Placement head 300 primarily of oriented module 310, clamp module 320, resend module 330, shear module 340, module of exerting pressure 350, heating collection modules 360, source of the gas 370, gas source purification device 380, bundle channel 390 form.Oriented module 310 mainly plays tow 20 guide effect, makes tow 20 can enter bundle channel 390 smoothly; Clamp module 320 plays the effect of clamping tow 20, and when a certain road tow needs to cut off, before shear module 340 action, tow clamps by clamp module 320, prevents tow 20 from rebounding under tension; Resend the effect that module 330 plays transport feeding; Shear module 340 plays the effect of shearing tow 20, when a certain road tow needs to cut off, and shear module 340 action; Module of exerting pressure 350 plays effect tow being 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 after gathering together by module 350 of exerting pressure.Such as, heat collection modules 360 and comprise heating collection modules by first via bundle channel, the second road bundle channel, the 3rd road bundle channel, the 4th road bundle channel, filament mouth and heater.Heater is arranged at filament mouth.
Refer to Fig. 7 to Figure 10, clamp module 320 comprises clamping cylinder 321, clamping connecting rod 322 and compact heap 323.When needs clamping tow 20, clamping cylinder 321 action drives clamping connecting rod 322, promotes compact heap 323, is pressed on bundle channel by tow 20; When needs unclamp tow 20, clamping cylinder 321 is commutated.Resend module 330 to comprise and resend cylinder 331, driven pulley connecting rod 332, driven pulley 333, resend motor 334 and driving wheel 335.Shear module 340 comprises shears cylinder 341, shearing connecting rod 342 and cutting knife 343.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, makes tow 20 enter in bundle channel smoothly.Specifically in the present embodiment, oriented module 310 comprises the delivery wheel of the input port 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 the piston of clamping cylinder 321 and compact heap 323 respectively.When needs clamping tow 20, clamping cylinder 321 action drives clamping connecting rod 322, promotes compact heap 323, is pressed on bundle channel by tow 20; When needs unclamp tow 20, clamping cylinder 321 is commutated.Clamp module 320 adopts Rodless cylinder as power source mode, optimizes structure.
The two ends resending the driven pulley connecting rod 332 of module 330 respectively with resend the piston of cylinder 331 and resend pressure roller and be rotatably connected, resend cylinder 331 and drive driven pulley connecting rod 332 to rotate, driven pulley connecting rod 332 drives and resends pressure roller and move towards driving wheel 335.Resend cylinder 331 for Rodless cylinder.Resending motor 135 drives driving wheel 335 to rotate, driving wheel 335 with resend pressure roller and be oppositely arranged, and the both sides of tow 20 can be compressed respectively.Resend the feeding function that module 330 mainly completes tow 20.When needs increase a certain road tow, resend cylinder 331 to drive and resend pressure roller tow 20 is pressed onto on driving wheel 335, simultaneously, ventilating opening ventilates, and airflow direction is identical with the direction of transport tow 20, tow 20 driving wheel 335 with resend the extruding of pressure roller and wind-force effect under travel forward, finally arrive product surface.Resending module 330 adopts Rodless cylinder driving to resend pressure roller, saves space.
Shear module 340 comprises shears cylinder 341, shearing connecting rod 342, guide pad, lower cutter, upper cutter and holder.Shearing cylinder 341 is Rodless cylinder.The two ends of shearing connecting rod 342 are rotatably connected with the piston and guide pad of shearing cylinder 341 respectively.Lower cutter is fixed on guide pad, and upper cutter is fixed on holder.Shearing cylinder 341 drives shearing connecting rod 342 to rotate, and shears connecting rod 342 and drives guide pad to slide towards upper cutter, lower cutter and upper cutter are abutted against.In the partial structurtes of lay part or the position of an end lay, placement process requires tow 20 partial cut or all cuts off, and now, shear module 340 works.Shearing cylinder 341 drives shearing connecting rod 342 to drive lower cutter to be cut off by tow 20.Shear module 340 adopts Rodless cylinder, saves the space of Placement head device 300 inside.
Heating collection modules comprises the first via bundle channel, the second road bundle channel, the 3rd road bundle channel, the 4th road bundle channel, filament mouth and the heater (not shown) that are parallel to each other.Heater is arranged at filament mouth place.Tow 20 entered oriented module 310, clamp module 320, resend module 330, shear module 340, in heating collection modules, assemble the compact arranged silk ribbon of multi beam tow.Tow 20 is in low viscosity or basic tack-free state before heating, to guarantee that tow 20 can pass through smoothly and arrive module 350 of exerting pressure in bundle channel.Tow 20 has certain viscosity after heating devices heat, guarantees that silk ribbon can be close to goods profile.
Module of exerting pressure 350 comprises cylinder 351 of exerting pressure, 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 casing.Exert pressure cylinder 351 for Rodless cylinder.The exert pressure two ends of connecting rod are fixedly connected with the piston of cylinder 351 of exerting pressure and casing respectively.After tow 20 arrives pressure roller 352, cylinder 351 of exerting pressure applies certain pressure and tow 20 is pressed on product surface, laying is played and paves compacting, interlayer connects and the effect of deaeration, to eliminate inner fiber gap in the direction of the width, the air pressure of cylinder 351 of simultaneously controlling to exert pressure reaches the object controlling platen pressure.
The operation principle of placement head 300 is: open and resend motor 334, drive driving wheel 335 transmission, if tow 20 is clamped, tow 20 is unclamped to clamping cylinder 321 commutation, open and resend cylinder 331, make driven pulley 333 be pressed onto on driving wheel 335 by driven pulley connecting rod 332, extruding tow 20 moves, tow 20 arrives pressure roller 352 times, tow 20 is pressed on the surface of the workpiece by cylinder 351 of exerting pressure, and counterweight cylinder 331 of supplying gas commutates, and driven pulley 333 lifts.When needs are sheared, start clamping cylinder 321 and clamp tow 20, restart afterwards and shear cylinder 341, shear action is implemented to tow 20, after action completes, shearing cylinder 341 is commutated, regain lower cutter 343, carry out next round lay, above-mentioned actuation cycle is carried out.
Refer to 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 guide rail 410 slidably.Scroll chuck 440 is fixedly connected with the output shaft of servomotor 450.Core 430 is rotatable, and clamping, on clamping device 420 and scroll chuck 440, can regulate the position of clamping device 420 according to the shape of core 430.
Above-mentioned carbon fiber laying apparatus 10 is mainly applicable to rotating the workpiece that core length is long, width is narrow, and rigidity is strong, and structural stability is relatively good, precision is higher, the vibrations produced in lay are reduced to minimum, and Reliability comparotive is high, 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 the whole placement head 300 of the reconfigurable of core 430 and the position of rotation of core 430 self, thus the core goods of lay arbitrary shape easily.
Further, the arm 100 of above-mentioned carbon fiber laying apparatus 10 and wrist 200 are moved flexibly, and placement head 300 can be made in theory to arrive optional position, space; Placement head 300 adopts modularized design, and cylinder increases force-increasing mechanism, adds reliability; Above-mentioned carbon fiber laying apparatus 10 is owing to having 7 degree of freedom, and core 430 is rotatable, improves utilization rate and the lay efficiency of material, can complete the laying forming operations such as complex-curved, Varying-thickness, reinforcement.
Be appreciated that the linkage that in placement head 300, each cylinder connects can be replaced by other force-increasing mechanism; Three Degree Of Freedom wrist 200 can be completed the Three Degree Of Freedom device replacement of driftage, pitching, oscillating motion by other; Arm 100 and wrist 200 can be replaced by a 3P-3R robot.
Refer to Figure 12, the carbon fiber laying apparatus 30 of embodiment two is mainly suitable for revolving body small workpiece for cantilevered equipment, compact conformation, and cantilever design flexibility is comparatively large, be convenient to lay, but cantilever design is easily out of shape, affects lay effect.
The carbon fiber laying apparatus 30 of embodiment two and carbon fiber laying apparatus 10 basic simlarity of embodiment one, its difference is: the carbon fiber laying apparatus 30 of embodiment two eliminates fixed support, arm 500, wrist 600, placement head 700, rotary core mould assembly 400 integration of compact; First axle rectilinear motion assembly 510 is located at the side of rotary core mould assembly 400, second axle rectilinear motion assembly 520 is located at the first axle rectilinear motion assembly the 510, three axle rectilinear motion assembly 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 only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It 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 (1)
1. a planer-type carbon fiber laying apparatus, is characterized in that, comprising:
Arm, the 3rd axle rectilinear motion assembly comprising the first axle rectilinear motion assembly, the second axle rectilinear motion assembly be connected with described first axle rectilinear motion assembly and be connected with described second axle rectilinear motion assembly; Described first axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before first axle;
Screw mandrel supporting seat after first axle;
First axial filament bar, two ends to wear before described first axle screw mandrel supporting seat after screw mandrel supporting seat and described first axle respectively rotationally;
First axle servomotor, its output shaft is fixedly connected with one end of described first axial filament bar, and described in described first axle driven by servomotor, the first axial filament bar rotates;
First axial filament stem nut, is sheathed on described first axial filament bar, and is fixedly connected with described second axle rectilinear motion assembly;
First axis rail, be arranged in parallel with described first axial filament bar; And
First axle slide block, is located on described first axis rail slidably, and is fixedly connected with described second axle rectilinear motion assembly;
Described second axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before second axle;
Screw mandrel supporting seat after second axle;
Second axial filament bar, two ends to wear before described second axle screw mandrel supporting seat after screw mandrel supporting seat and described second axle respectively rotationally;
Second axle servomotor, its output shaft is fixedly connected with one end of described second axial filament bar, and described in described second axle driven by servomotor, the second axial filament bar rotates;
Second axial filament stem nut, is sheathed on described second axial filament bar, and is fixedly connected with described 3rd axle rectilinear motion assembly;
Second axis rail, be arranged in parallel with described second axial filament bar; And
Second axle slide block, is located on described second axis rail slidably, and is fixedly connected with described 3rd axle rectilinear motion assembly;
Described 3rd axle rectilinear motion assembly comprises:
Screw mandrel supporting seat before 3rd axle;
Screw mandrel supporting seat after 3rd axle;
3rd axial filament bar, two ends to wear before described 3rd axle screw mandrel supporting seat after screw mandrel supporting seat and described 3rd axle respectively rotationally;
3rd axle servomotor, its output shaft is fixedly connected with one end of described 3rd axial filament bar, and described in described 3rd axle driven by servomotor, the 3rd axial filament bar rotates;
3rd axial filament stem nut, is sheathed on described 3rd axial filament bar;
Guide post, be arranged in parallel with described 3rd axial filament bar; And
Guide pin bushing, is sheathed on described guide post slidably;
Wrist, be connected with described 3rd axle rectilinear motion assembly, and be fixedly connected with described 3rd axial filament stem nut and described guide pin bushing, described wrist has three rotational freedoms, described wrist comprises the first motor, the second motor, the 3rd motor, yaw axis, pitch axis, swinging axle and mechanical interface, described first motor drives described yaw axis to rotate, and described yaw axis drives described mechanical interface to do yawing rotation; Described second motor drives described pitch axes, and described pitch axis drives described mechanical interface to do elevating movement; Described 3rd motor drives described swinging axle to rotate, and described swinging axle drives described mechanical interface to do oscillating motion; Described first motor, the second motor and the 3rd motor parallel interval arrange and all vertical with described swinging axle, described yaw axis and described swinging axle parallel interval are arranged;
Placement head, be fixedly connected with described wrist, and be fixedly connected with described mechanical interface, described placement head comprises oriented module, clamp module, resends module, shear module, module of exerting pressure, heating collection modules, source of the gas, gas source purification device and bundle channel, described oriented module, for the tow that leads, enables tow enter described bundle channel smoothly, described tow, before described shear module action, clamps by described clamp module, prevents described tow from rebounding under tension, the described module that resends is for transporting feeding, described shear module is for shearing described tow, described module of exerting pressure is for being pressed on surface of the work by tow, described heating collection modules is used for heating, gather described tow, the described module that resends comprises and resends cylinder, driven pulley connecting rod, driven pulley, resend motor and driving wheel, the two ends of described driven pulley connecting rod resend cylinder and described driven pulley is rotationally connected with described respectively, described driving wheel is oppositely arranged with described driven pulley and is connected with the described motor that resends, the described cylinder that resends shrinks to drive described driven pulley link rotatable, thus drive described driven pulley to move towards described driving wheel, the described motor that resends drives described driving wheel to rotate, with the both sides making described driving wheel and described driven pulley press on tow respectively, and then realize feeding function, and
Rotary core mould assembly, comprise and being oppositely arranged and rotatable core with described placement head, described rotary core mould assembly also comprises guide rail, clamping device, scroll chuck, servomotor and support, described clamping device is located on described guide rail slidably, described scroll chuck is fixedly connected with the output shaft of described servomotor, described core clamping on described clamping device and scroll chuck, the position of clamping device according to the shape adjustment of described core.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110298040.5A CN103029308B (en) | 2011-09-30 | 2011-09-30 | Carbon fiber laying apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110298040.5A CN103029308B (en) | 2011-09-30 | 2011-09-30 | Carbon fiber laying apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103029308A CN103029308A (en) | 2013-04-10 |
| CN103029308B true CN103029308B (en) | 2015-09-30 |
Family
ID=48016948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110298040.5A Active CN103029308B (en) | 2011-09-30 | 2011-09-30 | Carbon fiber laying apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103029308B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN103552253B (en) * | 2013-11-14 | 2016-01-20 | 中国科学院自动化研究所 | Composite piddler is nose heave to be sent and compresses stop integral device |
| 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 |
| 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 |
| CN109279446B (en) * | 2018-11-22 | 2021-03-02 | 江苏科技大学 | Wire winding device and wire winding track method for tubular carbon fiber wire winding 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 |
| CN113021952B (en) * | 2021-03-17 | 2021-10-15 | 常州新创航空科技有限公司 | Automatic unit strutting arrangement is put in tape laying machine shop |
| CN114434827B (en) * | 2022-01-27 | 2023-06-09 | 西安交通大学 | Multi-station robot type automatic manufacturing method and device for special-shaped stringers made of composite materials |
| CN114851596A (en) * | 2022-04-22 | 2022-08-05 | 合肥工业大学 | Silk laying head and silk laying machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4735672A (en) * | 1982-05-27 | 1988-04-05 | Lockheed Corporation | Automated fiber lay-up machine |
| US5301885A (en) * | 1989-12-28 | 1994-04-12 | Fuji Jukogyo Kabushiki Kaisha | Method and apparatus for fabricating unidirectional materials for helicopter parts |
| US6096164A (en) * | 1990-12-19 | 2000-08-01 | Alliant Techsystems Inc. | Multiple axes fiber placement machine |
| CN1911638A (en) * | 2006-08-25 | 2007-02-14 | 哈尔滨工业大学 | Speading head device of fiber spreading equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5206949B2 (en) * | 2008-06-20 | 2013-06-12 | 村田機械株式会社 | Filament winding apparatus and method |
-
2011
- 2011-09-30 CN CN201110298040.5A patent/CN103029308B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4735672A (en) * | 1982-05-27 | 1988-04-05 | Lockheed Corporation | Automated fiber lay-up machine |
| US5301885A (en) * | 1989-12-28 | 1994-04-12 | Fuji Jukogyo Kabushiki Kaisha | Method and apparatus for fabricating unidirectional materials for helicopter parts |
| US6096164A (en) * | 1990-12-19 | 2000-08-01 | Alliant Techsystems Inc. | Multiple axes fiber placement machine |
| CN1911638A (en) * | 2006-08-25 | 2007-02-14 | 哈尔滨工业大学 | Speading head device of fiber spreading equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103029308A (en) | 2013-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103029308B (en) | Carbon fiber laying apparatus | |
| CN102990950B (en) | Placement head device | |
| KR200420305Y1 (en) | Coil Grip and Cutting Device of Winding Machine | |
| CN201061811Y (en) | Numerical control full-automatic metal spinning machine | |
| CN105690801A (en) | Universal laying device for automatic tow placement of carbon fiber composite | |
| WO2013019356A1 (en) | Method and apparatus for laminating composites | |
| CN105667860B (en) | A kind of automatic film-wrapping machine | |
| CN108237707B (en) | Carbon fiber bundle clamping/shearing/can be achieved and resend the mechanism arrangement of function | |
| CN101579887A (en) | Honeycomb ceramic dry green body dual-blade cutting machine | |
| CN105911909B (en) | A kind of integrated form carbon fiber automatic placement apparatus control system and control method | |
| CN114013068A (en) | Annular wire laying machine tool and wire laying method thereof | |
| KR100368762B1 (en) | Device for gripping and cutting coil of a coil winding machine | |
| CN108671629A (en) | Modified form high temperature resistant kiln tail pierces the preparation method of filter bag with needle | |
| KR102358056B1 (en) | Grooming, impregnating and sealing all-in-one | |
| CN208232252U (en) | A kind of multi-angle cuts spout device and its adapted to injection system | |
| CN114161740A (en) | Automatic detection filament spreading head, filament spreading machine and filament spreading method thereof | |
| CN110834136A (en) | Numerical control cutting system for civil air defense door section bar | |
| CN215516113U (en) | Dialyzer fiber membrane yarn rotating and collecting device | |
| CN207259641U (en) | A kind of automatic feed mechanism for spinning head assembling filter cloth | |
| CN208135562U (en) | A kind of automatic film breaking takes film, dials roller and puts roller arrangement | |
| CN205635937U (en) | Hole bobbin and yarn autosegregation machine | |
| KR102358055B1 (en) | Electric drivetrain and Complex machine for glueing, impregnation and sealing comprising same | |
| CN203331250U (en) | Stone cutting device | |
| CN200960678Y (en) | Medical flexible pipe cutting device | |
| CN103639430A (en) | Workpiece pushing device for motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |