CN106066176A - A kind of seven-axis linkage Optical Fiber Winding machine frame for movement - Google Patents

A kind of seven-axis linkage Optical Fiber Winding machine frame for movement Download PDF

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Publication number
CN106066176A
CN106066176A CN201610417299.XA CN201610417299A CN106066176A CN 106066176 A CN106066176 A CN 106066176A CN 201610417299 A CN201610417299 A CN 201610417299A CN 106066176 A CN106066176 A CN 106066176A
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fine
axle
led
fine axle
optical fiber
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郭仲林
高武保
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Individual
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Priority to CN201610417299.XA priority Critical patent/CN106066176A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
    • G01C19/727—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers using a passive ring resonator

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

The invention discloses a kind of seven-axis linkage Optical Fiber Winding machine frame for movement, including fiber collecting mechanism, left/right fiber supply device, left/right Dao Xian mechanism, left/right fiber discharging device, left/right slip ring and support；Receive fine axle, left for fine axle, that fine axle three axle is led on a left side is nested coaxial, right for fine axle, that fine axle two axle is led on the right side is nested coaxial, above five axles are coaxial, each axle is mounted with high-precision photoelectric code disk, improves the Angle Position control accuracy of each axle；Left/right fiber discharging device two axle is coaxial, and linear electric motors platform is mounted with high-precision grating scale, improves the fine precision of row of system；Tension measure and control mechanism achieves high-precision constant tensile control during Optical Fiber Winding；Slip ring solves externally fed and the signal transmission issues of instrumentation mechanism and fiber discharging device when Dao Xian mechanism rotates；Systems for optical inspection can realize automatic reverse and the monitoring around ring quality of optical fiber coiling；Present configuration is reliable and stable, rigidity is big, can realize the omnidistance identical tension full-automatic level Four winding of optical fiber.

Description

A kind of seven-axis linkage Optical Fiber Winding machine frame for movement
Technical field
The present invention relates to a kind of seven-axis linkage Optical Fiber Winding machine frame for movement.
Background technology
Optical fibre gyro is a kind of novel sensor utilizing optical fiber sensing technology measurement space inertia rotation rate, at present Develop into field of inertia technology and there is the Novel main flow instrument of epoch-making feature；Optical fibre gyro and mechanical gyro and laser gyro Compare, have that the startup time is short, there is no that moving component, impact resistance and vibration, volume are little, precision is high, low cost, be suitable for integrated Advantage；The application prospect of optical fibre gyro is very wide, and it is applied not only to the navigation of satellite, aircraft, nuclear submarine, boats and ships, guided missile Guidance, the high precision position control of spaceship, and on civilian, can be also used for the field such as robot and Automated condtrol.
Fiber optic loop is the core component of optical fibre gyro, and its winding method and quality not only affect coming of gyro useful signal Source, and be the source of most nonreciprocal error, it is to affect gyro performance, restriction inertial navigation level optical fibre gyro through engineering approaches at present Main factor；The fiber stress when winding method of fiber optic loop, external condition during winding and winding is to affect optical fiber The principal element of gyro performance；The how high-quality fiber optic loop of coiling, the development to optical fibre gyro is particularly significant, therefore, develops Accurate automated fiber optic wrapping machine is most important.
Some current Optical Fiber Winding machine huge structures are heavy, and the fine precision of row is low, and the tension force control accuracy on optical fiber is low, from And causing around ring quality difference, efficiency is low.
Content of the invention
It is an object of the invention to provide a kind of seven-axis linkage Optical Fiber Winding machine frame for movement, the fine axle of the receipts of this structure, left confession Fine axle, a left side lead the nested conllinear of fine axle three axle, right lead the nested conllinear of fine axle two axle, above five axle conllinear for fine axle, the right side, provide five Movement locus, left fiber discharging device and the right fiber discharging device two axle conllinear that the free degree rotates, provides the motion of two-freedom translation Track；Receive fine axle to realize that different constant rotational speed rotates and receive fibre, left/right for fine axle in the control of left/right tension measure and control mechanism Under, adjustment rotating speed is to ensure the omnidistance constant tension of fiber optic loop coiling in real time, and left/right fiber discharging device can realize high accuracy when ring Row's fibre, above seven axles, according to around the collaborative linkage of ring technique, can realize the symmetrical coiling of quadrupole of fiber optic loop.
The present invention is a kind of seven-axis linkage Optical Fiber Winding machine frame for movement, including fiber collecting mechanism, left fiber supply device, right confession fibre Mechanism, Zuo Daoxian mechanism, You Daoxian mechanism, left fiber discharging device, right fiber discharging device, support A, support B, support C, support D, support E, left slip ring, right slip ring；Described receive fine axle, left for fine axle, a left side lead fine axle respectively by receive fine axle bearing and receive fine axle bearing lid, Left lead fine axle bearing for fine axle bearing lid, a left side for fine axle bearing lead with a left side that fine axle bearing lid is nested successively from inside to outside to be fixed with left Lead on fine axle and support A for fine axle, a left side in left, receive fine axle, left for fine axle, that fine axle is led on a left side is coaxial, constitutes three layers of nesting axle system 1； Described right for fine axle, the right side lead fine axle respectively by right for fine axle bearing and right for fine axle bearing lid, fine axle bearing is led on the right side and the right side is led Fine axle bearing lid from inside to outside successively nesting be fixed on the right side and lead on fine axle and support B, right for fine axle, that fine axle is led on the right side is coaxial, constitute The nested axle system 2 of two-layer；Described left fiber discharging device is fixed on the fine mechanism supports plate of left bank, and left linear motor rotor drives a left side to lead fibre Movable block is axially moveable, and constitutes axle system 3；Described right fiber discharging device is fixed in right fiber discharging device gripper shoe, right linear electric motors Mover drives the right side to lead fine movable block and is axially moveable, and constitutes axle system 4；Axle system 1 is coaxial with axle system 2, the axis of the 3rd, axle system 4 of axle system with The axis of the 1st, axle system 2 of axle system is parallel；Described left tonometry mechanism can refer to the tension force on optical fiber on the left of detection fiber wrapping machine Make left for fine motor movement, thus the constant tensile control realizing on the left of Optical Fiber Winding machine on optical fiber；Described left governing mechanism of tension Cushioning effect can be played to the tension variation on optical fiber on the left of Optical Fiber Winding machine, reduce the fluctuation of tension force on optical fiber, thus carry The control accuracy of high-tension；Described right tonometry mechanism can instruct the right side with the tension force on optical fiber on the right side of detection fiber wrapping machine For fine motor movement, thus the constant tensile control realizing on the right side of Optical Fiber Winding machine on optical fiber；Described right governing mechanism of tension is permissible Play cushioning effect to the tension variation on optical fiber on the right side of Optical Fiber Winding machine, reduce the fluctuation of tension force on optical fiber, thus improve and open The control accuracy of power；Supply lines in described left tonometry mechanism and left linear electric motors platform, holding wire are connected to left slip ring, Solve externally fed and the signal transmission issues of measuring mechanism and motor when Zuo Daoxian mechanism rotates；Described right tonometry machine Supply lines in structure and right linear electric motors platform, holding wire are connected to right slip ring, solve measuring machine when You Daoxian mechanism rotates The externally fed of structure and motor and signal transmission issues；The fine axle of described receipts, left/right lead fine axle, left/right installs height on fine axle The photoelectric code disk of precision, substantially increases the position control accuracy of each axle；High-precision grating is installed on left/right fiber discharging device Chi, substantially increases the fine precision of row of the fine axle of left/right row；It is separately installed with limit sensors on described left/right flying trident, be used for Detection left/right leads the movement position of fine movable block, solves left/right in winding process and leads the movement interference problem of fine movable block； The fine skeleton of described receipts is arranged above Systems for optical inspection, for the left/right edge commutation detection in fiber optic loop winding process, And the folded fibre that occurs during to winding optical fiber, turn-to-turn space are excessive etc., and problem is monitored, control system can be according to different Monitoring signal instruction Optical Fiber Winding machine falls fine automatically, can instruct again Optical Fiber Winding machine when problem eliminates and continues around fibre, it is achieved that The Automated condtrol of fiber optic loop coiling.
The advantage of Optical Fiber Winding machine frame for movement of the present invention is:
(1) precise structure, volume is little, it is achieved that the symmetrical winding of fiber optic loop quadrupole；
(2) receive fine axle, left for fine axle, that fine axle three axle is led on a left side is nested coaxial, right for fine axle, the right side lead fine axle two axle nested with Axle, above five axles are coaxial, and shafting structure is compact, and system stiffness is big, provide not only the movement locus that five degree of freedom rotates, and It is mounted with high-precision photoelectric code disk on each axle, substantially increase the Angle Position control accuracy of each axle；
(3) left fiber discharging device and right fiber discharging device two axle are coaxial, and shafting structure is compact, and rigidity is big, provide not only two certainly It by the movement locus of degree translation, and is mounted with high-precision grating scale on left/right linear electric motors platform, substantially increase system The fine precision of row；
(4) the high accuracy constant revolution that fine axle can realize different rotating speeds is received；
(5) tension force that tonometry mechanism can in real time on detection fiber wrapping machine optical fiber, instruction is adjusted in real time for fine motor Joint is for fine axle rotating speed, thus realizes the constant tension on Optical Fiber Winding machine optical fiber；
(6) tension variation on Optical Fiber Winding machine optical fiber can be played cushioning effect by governor motion, reduces and opens on optical fiber The fluctuation of power, thus improve the control accuracy of tension force；
(7) supply lines in tonometry mechanism and linear electric motors platform, holding wire are connected to slip ring, solve and lead fine machine Tonometry mechanism and the externally fed of linear electric motors and signal transmission issues when structure rotates；
(8) it is separately installed with limit sensors on left/right flying trident, lead the movement position of fine movable block for detecting left/right, Solve left/right in winding process and lead the movement interference problem of fine movable block；
(9) receive fine skeleton and be arranged above Systems for optical inspection, can realize that in fiber optic loop winding process, left/right edge is automatic Commutation, and the folded fibre that occurs during to winding optical fiber, turn-to-turn space be excessive etc., and problem is monitored, and control system can be according to not Same monitoring signal instruction Optical Fiber Winding machine is wound the process of defect automatically.
Brief description
Fig. 1 is Optical Fiber Winding machine frame for movement external structure of the present invention.
Fig. 2 is that the present invention receives fibre, left leads fine driving mechanism structure figure for fine, a left side.
Fig. 2 A is that the present invention is right leads fine driving mechanism structure figure for fine, the right side.
Fig. 3 is that the present invention receives fibre, left leads fine mechanism structure figure for fine, a left side.
Fig. 3 A is that the present invention is right leads fine mechanism structure figure for fine, the right side.
Fig. 4 is that the present invention receives fibre, left leads fine shafting structure figure for fine, a left side.
Fig. 4 A is that the present invention is right leads fine shafting structure figure for fine, the right side.
Fig. 5 is the left tension mechanism of the present invention, the fine mechanism structure figure of left bank.
Fig. 5 A is the right tension mechanism of the present invention, right fiber discharging device structure chart.
Fig. 5 B is the present invention left fiber discharging device grating scale and limit sensors structure chart.
In figure:
1. fiber collecting mechanism；2. left fiber supply device；3. right fiber supply device；4. Zuo Daoxian mechanism；5. You Daoxian mechanism；6. left bank Fine mechanism；7. right fiber discharging device；8. support A；9. support B；10. support C；11. support D；12. support E；13. left slip rings；14. Right slip ring；15. Systems for optical inspections；16. pedestals
101. receive fine drive mechanism；102. receive fine axle；103. receive fine skeleton；104. receive fine skeleton fixture；105. receive fibre Axle bearing；106. receive fine axle bearing lid；107. receive fine axle driven pulley；108. receive fine axle driven pulley fixture；109. receive fine side skin Band；110. receive fine axle driving wheel；111. receive fine axle driving wheel fixture；112. receive fine axle drive wheel bearing；113. receive fine side opens Bearing up pulley；114. receive fine side regulating wheel fixture；115. receive fine side tension wheel shaft bearing；116. receive fine motor；117. receive fine motor subtracts Speed device；118. receive fine motor coupler；119. receive fine axle photoelectric code disk
201. is left for fine drive mechanism；202. is left for fine axle；203. is left for fine skeleton；204. is left for fine skeleton fixture； 205. is left for fine axle bearing；206. is left for fine axle bearing lid；207. is left for fine axle driven pulley；208. left confession fibre axle driven pulleys are fixed Part；209. is left for fine side belt；210. is left for fine axle driving wheel；211. is left for fine axle driving wheel fixture；212. is left for fine axle Drive wheel bearing；213. is left for fine side regulating wheel；214. is left for fine side regulating wheel fixture；215. is left for fine side tension wheel shaft Hold；216. is left for fine motor；217. is left for fine motor reducer；218. is left for fine motor coupler；219. is left for fine axle photoelectricity Code-disc
301. is right for fine drive mechanism；302. is right for fine axle；303. is right for fine skeleton；304. is right for fine skeleton fixture； 305. is right for fine axle bearing；306. is right for fine axle bearing lid；307. is right for fine axle driven pulley；308. right confession fibre axle driven pulleys are fixed Part；309. is right for fine side belt；310. is right for fine axle driving wheel；311. is right for fine axle driving wheel fixture；312. is right for fine axle Drive wheel bearing；313. is right for fine side regulating wheel；314. is right for fine side regulating wheel fixture；315. is right for fine side tension wheel shaft Hold；316. is right for fine motor；317. is right right for fine motor coupler for fine motor reducer 318.；319. is right for bobbin photoelectric code Dish；
Fine drive mechanism is led on 401. left sides；Fine axle is led on 402. left sides；Fine axle bearing is led on 403. left sides；Fine axle bearing lid is led on 404. left sides； 405. left flying tridents；406. left flying trident fixtures；Fine movable block is led on 407. left sides；The fine mechanism supports plate of 408. left banks；409. left flying tridents Balancing weight；410. left flying trident bodies；Fine axle driven pulley is led on 411. left sides；Fine axle driven pulley fixture is led on 412. left sides；Fine side is led on 413. left sides Belt；Fine axle driving wheel is led on 414. left sides；Fine axle driving wheel fixture is led on 415. left sides；Fine axle drive wheel bearing is led on 416. left sides；417. Fine side regulating wheel is led on a left side；Fine side regulating wheel fixture is led on 418. left sides；Fine side tension wheel shaft bearing is led on 419. left sides；Fine electricity is led on 420. left sides Machine；Fine motor reducer is led on 421. left sides；Fine motor coupler is led on 422. left sides；Tow wheel group is led on 423. left sides；424. left tension measure and control machines Structure；Fine plate is led on 425. left sides；Fine movable block slide rail is led on 426. left sides；427. left tonometry mechanisms；428. left governing mechanism of tension； Fine axle photoelectric code disk is led on 429. left sides；Fine movable block limit sensors is led on 430. left sides
Fine drive mechanism is led on 501. right sides；Fine axle is led on 502. right sides；Fine axle bearing is led on 503. right sides；Fine axle bearing lid is led on 504. right sides； 505. right flying tridents；506. right flying trident fixtures；Fine movable block is led on 507. right sides；508. right fiber discharging device gripper shoes；509. right flying tridents Balancing weight；510. right flying trident bodies；Fine axle driven pulley is led on 511. right sides；Fine axle driven pulley fixture is led on 512. right sides；Fine side is led on 513. right sides Belt；Fine axle driving wheel is led on 514. right sides；Fine axle driving wheel fixture is led on 515. right sides；Fine axle drive wheel bearing is led on 516. right sides；517. Fine side regulating wheel is led on the right side；Fine side regulating wheel fixture is led on 518. right sides；Fine side tension wheel shaft bearing is led on 519. right sides；Fine electricity is led on 520. right sides Machine；Fine motor reducer is led on 521. right sides；Fine motor coupler is led on 522. right sides；Tow wheel group is led on 523. right sides；524. right tension measure and control machines Structure；Fine plate is led on 525. right sides；Fine movable block slide rail is led on 526. right sides；527. right tonometry mechanisms；528. right governing mechanism of tension； Fine axle photoelectric code disk is led on 529. right sides；Fine movable block limit sensors is led on 530. right sides
601. left linear electric motors platforms；602. left linear motor rotors；The fine connector of 603. left banks；The fine grating of 604. left banks Chi；The fine grating scale read head of 605. left banks
701. right linear electric motors platforms；702. right linear motor rotors；The fine connector of 703. right rows；The fine grating of 704. right rows Chi；The fine grating scale read head of 705. right rows
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Figure 1, the present invention is a kind of seven-axis linkage Optical Fiber Winding machine frame for movement, including fiber collecting mechanism is the 1st, left The 4th, You Daoxian mechanism of fiber supply device the 2nd, right fiber supply device the 3rd, Zuo Daoxian mechanism the 5th, left fiber discharging device the 6th, right fiber discharging device the 7th, support A 8th, support B the 9th, support C the 10th, support D the 11st, support E the 12nd, left slip ring the 13rd, right slip ring the 14th, Systems for optical inspection 15 and pedestal 16。
Referring to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, the 101st, the fiber collecting mechanism 1 in the present invention receives fibre axle by receiving fine drive mechanism 102nd, receive fine skeleton the 103rd, to receive fine skeleton fixture and the 104th, receives fine axle bearing and the 105th, receives fibre axle bearing lid 106 and receipts fibre axle photoelectric code Dish 119 forms；The 107th, the fine drive mechanism of receipts in the present invention is received fibre axle driven pulley fixture and the 108th, is received fibre by receiving fine axle driven pulley The 109th, side belt is received fine axle driving wheel and the 110th, is received fine axle driving wheel fixture and the 111st, receives fibre axle drive wheel bearing and the 112nd, receive fibre side and open The 113rd, bearing up pulley is received fine side regulating wheel fixture and the 114th, is received fine side tension wheel shaft bearing and the 115th, receives fibre motor and the 116th, receive fibre motor reducer 117 form with receiving fine motor coupler 118；
Referring to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 4 A, the left fiber supply device 2 in the present invention is supplied fine drive mechanism by left 201st, left the 202nd, left the 203rd, left the 204th, left the 205th, left for fine axle axle for fine axle bearing for fine skeleton fixture for fine skeleton for fine axle Hold lid 206 and the fine axle photoelectric code disk 219 of left confession forms；The 207th, the fine drive mechanism of left confession in the present invention is supplied fine axle driven pulley by left Left fix for fine axle driving wheel for fine axle driving wheel is the 210th, left for fine side belt is the 209th, left for fine axle driven pulley fixture is the 208th, left Part is the 211st, left the 212nd, left the 213rd, left the 214th, left for fibre for fine side regulating wheel fixture for fine side regulating wheel for fine axle drive wheel bearing Side tension wheel shaft bearing is the 215th, left the 216th, left for fine motor reducer 217 with left form for fine motor coupler 218 for fine motor；
Referring to shown in Fig. 1, Fig. 2 A, Fig. 3 A, Fig. 4 A, the right fiber supply device 3 in the present invention is supplied fine drive mechanism by right 301st, right the 302nd, right the 303rd, right the 304th, right the 305th, right for fine axle axle for fine axle bearing for fine skeleton fixture for fine skeleton for fine axle Hold lid 306 and the fine axle photoelectric code disk 319 of right confession forms；The 307th, the fine drive mechanism of right confession in the present invention is supplied fine axle driven pulley by right Right fix for fine axle driving wheel for fine axle driving wheel is the 310th, right for fine side belt is the 309th, right for fine axle driven pulley fixture is the 308th, right Part is the 311st, right the 312nd, right the 313rd, right the 314th, right for fibre for fine side regulating wheel fixture for fine side regulating wheel for fine axle drive wheel bearing Side tension wheel shaft bearing is the 315th, right the 316th, right for fine motor reducer 317 with right form for fine motor coupler 318 for fine motor；
Referring to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, the Zuo Daoxian mechanism 4 in the present invention is led fine drive mechanism by a left side 401st, a left side is led fine axle the 402nd a, left side and is led fine axle bearing the 403rd a, left side and lead fine the 405th, left flying trident fixture 406 and of axle bearing lid the 404th, left flying trident A left side is led fine axle photoelectric code disk 429 and is formed；Left flying trident in the present invention is led the fine mechanism supports plate of fine movable block the 407th, left bank by a left side 408th, left flying trident balancing weight the 409th, left flying trident body 410 and a left side is led fine movable block limit sensors 430 and is formed；A left side in the present invention is led Fine drive mechanism 401 is led fine axle driven pulley the 411st a, left side by a left side and is led fine axle driven pulley fixture the 412nd a, left side and lead fine side belt the 413rd a, left side and lead Fine axle driving wheel the 414th a, left side is led fine axle driving wheel fixture the 415th a, left side and is led fine axle drive wheel bearing the 416th a, left side and lead fine side regulating wheel 417th, a left side is led fine side regulating wheel fixture the 418th a, left side and is led fine side tension wheel shaft bearing the 419th a, left side and lead fine motor the 420th a, left side and lead fine motor and subtract Speed device 421 and a left side are led fine motor coupler 422 and are formed；A left side in the present invention is led fine movable block 407 and is led tow wheel group the 423rd a, left side by a left side Tension measure and control mechanism leads on the 424th a, left side fine plate 425 and a left side is led fine movable block slide rail 426 and formed；Left tension measure and control mechanism in the present invention 424 are made up of left tonometry mechanism 427 and left governing mechanism of tension 428 respectively；
Referring to shown in Fig. 1, Fig. 2 A, Fig. 3 A, Fig. 4 A, Fig. 5 A, the You Daoxian mechanism 5 in the present invention is led fine driving machine by the right side Structure the 501st, the right side is led fine axle the 502nd, the right side and is led fine axle bearing the 503rd, the right side and lead fine axle bearing lid the 504th, right flying trident the 505th, right flying trident fixture 506 Lead fine axle photoelectric code disk 529 with the right side to form；Right flying trident in the present invention is led fine movable block the 507th, right fiber discharging device gripper shoe by the right side 508th, right flying trident balancing weight the 509th, right flying trident body 510 and the right side is led fine movable block limit sensors 530 and is formed；The right side in the present invention is led Fine drive mechanism 501 is led fine axle driven pulley the 511st, the right side by the right side and is led fine axle driven pulley fixture the 512nd, the right side and lead fine side belt the 513rd, the right side and lead Fine axle driving wheel the 514th, the right side is led fine axle driving wheel fixture the 515th, the right side and is led fine axle drive wheel bearing the 516th, the right side and lead fine side regulating wheel 517th, the right side is led fine side regulating wheel fixture the 518th, the right side and is led fine side tension wheel shaft bearing the 519th, the right side and lead fine motor the 520th, the right side and lead fine motor and subtract Speed device 521 and the right side are led fine motor coupler 522 and are formed；The right side in the present invention is led fine movable block 507 and is led tow wheel group the 523rd, the right side by the right side Tension measure and control mechanism leads on the 524th, the right side fine plate 525 and the right side is led fine movable block slide rail 526 and formed；Right tension measure and control mechanism in the present invention 524 are made up of right tonometry mechanism 527 and right governing mechanism of tension 528 respectively；
Referring to shown in Fig. 1, Fig. 5, the left fiber discharging device 6 in the present invention is respectively by left linear electric motors platform the 601st, left straight line The fine grating scale 604 of fine connector the 603rd, the left bank of electric mover the 602nd, left bank and the fine grating scale read head 605 of left bank form；
Referring to shown in Fig. 1, Fig. 5 A, the right fiber discharging device 7 in the present invention is the 701st, right straight by right linear electric motors platform respectively Line electric mover the 702nd, the right row fine grating scale 704 of fine connector the 703rd, right row and the fine grating scale read head 705 of right row form；
In the present invention a left side lead fine axle 402 and lead fine axle bearing lid 404 by a left side and a left side is led fine axle bearing 403 and is fixed on On support A8, left flying trident 405 is fixed on a left side by left flying trident fixture 406 and leads on fine axle 402；Fine axle is led on a left side in the present invention The left side of 402 is connected with a left side and leads fine drive mechanism 401, and a left side is led fine axle driven pulley 411 and led fine axle driven pulley fixture 412 by a left side Being fixed on a left side and leading on fine axle 402, a left side is led fine axle driving wheel 414 and is led fine axle driving wheel fixture 415 by a left side and fine axle master is led on a left side Driving wheel bearing 416 is fixed on support A8, and a left side is led fine side regulating wheel 417 and led fine side tension wheel shaft bearing 419 by a left side and fibre is led on a left side Side regulating wheel fixture 418 is fixed on support A8, and a left side is led fine motor 420 and led fine motor flange by a left side and be fixed on support A8 On；A left side in the present invention is led the output shaft of fine motor 420 and is led fine motor reducer the 421st a, left side by a left side and lead fine motor coupler 422 Leading fine axle driving wheel 414 with a left side to be connected, driving a left side to lead fine axle driving wheel 414 and rotate, a left side is led fine axle driving wheel 414 and is led fibre by a left side Side belt 413 drives a left side to lead fine axle driven pulley 411 to rotate, thus drives a left side to lead fine axle 402 and left flying trident 405 rotates；The present invention In a left side lead fine axle photoelectric code disk 429 and use reflective photoelectric code disk, its signal supervisory instrument is fixed on by cantilever beam On support A 8, its code-disc is arranged on a left side and leads on fine axle driven pulley 411, it is achieved that the high accuracy that fine axle 402 Angle Position is led on a left side is surveyed Amount；The right side that fine axle 402 is led on a left side in the present invention is connected with left flying trident 405, and left flying trident body 410 is connected with a left side and leads fine movable block 407th, the fine mechanism supports plate 408 of left bank and left flying trident balancing weight 409；A left side in the present invention is led fine movable block 407 and is led fibre by a left side Movable block slide rail 426 can lead moving axially of fine axle 402 on a left side；Fine movable block limit sensors 430 is led on a left side in the present invention It is arranged on left flying trident body 410 by screw, nut；A left side in the present invention is led tow wheel group 423 and is fixed on by screw and nut A left side is led on fine plate 425, and a left side is led tow wheel group 423 and realized that optical fiber is receiving fine axle 102 and the left guiding supplying between fine axle 202；The present invention In left tonometry mechanism 427 be fixed on a left side by screw and nut and lead on fine plate 425, left governing mechanism of tension 428 passes through Screw, nut and spring are fixed on a left side and lead on fine plate 425, and left tension measure and control mechanism 424 realizes that optical fiber is receiving fine axle 102 and left confession Constant tension between fine axle 202；The fine mechanism supports plate 408 of left bank in the present invention and left flying trident balancing weight 409 and left flying trident Body 410 is connected, and the fine mechanism supports plate 408 of left bank realizes the support of left fiber discharging device 6 and fixes, and left flying trident balancing weight 409 realizes Zuo Daoxian mechanism 4 leads the rotary inertia balance of fine axle 402 with regard to a left side.
In the present invention left for fine axle 202 by left for fine axle bearing lid 206 and left be nested in for fine axle bearing 205 A left side is led on fine axle 402；The left left side for fine axle 202 in the present invention is connected with left for fine drive mechanism 201, left driven for fine axle Wheel 207 by left be fixed on for fine axle driven pulley fixture 208 left on fine axle 202, left for fine axle driving wheel 210 by left confession Fine axle driving wheel fixture 211 and left be fixed on support C10 for fine axle drive wheel bearing 212, left leads to for fine side regulating wheel 213 Cross left for fine side tension wheel shaft bearing 215 with left be fixed on support C10 for fine side regulating wheel fixture 214, left for fine motor 216 It is fixed on support C10 for fine motor flange by left；The left output shaft for fine motor 216 in the present invention supplies fine electricity by left Machine decelerator is the 217th, left to be connected for fine axle driving wheel 210 with left for fine motor coupler 218, drives and left revolves for fibre driving wheel 210 Turn, left left rotated for fine axle driven pulley 207 by left drive for fine side belt 209 for fine axle driving wheel 210, thus drive left confession Fine axle 202 rotates；The fine axle photoelectric code disk 219 of left confession in the present invention uses reflective photoelectric code disk, its signal detection dress Putting and being fixed on support A 8 by cantilever beam, its code-disc is arranged on left on fine axle driven pulley 207, it is achieved that left for fine axle The high-acruracy survey of 202 Angle Position；The left right side for fine axle 202 in the present invention is connected with left for fine skeleton 203, left for fine bone Frame 203 is fixed on left confession on fine axle 202 by left for fine skeleton fixture 204；
The fine axle 102 of receipts in the present invention is nested in left for fine axle by receiving fine axle bearing lid 106 and the fine axle bearing 105 of receipts On 202；The left side receiving fine axle 102 in the present invention is connected with the fine drive mechanism 101 of receipts, receives fine axle driven pulley 107 by receiving fibre Axle driven pulley fixture 108 is fixed on the fine axle 102 of receipts, receives fine axle driving wheel 110 by receiving fine axle driving wheel fixture 111 He Receive fine axle drive wheel bearing 112 to be fixed on support E12, receive fine side regulating wheel 113 by receiving fine side tension wheel shaft bearing 115 and receiving Fine side regulating wheel fixture 114 is fixed on support E12, receives fine motor 116 by receiving fine motor flange and is fixed on support E12 On；The output shaft receiving fine motor 116 in the present invention by receive fine motor reducer the 117th, receives fine motor coupler 118 with receive fine Axle driving wheel 110 connects, and drives the fine axle driving wheel 110 of receipts to rotate, and receives fine axle driving wheel 110 and is driven by receiving fibre side belt 109 Receive fine axle driven pulley 107 to rotate, thus drive the fine axle 102 of receipts to rotate；The fine axle photoelectric code disk 119 of receipts in the present invention uses reflection The photoelectric code disk of formula, its signal supervisory instrument is fixed on support A 8 by cantilever beam, its code-disc be arranged on the fine axle of receipts from On driving wheel 107, it is achieved that receive the high-acruracy survey of fine axle 102 Angle Position；The right side receiving fine axle 102 in the present invention is connected with receipts Fine skeleton 103, receives fine skeleton 103 and is fixed on the fine axle 102 of receipts by receiving fine skeleton fixture 104；
In the present invention the right side lead fine axle 502 and lead fine axle bearing lid 504 by the right side and the right side is led fine axle bearing 503 and is fixed on On support B9, right flying trident 505 is fixed on the right side by right flying trident fixture 506 and leads on fine axle 502；Fine axle is led on the right side in the present invention The right side of 502 is connected with the right side and leads fine drive mechanism 501, and the right side is led fine axle driven pulley 511 and led fine axle driven pulley fixture 512 by the right side Being fixed on the right side and leading on fine axle 502, the right side is led fine axle driving wheel 514 and is led fine axle driving wheel fixture 515 by the right side and fine axle master is led on the right side Driving wheel bearing 516 is fixed on support B9, and the right side is led fine side regulating wheel 517 and led fine side tension wheel shaft bearing 519 by the right side and fibre is led on the right side Side regulating wheel fixture 518 is fixed on support B9, and the right side is led fine motor 520 and led fine motor flange by the right side and be fixed on support B9 On；The right side in the present invention is led the output shaft of fine motor 520 and is led fine motor reducer the 521st, the right side by the right side and lead fine motor coupler 522 Leading fine axle driving wheel 514 with the right side to be connected, driving the right side to lead fine axle driving wheel 514 and rotate, the right side is led fine axle driving wheel 514 and is led fibre by the right side Side belt 513 drives the right side to lead fine axle driven pulley 511 to rotate, thus drives the right side to lead fine axle 502 and right flying trident 505 rotates；The present invention In the right side lead fine axle photoelectric code disk 529 and use reflective photoelectric code disk, its signal supervisory instrument is fixed on by cantilever beam On support B 9, its code-disc is arranged on the right side and leads on fine axle driven pulley 511, it is achieved that the high accuracy that fine axle 502 Angle Position is led on the right side is surveyed Amount；The right side that fine axle 502 is led on the right side in the present invention is connected with right flying trident 505, and right flying trident body 510 is connected with the right side and leads fine movable block 507th, right fiber discharging device gripper shoe 508 and right flying trident balancing weight 509；The right side in the present invention is led fine movable block 507 and is led fibre by the right side Movable block slide rail 526 can lead moving axially of fine axle 502 on the right side；Fine movable block limit sensors 530 is led on the right side in the present invention It is arranged on right flying trident body 510 by screw, nut；The right side in the present invention is led tow wheel group 523 and is fixed on by screw and nut The right side is led on fine plate 525, and the right side is led tow wheel group 523 and realized that optical fiber is receiving fine axle 102 and the right guiding supplying between fine axle 302；The present invention In right tonometry mechanism 527 be fixed on the right side by screw and nut and lead on fine plate 525, right governing mechanism of tension 528 passes through Screw, nut and spring are fixed on the right side and lead on fine plate 525, and right tension measure and control mechanism 524 realizes that optical fiber is receiving fine axle 102 and right confession Constant tension between fine axle 302；Right fiber discharging device gripper shoe 508 in the present invention and right flying trident balancing weight 509 and right flying trident Body 510 is connected, and right fiber discharging device gripper shoe 508 realizes the support of right fiber discharging device 7 and fixes, and right flying trident balancing weight 509 realizes You Daoxian mechanism 5 leads the rotary inertia balance of fine axle 502 with regard to the right side.
In the present invention right for fine axle 302 by right for fine axle bearing lid 306 and right be nested in for fine axle bearing 305 The right side is led on fine axle 502；The right right side for fine axle 302 in the present invention is connected with right for fine drive mechanism 301, right driven for fine axle Wheel 307 by right be fixed on for fine axle driven pulley fixture 308 right on fine axle 302, right for fine axle driving wheel 310 by right confession Fine axle driving wheel fixture 311 and right be fixed on support D11 for fine axle drive wheel bearing 312, right leads to for fine side regulating wheel 313 Cross right for fine side tension wheel shaft bearing 315 with right be fixed on support D11 for fine side regulating wheel fixture 314, right for fine motor 316 It is fixed on support D11 for fine motor flange by right；The right output shaft for fine motor 316 in the present invention supplies fine electricity by right Machine decelerator is the 317th, right to be connected for fine axle driving wheel 310 with right for fine motor coupler 318, drives and right revolves for fibre driving wheel 310 Turn, right right rotated for fine axle driven pulley 307 by right drive for fine side belt 309 for fine axle driving wheel 310, thus drive right confession Fine axle 302 rotates；The fine axle photoelectric code disk 319 of right confession in the present invention uses reflective photoelectric code disk, its signal detection dress Putting and being fixed on support B 9 by cantilever beam, its code-disc is arranged on right on fine axle driven pulley 307, it is achieved that right for fine axle The high-acruracy survey of 302 Angle Position；The right right side for fine axle 302 in the present invention is connected with right for fine skeleton 303, right for fine bone Frame 303 is fixed on right confession on fine axle 302 by right for fine skeleton fixture 304；
Left linear electric motors platform 601 in the present invention is fixed on the fine mechanism supports plate 408 of left bank by screw, nut On, left linear motor rotor 602 is led fine movable block 407 by the fine connector 603 of left bank and a left side and is coupled, left linear motor rotor 602 drive left sides are led fine movable block 407 and are axially moveable, and the fine grating scale 604 of left bank is arranged on left linear electric motors platform 601, left The fine grating scale read head 605 of row is arranged on left linear motor rotor 602, it is achieved that left side high accuracy row's fibre of Optical Fiber Winding machine；
Right linear electric motors platform 701 in the present invention is fixed on right fiber discharging device gripper shoe 508 by screw, nut On, right linear motor rotor 702 is led fine movable block 507 by the fine connector 703 of right row and the right side and is coupled, right linear motor rotor The 702 drive right sides are led fine movable block 507 and are axially moveable, and the fine grating scale 704 of right row is arranged on right linear electric motors platform 701, right The fine grating scale read head 705 of row is arranged on right linear motor rotor 702, it is achieved that right side high accuracy row's fibre of Optical Fiber Winding machine；
The fine axle of receipts in the present invention is the 102nd, left leads fine axle 402 respectively by receiving fine axle bearing 105 and receiving for fine axle the 202nd a, left side Fine axle bearing lid is the 106th, left for fine axle bearing 205 with left lead fine axle bearing 403 for fine axle bearing lid the 206th a, left side and fine axle axle is led on a left side Hold lid 404 from inside to outside successively nesting be fixed on and left lead on fine axle 402 and support A8 for fine axle the 202nd a, left side, receive fine axle the 102nd, left confession It is coaxial that fine axle 402 is led on fine axle the 202nd a, left side, constitutes three layers of nested axle system 1；Fine 502 points of axle is led on fine axle the 302nd, the right side of right confession in the present invention Not by right for fine axle bearing 305 and right lead fine axle bearing 503 for fine axle bearing lid the 306th, the right side and the right side lead fine axle bearing lid 504 by In outwards successively nesting be fixed on the right side and lead on fine axle 502 and support B9, right to lead fine axle 502 for fine axle the 302nd, the right side coaxial, constitutes two The nested axle system 2 of layer；Left fiber discharging device 6 in the present invention is fixed on the fine mechanism supports plate 408 of left bank, left linear motor rotor 602 drive left sides are led fine movable block 407 and are axially moveable, and constitute axle system 3；It is fine that right fiber discharging device 7 in the present invention is fixed on right row On mechanism supports plate 508, right linear motor rotor 702 drives the right side to lead fine movable block 507 and is axially moveable, and constitutes axle system 4；This Axle system 1 in bright is coaxial with axle system 2, and the axis of the 3rd, axle system 4 of axle system is parallel with the axis of the 1st, axle system 2 of axle system；
Left tonometry mechanism 427 in the present invention can instruct a left side with the tension force on optical fiber on the left of detection fiber wrapping machine Move for fine motor 216, thus the constant tension realizing on the left of Optical Fiber Winding machine on optical fiber；Left tension adjustment machine in the present invention Tension variation on optical fiber on the left of Optical Fiber Winding machine can be played cushioning effect by structure 428, reduces the fluctuation of tension force on optical fiber, from And improve the control accuracy of tension force；Right tonometry mechanism 527 in the present invention can be with on optical fiber on the right side of detection fiber wrapping machine Tension force, instruct and right move for fine motor 316, thus the constant tension realizing on the right side of Optical Fiber Winding machine on optical fiber；In the present invention Right governing mechanism of tension 528 can play cushioning effect to the tension variation on optical fiber on the right side of Optical Fiber Winding machine, reduce optical fiber The fluctuation of upper tension force, thus improve the control accuracy of tension force；
Left tonometry mechanism 427 in the present invention and the supply lines in left linear electric motors platform 601, holding wire are connected to Left slip ring 13, solves the transmission problem with extraneous power supply and signal when Zuo Daoxian mechanism 4 rotates；Right tension force in the present invention Supply lines in measuring mechanism 527 and right linear electric motors platform 701, holding wire are connected to right slip ring 14, solve the right side and lead fine machine Transmission problem with extraneous power supply and signal when structure 5 rotates；
Fine movable block limit sensors 430 is led on a left side in the present invention and the right side is led fine movable block limit sensors 530 and used respectively Lead fine movable block 407 and the right movement position leading fine movable block 507 in a detection left side, solve a left side in winding process and lead fine movable block 407 lead the movement interference problem of fine movable block 507 with the right side；
Systems for optical inspection 15 in the present invention is arranged on pedestal 16 by screw, nut, can realize fiber optic loop coiling During the automatic reverse of left/right edge, and the folded fibre that occurs during to winding optical fiber, turn-to-turn space be excessive etc., and problem is supervised Surveying, control system can automatically be wound the process of defect according to different monitoring signal instruction Optical Fiber Winding machines；
Support A in the present invention the 8th, support B the 9th, support C the 10th, support D the 11st, support E 12 is pacified by screw-nut Dress is fixed on pedestal 16；
A kind of seven-axis linkage Optical Fiber Winding machine frame for movement of the present invention, provides the movement locus that five degree of freedom rotates, Provide the movement locus of two-freedom translation；Receiving fine axle and can realizing that different constant rotational speed rotates receipts fibre, left/right exists for fine axle Under the control of left/right tension measure and control mechanism, omnidistance constant tension when adjusting rotating speed in real time to ensure fiber optic loop coiling, left/right is arranged Fine mechanism can realize high accuracy row's fibre when ring, and above seven axles are according to around the collaborative linkage of ring technique, it is achieved the quadrupole of fiber optic loop Symmetrical coiling.It is installed in optical fibre gyro through the fiber optic loop of this invention coiling and can be used for satellite, aircraft, nuclear submarine, the leading of boats and ships Boat, missile guidance, the high precision position control of spaceship, and the field such as robot and Automated condtrol.

Claims (19)

1. a seven-axis linkage Optical Fiber Winding machine frame for movement, it is characterised in that: by fiber collecting mechanism (1), left fiber supply device (2), Right fiber supply device (3), Zuo Daoxian mechanism (4), You Daoxian mechanism (5), left fiber discharging device (6), right fiber discharging device (7), support A (8), support B (9), support C (10), support D (11), support E (12), left slip ring (13), right slip ring (14) Systems for optical inspection (15) form with pedestal (16)；
Described fiber collecting mechanism (1) is fixed by receipts fibre drive mechanism (101), the fine axle (102) of receipts, receipts fibre skeleton (103), receipts fibre skeleton The fine axle bearing (105) of part (104), receipts and receipts fine axle bearing lid (106) composition；Described receive fine drive mechanism by receiving fine axle driven pulley (107), receive fine axle driven pulley fixture (108), fine side belt (109) of receipts, the fine axle driving wheel (110) of receipts, receive fibre axle driving wheel Fixture (111), receive fine axle drive wheel bearing (112), receive fine side regulating wheel (113), receive fine side regulating wheel fixture (114), Receive fine side tension wheel shaft bearing (115), receive fine motor (116), the fine motor reducer (117) of receipts and receive fine motor coupler (118) Composition；
Described left fiber supply device (2) by left for fine drive mechanism (201), left for fine axle (202), left for fine skeleton (203), left confession Fine skeleton fixture (204), left for fine axle bearing (205) with left form for fine axle bearing lid (206)；Described left for fine driving machine Structure by left for fine axle driven pulley (207), left for fine axle driven pulley fixture (208), left for fine side belt (209), left for fine axle Driving wheel (210), left for fine axle driving wheel fixture (211), left for fine axle drive wheel bearing (212), left for fine side regulating wheel (213), left for fine side regulating wheel fixture (214), left for fine side tension wheel shaft bearing (215), left for fine motor (216), left confession Fine motor reducer (217) and left confession fine motor coupler (218) composition；
Described right fiber supply device (3) by right for fine drive mechanism (301), right for fine axle (302), right for fine skeleton (303), right confession Fine skeleton fixture (304), right for fine axle bearing (305) with right form for fine axle bearing lid (306)；Described right for fine driving machine Structure by right for fine axle driven pulley (307), right for fine axle driven pulley fixture (308), right for fine side belt (309), right for fine axle Driving wheel (310), right for fine axle driving wheel fixture (311), right for fine axle drive wheel bearing (312), right for fine side regulating wheel (313), right for fine side regulating wheel fixture (314), right for fine side tension wheel shaft bearing (315), right for fine motor (316), right confession Fine motor reducer (317) and right confession fine motor coupler (318) composition；
Described Zuo Daoxian mechanism (4) by a left side lead fine drive mechanism (401), fine axle (402) is led on a left side, fine axle bearing (403) is led on a left side, left Lead fine axle bearing lid (404), left flying trident (405), left flying trident fixture (406) and a left side and lead fine axle photoelectric code disk (429) composition；Institute State left flying trident and fine movable block (407), the fine mechanism supports plate (408) of left bank, left flying trident balancing weight (409), left flying trident body are led in a left side (410) lead fine movable block limit sensors (430) form with a left side；Fine drive mechanism (401) is led on a described left side, and to be led fine axle by a left side driven Wheel (411), a left side lead fine axle driven pulley fixture (412), fine side belt (413) is led on a left side, fine axle driving wheel (414) is led on a left side, a left side is led Fine axle driving wheel fixture (415), a left side lead fine axle drive wheel bearing (416), fine side regulating wheel (417) is led on a left side, a left side is led fine side and opened Fine side tension wheel shaft bearing (419) led by bearing up pulley fixture (418), a left side, fine motor (420) is led on a left side, fine motor reducer (421) is led on a left side Lead fine motor coupler (422) composition with a left side；A described left side is led fine movable block (407) and is led tow wheel group (423), the survey of left tension force by a left side Fine plate (425) is led in control mechanism (424), a left side and fine movable block slide rail (426) composition is led on a left side；Described left tension measure and control mechanism (424) It is made up of left tonometry mechanism (427) and left governing mechanism of tension (428) respectively；
Described You Daoxian mechanism (5) by the right side lead fine drive mechanism (501), fine axle (502) is led on the right side, fine axle bearing (503) is led on the right side, right Lead fine axle bearing lid (504), right flying trident (505) and right flying trident fixture (506) composition；Described right flying trident is led fine movable block by the right side (507), to lead fine movable block spacing right fiber discharging device gripper shoe (508), right flying trident balancing weight (509), right flying trident body (510) and the right side Sensor (530) forms；The described right side lead fine drive mechanism (501) by the right side lead fine axle driven pulley (511), that fine axle driven pulley is led on the right side is solid Locking member (512), the right side lead fine side belt (513), fine axle driving wheel (514) is led on the right side, fine axle driving wheel fixture (515), the right side are led in the right side Lead fine axle drive wheel bearing (516), fine side regulating wheel (517) is led on the right side, fine side regulating wheel fixture (518) is led on the right side, fine side is led on the right side Tension wheel shaft bearing (519), the right side lead fine motor (520), fine motor reducer (521) is led on the right side and fine motor coupler (522) is led on the right side Composition；The described right side lead fine movable block (507) by the right side lead tow wheel group (523), fine plate (525) is led on right tension measure and control mechanism (524), the right side Lead fine movable block slide rail (526) composition with the right side；Described right tension measure and control mechanism (524) is respectively by right tonometry mechanism (527) With right governing mechanism of tension (528) composition；
Described left fiber discharging device (6) is respectively by left linear electric motors platform (601), left linear motor rotor (602), the fine connection of left bank The fine grating scale (604) of part (603), left bank and left bank fine grating scale read head (605) composition；
Described right fiber discharging device (7) is respectively by right linear electric motors platform (701), right linear motor rotor (702), the fine connection of right row Part (703), the fine grating scale (704) of right row and right row fine grating scale read head (705) composition；
A described left side is led fine axle (402) and is led fine axle bearing lid (404) by a left side and a left side is led fine axle bearing (403) and is fixed on support On A (8), left flying trident (405) is fixed on a left side by left flying trident fixture (406) and leads on fine axle (402)；Fine axle is led on a described left side (402) left side is connected with a left side and leads fine drive mechanism (401), and a left side is led fine axle driven pulley (411) and led fine axle driven pulley admittedly by a left side Locking member (412) is fixed on a left side and leads on fine axle (402), and a left side is led fine axle driving wheel (414) and led fine axle driving wheel fixture by a left side (415) leading fine axle drive wheel bearing (416) be fixed on support A (8) with a left side, a left side is led fine side regulating wheel (417) and is led fibre by a left side Side tension wheel shaft bearing (419) and a left side are led fine side regulating wheel fixture (418) and are fixed on support A (8), and fine motor (420) is led on a left side Lead fine motor flange by a left side to be fixed on support A (8)；The output shaft that fine motor (420) is led on a described left side leads fine motor by a left side Decelerator (421), a left side are led fine motor coupler (422) and are led fine axle driving wheel (414) with a left side and is connected, and fibre axle driving wheel is led on a drive left side (414) rotating, a left side is led fine axle driving wheel (414) and is led fine side belt (413) by a left side and drive a left side to lead fine axle driven pulley (411) rotation Turn, thus drive a left side to lead fine axle (402) and left flying trident (405) rotation；A described left side is led fine axle photoelectric code disk (429) and is used reflective Photoelectric code disk, its signal supervisory instrument is fixed on support A (8) by cantilever beam, and its code-disc is arranged on a left side and leads fine axle On driven pulley (411), it is achieved that the high-acruracy survey of fine axle (402) Angle Position is led on a left side；The right side that fine axle (402) is led on a described left side connects Be connected to left flying trident (405), left flying trident body (410) be connected with a left side lead fine movable block (407), the fine mechanism supports plate (408) of left bank and Left flying trident balancing weight (409)；A described left side is led fine movable block (407) and is led fine movable block slide rail (426) by a left side and can lead fibre on a left side Moving axially of axle (402)；A described left side is led tow wheel group (423) and is fixed on a left side by screw and nut and leads on fine plate (425), left Lead tow wheel group (423) and realize that optical fiber is receiving fine axle (102) and the left guiding supplying between fine axle (202)；Described left tonometry machine Structure (427) is fixed on a left side by screw and nut and leads on fine plate (425), left governing mechanism of tension (428) by screw, nut and Spring is fixed on a left side and leads on fine plate (425), and left tension measure and control mechanism (424) realizes that optical fiber is receiving fine axle (102) and left for fibre axle (202) constant tension between；The fine mechanism supports plate of described left bank (408) and left flying trident balancing weight (409) and left flying trident body (410) being connected, the fine mechanism supports plate (408) of left bank realizes the support of left fiber discharging device (6) and fixes, left flying trident balancing weight (409) realize that Zuo Daoxian mechanism (4) leads the rotary inertia balance of fine axle (402) with regard to a left side.
Described left for fine axle (202) by left for fine axle bearing lid (206) and left be nested in a left side for fine axle bearing (205) and lead On fine axle (402)；The described left left side for fine axle (202) is connected with left for fine drive mechanism (201), left for fine axle driven pulley (207) it is fixed on for fine axle driven pulley fixture (208) left on fine axle (202) by left, left lead to for fine axle driving wheel (210) Cross left for fine axle driving wheel fixture (211) with left be fixed on support C (10) for fine axle drive wheel bearing (212), left for fine Side regulating wheel (213) by left for fine side tension wheel shaft bearing (215) with left be fixed on support for fibre side regulating wheel fixture (214) On C (10), the fine motor (216) of left confession is fixed on support C (10) for fine motor flange by left；Described left for fine motor (216) output shaft by left for fine motor reducer (217), left for fine motor coupler (218) with left for fine axle driving wheel (210) connect, drive and left rotate for fine driving wheel (210), left for fine axle driving wheel (210) by left for fine side belt (209) Drive and left rotate for fine axle driven pulley (207), thus drive and left rotate for fine axle (202)；Described left for fine axle photoelectric code disk (219) using reflective photoelectric code disk, its signal supervisory instrument is fixed on support A (8) by cantilever beam, its code-disc It is arranged on left on fine axle driven pulley (207), it is achieved that the left high-acruracy survey for fine axle (202) Angle Position；Described left for fibre The right side of axle (202) is connected with left for fine skeleton (203), left for fine skeleton (203) by left solid for fine skeleton fixture (204) It is scheduled on left on fine axle (202)；
The fine axle (102) of described receipts is nested in left for fine axle by receiving fine axle bearing lid (106) and receipts fibre axle bearing (105) (202) on；The described left side receiving fine axle (102) is connected with the fine drive mechanism (101) of receipts, receives fine axle driven pulley (107) by receiving Fine axle driven pulley fixture (108) is fixed on the fine axle (102) of receipts, receives fine axle driving wheel (110) solid by receiving fine axle driving wheel Locking member (111) and the fine axle drive wheel bearing (112) of receipts are fixed on support E (12), receive fine side regulating wheel (113) by receiving fibre side Tension wheel shaft bearing (115) and fine side regulating wheel fixture (114) of receipts are fixed on support E (12), receive fine motor (116) by receipts Fine motor flange is fixed on support E (12)；The described output shaft receiving fine motor (116) by receive fine motor reducer (117), Receiving fine motor coupler (118) to be connected with receiving fibre axle driving wheel (110), drive is received fine axle driving wheel (110) and is rotated, receipts fibre axle master Driving wheel (110) drives the fine axle driven pulley (107) of receipts to rotate by receiving fine side belt (109), thus drives the fine axle (102) of receipts to revolve Turn；Described fibre axle photoelectric code disk (119) of receiving uses reflective photoelectric code disk, and its signal supervisory instrument is fixed by cantilever beam On support A (8), its code-disc is arranged on the fine axle driven pulley (107) of receipts, it is achieved that receive the high-precision of fine axle (102) Angle Position Degree measurement；The described right side receiving fine axle (102) is connected with the fine skeleton (103) of receipts, receives fine skeleton (103) and is fixed by receiving fine skeleton Part (104) is fixed on the fine axle (102) of receipts；
The described right side is led fine axle (502) and is led fine axle bearing lid (504) by the right side and the right side is led fine axle bearing (503) and is fixed on support On B (9), right flying trident (505) is fixed on the right side by right flying trident fixture (506) and leads on fine axle (502)；Fine axle is led on the described right side (502) right side is connected with the right side and leads fine drive mechanism (501), and the right side is led fine axle driven pulley (511) and led fine axle driven pulley admittedly by the right side Locking member (512) is fixed on the right side and leads on fine axle (502), and the right side is led fine axle driving wheel (514) and led fine axle driving wheel fixture by the right side (515) leading fine axle drive wheel bearing (516) be fixed on support B (9) with the right side, the right side is led fine side regulating wheel (517) and is led fibre by the right side Side tension wheel shaft bearing (519) and the right side are led fine side regulating wheel fixture (518) and are fixed on support B (9), and fine motor (520) is led on the right side Lead fine motor flange by the right side to be fixed on support B (9)；The output shaft that fine motor (520) is led on the described right side leads fine motor by the right side Decelerator (521), the right side are led fine motor coupler (522) and are led fine axle driving wheel (514) with the right side and is connected, and fibre axle driving wheel is led on the drive right side (514) rotating, the right side is led fine axle driving wheel (514) and is led fine side belt (513) by the right side and drive the right side to lead fine axle driven pulley (511) rotation Turn, thus drive the right side to lead fine axle (502) and right flying trident (505) rotation；The described right side is led fine axle photoelectric code disk (529) and is used reflective Photoelectric code disk, its signal supervisory instrument is fixed on support B (9) by cantilever beam, and its code-disc is arranged on the right side and leads fine axle On driven pulley (511), it is achieved that the high-acruracy survey of fine axle (502) Angle Position is led on the right side；The right side that fine axle (502) is led on the described right side connects Be connected to right flying trident (505), right flying trident body (510) be connected with the right side lead fine movable block (507), right fiber discharging device gripper shoe (508) and Right flying trident balancing weight (509)；The described right side is led fine movable block (507) and is led fine movable block slide rail (526) by the right side and can lead fibre on the right side Moving axially of axle (502)；The described right side is led tow wheel group (523) and is fixed on the right side by screw and nut and leads on fine plate (525), and the right side is led Tow wheel group (523) realizes that optical fiber is receiving fine axle (102) and the right guiding supplying between fine axle (302)；Described right tonometry mechanism (527) being fixed on the right side by screw and nut to lead on fine plate (525), right governing mechanism of tension (528) is by screw, nut and bullet Spring is fixed on the right side and leads on fine plate (525), and right tension measure and control mechanism (524) realizes that optical fiber is receiving fine axle (102) and right for fibre axle (302) constant tension between；Described right fiber discharging device gripper shoe (508) and right flying trident balancing weight (509) and right flying trident body (510) being connected, right fiber discharging device gripper shoe (508) realizes the support of right fiber discharging device (7) and fixes, right flying trident balancing weight (509) realize that You Daoxian mechanism (5) leads the rotary inertia balance of fine axle (502) with regard to the right side.
Described right for fine axle (302) by right for fine axle bearing lid (306) and right be nested in the right side for fine axle bearing (305) and lead On fine axle (502)；The described right right side for fine axle (302) is connected with right for fine drive mechanism (301), right for fine axle driven pulley (307) it is fixed on for fine axle driven pulley fixture (308) right on fine axle (302) by right, right lead to for fine axle driving wheel (310) Cross right for fine axle driving wheel fixture (311) with right be fixed on support D (11) for fine axle drive wheel bearing (312), right for fine Side regulating wheel (313) by right for fine side tension wheel shaft bearing (315) with right be fixed on support for fibre side regulating wheel fixture (314) On D (11), the fine motor (316) of right confession is fixed on support D (11) for fine motor flange by right；Described right for fine motor (316) output shaft by right for fine motor reducer (317), right for fine motor coupler (318) with right for fine axle driving wheel (310) connect, drive and right rotate for fine driving wheel (310), right for fine axle driving wheel (310) by right for fine side belt (309) Drive and right rotate for fine axle driven pulley (307), thus drive and right rotate for fine axle (302)；Described right for fine axle photoelectric code disk (319) using reflective photoelectric code disk, its signal supervisory instrument is fixed on support B (9) by cantilever beam, its code-disc It is arranged on right on fine axle driven pulley (307), it is achieved that the right high-acruracy survey for fine axle (302) Angle Position；Described right for fibre The right side of axle (302) is connected with right for fine skeleton (303), right for fine skeleton (303) by right solid for fine skeleton fixture (304) It is scheduled on right on fine axle (302)；
Described left linear electric motors platform (601) is fixed on the fine mechanism supports plate (408) of left bank by screw, nut, Left linear motor rotor (602) is led fine movable block (407) by the fine connector (603) of left bank and a left side and is coupled, and left straight-line electric is motor-driven Son (602) drives a left side to lead fine movable block (407) and is axially moveable, thus realizes the fine function of left side row of Optical Fiber Winding machine；
Described right linear electric motors platform (701) is fixed on right fiber discharging device gripper shoe (508) by screw, nut, Right linear motor rotor (702) is led fine movable block (507) by the fine connector (703) of right row and the right side and is coupled, and right straight-line electric is motor-driven Son (702) drives the right side to lead fine movable block (507) and is axially moveable, thus realizes the fine function of right side row of Optical Fiber Winding machine；
Described support A (8), support B (9), support C (10), support D (11), support E (12) are installed by screw-nut respectively It is fixed on pedestal (15).
2. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: receive fine axle (102), left for fine axle (202), a left side lead fine axle (402) respectively by receive fine axle bearing (105) and receive fibre axle bearing lid (106), Left for fine axle bearing (205) and left for fine axle bearing lid (206), fine axle bearing (403) is led on a left side and fibre axle bearing lid (404) is led on a left side Nesting is fixed on and left leads on fine axle (402) and support A (8) for fine axle (202), a left side successively from inside to outside, receives fine axle (102), a left side Lead fine axle (402) coaxially for fine axle (202), a left side, constitute three layers of nested axle system 1.
3. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: right for fine axle (302), the right side lead fine axle (502) respectively by right for fine axle bearing (305) with right lead fibre axle axle for fibre axle bearing lid (306), the right side Hold (503) and the right side lead fine axle bearing lid (504) from inside to outside successively the nested right side of being fixed on lead on fine axle (502) and support B (9), Right lead the coaxial of fine axle (502) for fine axle (302), the right side, constitute the nested axle system 2 of two-layer.
4. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: left fiber discharging device (6) being fixed on the fine mechanism supports plate (408) of left bank, left linear motor rotor (602) drives a left side to lead fine movable block (407) along axle To movement, constitute axle system 3；Right fiber discharging device (7) is fixed on right fiber discharging device gripper shoe (508), right linear motor rotor (702) drive the right side to lead fine movable block (507) to be axially moveable, constitute axle system 4.
5. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: axle system 1 and axle Being 2 coaxial, the axis of the 3rd, axle system 4 of axle system is parallel with the axis of the 1st, axle system 2 of axle system.
6. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: left tonometry Mechanism (427) can instruct left for fine motor (216) motion with the tension force on optical fiber on the left of detection fiber wrapping machine, thus realize Constant tension on optical fiber on the left of Optical Fiber Winding machine；Left governing mechanism of tension (428) can be on optical fiber on the left of Optical Fiber Winding machine Tension variation play cushioning effect, reduce the fluctuation of tension force on optical fiber, thus improve the control accuracy of tension force.
7. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: right tonometry Mechanism (527) can instruct right for fine motor (316) motion with the tension force on optical fiber on the right side of detection fiber wrapping machine, thus realize Constant tension on optical fiber on the right side of Optical Fiber Winding machine；Right governing mechanism of tension (528) can be on optical fiber on the right side of Optical Fiber Winding machine Tension variation play cushioning effect, reduce the fluctuation of tension force on optical fiber, thus improve the control accuracy of tension force.
8. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: receive fine axle (102) can rotate freely independent of other axles, optical fiber is wound in the fine skeleton of receipts (103), it is possible to achieve optical fiber quadripolarity around Method.
9. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: left for fine axle (202) can rotate freely independent of other axles, a part of optical fiber is wound on left for, on fine skeleton (203), being fiber optic loop coiling When provide optical fiber.
10. a kind of seven-axis linkage Optical Fiber Winding machine frame for movement according to claim 1, it is characterised in that: right for fine axle (302) can rotate freely independent of other axles, a part of optical fiber is wound on right for, on fine skeleton (303), being fiber optic loop coiling When provide optical fiber.
11. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: fine axle is led on a left side (402) can rotate freely independent of other axles, the right side is led fine axle (502) and can be rotated freely independent of other axles.
12. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: left straight-line electric Motor-driven son (602) can realize axial translation independent of other axles；Right linear motor rotor (702) can be real independent of other axles Existing axial translation.
13. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: this structure carries Supply the movement locus that five degree of freedom rotates, provide the movement locus of two-freedom translation.
14. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: left tension force is surveyed Supply lines in measuring mechanism (427) and left linear electric motors platform (601), holding wire are connected to left slip ring (13), solve a left side and lead Transmission problem with extraneous power supply and signal when fine mechanism (4) rotates.
15. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: right tension force is surveyed Supply lines in measuring mechanism (527) and right linear electric motors platform (701), holding wire are connected to right slip ring (14), solve the right side and lead Transmission problem with extraneous power supply and signal when fine mechanism (5) rotates.
16. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: receive fine axle (102), fine axle (402) is led on a left side, fine axle (502) is led on the right side, left for fine axle (202), right high-precision for being provided with on fine axle (302) Photoelectric code disk, substantially increases the position control accuracy of each axle.
17. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: the fine machine of left bank On structure (6) and right fiber discharging device (7), high-precision grating scale is installed, substantially increases left fiber discharging device (6) and the fine machine of right row The fine precision of the row of structure (7).
18. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: left flying trident (405) it and is separately installed with a left side on right flying trident (505) and lead fine movable block limit sensors (430) and the fibre spacing biography of movable block is led on the right side Sensor (530), is used for detecting a left side and leads fine movable block (407) and the movement position of fibre movable block (507) is led on the right side, solve coiling In journey, fine movable block (407) is led on a left side and the movement interference problem of fine movable block (507) is led on the right side.
19. a kind of seven-axis linkage Optical Fiber Winding machine frame for movements according to claim 1, it is characterised in that: receive fine skeleton (103) it is arranged above Systems for optical inspection (15), for the left hand edge in fiber optic loop winding process and right hand edge commutation detection, And the folded fibre that occurs during to winding optical fiber, turn-to-turn space are excessive etc., and problem is monitored, it is achieved that fiber optic loop coiling automatic Change control.
CN201610417299.XA 2016-06-15 2016-06-15 A kind of seven-axis linkage Optical Fiber Winding machine frame for movement Pending CN106066176A (en)

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Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN108106636A (en) * 2017-12-26 2018-06-01 重庆华渝电气集团有限公司 A kind of fine device of fiber optic loop coiling auxiliary row
CN112537691A (en) * 2020-12-30 2021-03-23 武汉光谷长盈通计量有限公司 Automatic optical fiber winding device and winding method thereof
CN114034314A (en) * 2021-09-27 2022-02-11 合肥正阳光电科技有限责任公司 Sixteen-pole automatic optical fiber gyroscope winding machine and control method thereof
CN117383820A (en) * 2023-10-25 2024-01-12 重庆微敏科技有限公司 Method, device and medium for winding frameless optical fiber

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Cited By (6)

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Publication number Priority date Publication date Assignee Title
CN108106636A (en) * 2017-12-26 2018-06-01 重庆华渝电气集团有限公司 A kind of fine device of fiber optic loop coiling auxiliary row
CN108106636B (en) * 2017-12-26 2021-07-06 重庆华渝电气集团有限公司 Auxiliary fiber arrangement device for winding optical fiber ring
CN112537691A (en) * 2020-12-30 2021-03-23 武汉光谷长盈通计量有限公司 Automatic optical fiber winding device and winding method thereof
CN114034314A (en) * 2021-09-27 2022-02-11 合肥正阳光电科技有限责任公司 Sixteen-pole automatic optical fiber gyroscope winding machine and control method thereof
CN114034314B (en) * 2021-09-27 2022-04-15 合肥正阳光电科技有限责任公司 Sixteen-pole automatic optical fiber gyroscope winding machine and control method thereof
CN117383820A (en) * 2023-10-25 2024-01-12 重庆微敏科技有限公司 Method, device and medium for winding frameless optical fiber

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