CN108221172B - Special-shaped braiding mandrel clamp and operation method thereof - Google Patents
Special-shaped braiding mandrel clamp and operation method thereof Download PDFInfo
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- CN108221172B CN108221172B CN201810099675.4A CN201810099675A CN108221172B CN 108221172 B CN108221172 B CN 108221172B CN 201810099675 A CN201810099675 A CN 201810099675A CN 108221172 B CN108221172 B CN 108221172B
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- mandrel
- clamp
- air
- connecting plate
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
- D04C3/00—Braiding or lacing machines
- D04C3/48—Auxiliary devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
Abstract
The invention relates to a special-shaped braiding mandrel clamp and an operation method thereof, wherein the special-shaped braiding mandrel clamp is arranged on an industrial manipulator and comprises a clamp body, a pneumatic device, a detection positioning device and a mandrel; wherein, the pneumatic device is arranged on the fixture body and can position the mandrel; the detection positioning device is respectively arranged on the clamp body and the mandrel and can detect the position of the mandrel; the mandrel is clamped at the bottom of the clamp body, and the pneumatic device can charge/exhaust the mandrel. The special-shaped braiding mandrel clamp and the operation method thereof are used for inflating/liquid hardening the mandrel for reinforcement braiding and discharging air/liquid softening the mandrel after resin solidification, so that the mandrel and the member are convenient to separate, and flexible production of braided composite material members can be realized by replacing mandrels with different cross-sectional shapes.
Description
[ field of technology ]
The invention relates to a mandrel fixture, in particular to a special-shaped weaving mandrel fixture and an operation method thereof, which are suitable for an industrial manipulator to pick up a weaving mandrel, carry out inflation/liquid hardening on the weaving mandrel for reinforcement weaving, and discharge air/liquid softening mandrel after resin solidification is convenient for separating the mandrel from a member, and belong to the technical field of textile machinery.
[ background Art ]
At present, the three-dimensional annular braided composite material has the advantages of increasing the application range due to the excellent mechanical property, so that higher requirements are put on flexible production and production efficiency of braided composite material components.
At present, the section shape of the braided composite material member is single, the requirements of a plurality of fields cannot be met, and the production flexibility is poor. On the other hand, mechanical separation is mainly adopted for separating the three-dimensional annular braided composite material from the preparation mandrel in a manual drawing and beating mode, so that the separation is difficult, the production efficiency is reduced, and the braided composite material component is easy to damage.
Accordingly, to solve the above-mentioned problems, it is necessary to provide a special-shaped braiding mandrel fixture and a method for operating the same, which overcome the drawbacks of the prior art.
[ invention ]
In order to solve the problems, the invention aims to provide the special-shaped braiding mandrel clamp which is simple in structure, convenient to use and capable of improving production efficiency.
Another object of the invention is to provide a method of operating a profiled braiding mandrel clamp.
In order to achieve the first object, the present invention adopts the following technical scheme: a special-shaped braiding mandrel clamp is arranged on an industrial manipulator and comprises a clamp body, a pneumatic device, a detection positioning device and a mandrel; the pneumatic device is arranged on the clamp body and can position and clamp the mandrel; the detection positioning device is respectively arranged on the clamp body and the mandrel and can detect the position of the mandrel; the mandrel is clamped at the bottom of the clamp body, and the pneumatic device can charge/exhaust the mandrel.
The special-shaped braiding mandrel clamp of the present invention is further provided with: the fixture body comprises a fixture flange connecting plate, a fixture datum plate, a fixture supporting bottom plate, a clamping piece and a bottom connecting plate; the fixture flange connecting plate is connected with the industrial manipulator; the clamp datum plate is connected between the clamp flange connecting plate and the clamp supporting bottom plate; the bottom connecting plate is connected with the clamp supporting bottom plate; the clamping pieces are connected to two sides of the bottom connecting plate.
The special-shaped braiding mandrel clamp of the present invention is further provided with: the pneumatic device comprises a two-position five-way electromagnetic valve, a two-position two-way electromagnetic valve, an air path distributor and an air cylinder; the two-position five-way electromagnetic valve and the two-position two-way electromagnetic valve are arranged on one side of the clamp reference plate through the L-shaped angle frame; the gas path distributor is arranged on the other side of the clamp reference plate; the cylinder is arranged on the clamping piece.
The special-shaped braiding mandrel clamp of the present invention is further provided with: the air outlet of the two-position five-way electromagnetic valve is connected with the air inlet of the air channel distributor; the gas path distributor distributes gas flow; an air outlet of the air path distributor is connected with the air cylinder to control the expansion and contraction of a piston in the air cylinder; the piston in the cylinder can extend out under the action of air flow control and is inserted into the positioning hole at the side edge of the mandrel.
The special-shaped braiding mandrel clamp of the present invention is further provided with: the mandrel comprises an upper end disc of the mandrel and a lower end disc of the mandrel; the upper end disc of the mandrel is provided with a cylindrical metal body; the upper end disc of the mandrel is clamped with the lower end disc of the mandrel; the lower end disc of the mandrel is provided with a rubber sleeve, and the rubber sleeve is sleeved on the outer side of the cylindrical metal body.
The special-shaped braiding mandrel clamp of the present invention is further provided with: the mandrel is provided with a mandrel hole; the air outlets of the two-position two-way electromagnetic valve are connected to the mandrel hole through a hose.
The special-shaped braiding mandrel clamp of the invention is also provided with: the detection positioning device comprises an infrared correlation photoelectric sensor, a singlechip and a servo motor; the receiving end and the transmitting end of the infrared correlation photoelectric sensor are respectively arranged in grooves of the bottom connecting plate and the upper end disc of the mandrel, signals are fed back to the singlechip, the signals processed by the singlechip are output to control the servo motor, and the servo motor controls the industrial manipulator to rotate.
In order to achieve the second object, the invention adopts the following technical scheme: an operation method of a special-shaped braiding mandrel clamp,
1) The mandrel is clamped at a fixed position, the industrial manipulator reaches the fixed position above the mandrel, an infrared opposite-irradiation photoelectric sensor is used for detecting and positioning, signals are fed back to the singlechip, and the singlechip signal processing output control servo motor is used for controlling the industrial manipulator to rotate so as to realize the positioning and grabbing of the mandrel;
2) The air outlets of the two-position two-way electromagnetic valve penetrate into the mandrel hole through the hose, and the rubber sleeve outside the metal body of the mandrel is inflated and hardened for weaving the composite material member; after the resin is solidified, the industrial manipulator firstly picks up the upper end disk of the mandrel, the mandrel is softened by exhausting through the vent holes on the lower end disk of the mandrel, and then the industrial manipulator picks up the lower end disk of the mandrel, so that the mandrel and the woven composite material component are separated.
Compared with the prior art, the invention has the following beneficial effects:
1. the flexible production of the braided composite material component can be realized by exchanging mandrels with different cross-sectional shapes.
2. The invention carries out inflation/liquid hardening on the mandrel for reinforcing body braiding; and discharging the air/liquid softening mandrel after the resin is solidified, so that the mandrel and the braided composite material component are conveniently separated, the production efficiency is improved, and the braided composite material component is protected from being damaged.
3. The invention adopts the detection positioning device to realize quick positioning and grabbing of the special-shaped mandrel, and is more efficient.
[ description of the drawings ]
FIG. 1 is a perspective view of a special-shaped braiding mandrel clamp of the present invention
Fig. 2 is a perspective view of the clamp body of fig. 1.
Fig. 3 is a perspective view of the bottom web of fig. 2.
Fig. 4 is a schematic view of the air circuit dispenser of fig. 1.
Fig. 5 is a schematic diagram of the two-position five-way solenoid valve of fig. 1.
Fig. 6 is a schematic view of the cylinder of fig. 1.
Fig. 7 is a schematic view of the L-angle bracket of the present invention.
Fig. 8 is a schematic diagram of a two-position two-way solenoid valve of the present invention.
Fig. 9 is a perspective view of the mandrel of fig. 1.
Fig. 10 is a schematic diagram of a detection positioning.
[ detailed description ] of the invention
Referring to fig. 1 to 10 of the specification, the invention relates to a special-shaped braiding mandrel clamp which is arranged on an industrial manipulator (not shown), and comprises a clamp body, a pneumatic device, a detection positioning device, a mandrel and the like.
Wherein, pneumatic means installs on the anchor clamps body, and it can fix a position and centre gripping dabber. The detection positioning device is respectively arranged on the clamp body and the mandrel, and can detect the position of the mandrel. The mandrel is clamped at the bottom of the clamp body, and the pneumatic device can charge/exhaust the mandrel.
Specifically, the clamp body comprises a clamp flange connecting plate 1, a clamp reference plate 2, a clamp support bottom plate 3, a clamping piece 5, a bottom connecting plate 4 and the like. Wherein, the fixture flange connecting plate 1 is connected with the industrial manipulator. The clamp datum plate 2 is connected between the clamp flange connecting plate 1 and the clamp supporting bottom plate 3. The bottom connecting plate 4 is connected with the clamp supporting bottom plate 3, and a groove A is formed in the bottom connecting plate. The clamping pieces 5 are connected to two sides of the bottom connecting plate 4.
The pneumatic device consists of a two-position five-way electromagnetic valve 7, a two-position two-way electromagnetic valve 10, an air path distributor 6, an air cylinder 8 and the like. Wherein, two-position five-way solenoid valve 7 and two-position two-way solenoid valve 10 are installed in one side of anchor clamps datum plate 2 through L angle frame 9. The air channel distributor 6 is arranged on the other side of the clamp reference plate 2. The cylinder 8 is mounted on the clamping piece.
Further, the air outlet of the two-position five-way electromagnetic valve 7 is connected with the air inlet of the air channel distributor 6 through a hose (not shown). The air circuit distributor 6 distributes the air flow. The air outlet of the air path distributor 6 is connected with the air cylinder 8, and the expansion and contraction of the piston inside the air cylinder 8 are controlled. The piston in the cylinder 8 can extend out under the action of air flow control and is inserted into the positioning hole 16 on the side edge of the mandrel, and the manipulator can clamp and grasp the mandrel.
The mandrel comprises two parts, namely a mandrel upper end disc 17 and a mandrel lower end disc 18; the upper end disc 17 of the mandrel is provided with a cylindrical metal body 11; the upper end disc 17 of the mandrel is clamped with the lower end disc 18 of the mandrel; the lower end disc 18 of the mandrel is provided with a rubber sleeve 12, and the rubber sleeve 12 is sleeved on the outer side of the cylindrical metal body 11. Further, a groove B and a mandrel hole C are formed in the upper end disc 17 of the mandrel; the air outlet of the two-position two-way solenoid valve 10 is connected to the mandrel hole C through a hose.
The detection positioning device consists of an infrared correlation photoelectric sensor 13, a singlechip 14, a servo motor 15 and the like. The receiving end and the transmitting end of the infrared correlation photoelectric sensor 13 are respectively arranged in a groove A of the bottom connecting plate 4 and a groove B of the mandrel upper end disc 17, signals are fed back to the singlechip 14, signals processed by the singlechip 14 are output to control the servo motor 15, and the servo motor 15 controls the industrial manipulator to rotate.
The operation method of the special-shaped braiding mandrel clamp comprises the following steps:
1) The mandrel is clamped at a fixed position, the industrial manipulator reaches the fixed position above the mandrel, an infrared opposite-shooting photoelectric sensor 13 is used for detecting and positioning, signals are fed back to a singlechip 14, a servo motor 15 is controlled by signal processing output of the singlechip 14, and the servo motor 15 controls the industrial manipulator to rotate, so that the positioning and grabbing of the mandrel are realized;
2) The air outlets of the two-position two-way electromagnetic valve 10 penetrate into the mandrel hole C through a hose, and the rubber sleeve 12 outside the mandrel metal body 11 is inflated and hardened for weaving the composite material member; after the resin is solidified, the industrial manipulator firstly picks up the upper end disk 17 of the mandrel, the mandrel is softened by exhausting through the vent holes on the lower end disk 18 of the mandrel, and then the industrial manipulator picks up the lower end disk 18 of the mandrel, so that the separation of the mandrel and the woven composite material member is realized.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, but any modifications, equivalent substitutions, improvements, etc. within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (5)
1. The utility model provides a dabber anchor clamps is woven to abnormal shape which installs on industrial robot hand, its characterized in that: comprises a clamp body, a pneumatic device, a detection positioning device and a mandrel; the pneumatic device is arranged on the clamp body and can position and clamp the mandrel; the detection positioning device is respectively arranged on the clamp body and the mandrel and can detect the position of the mandrel; the mandrel is clamped at the bottom of the clamp body, and the pneumatic device can charge/exhaust the mandrel;
the fixture body comprises a fixture flange connecting plate, a fixture datum plate, a fixture supporting bottom plate, a clamping piece and a bottom connecting plate; the fixture flange connecting plate is connected with the industrial manipulator; the clamp datum plate is connected between the clamp flange connecting plate and the clamp supporting bottom plate; the bottom connecting plate is connected with the clamp supporting bottom plate, and a groove A is formed in the bottom connecting plate; the clamping pieces are connected to two sides of the bottom connecting plate;
the pneumatic device comprises a two-position five-way electromagnetic valve, a two-position two-way electromagnetic valve, an air path distributor and an air cylinder; the two-position five-way electromagnetic valve and the two-position two-way electromagnetic valve are arranged on one side of the clamp reference plate through the L-shaped angle frame; the gas path distributor is arranged on the other side of the clamp reference plate; the air cylinder is arranged on the clamping piece;
the mandrel comprises an upper end disc of the mandrel and a lower end disc of the mandrel; the upper end disc of the mandrel is provided with a cylindrical metal body; the upper end disc of the mandrel is clamped with the lower end disc of the mandrel; the lower end disc of the mandrel is provided with a rubber sleeve, and the rubber sleeve is sleeved on the outer side of the cylindrical metal body.
2. The profiled braiding mandrel fixture of claim 1, wherein: the air outlet of the two-position five-way electromagnetic valve is connected with the air inlet of the air channel distributor; the gas path distributor distributes gas flow; an air outlet of the air path distributor is connected with the air cylinder to control the expansion and contraction of a piston in the air cylinder; the piston in the cylinder can extend out under the action of air flow control and is inserted into the positioning hole at the side edge of the mandrel.
3. The profiled braiding mandrel fixture of claim 1, wherein: the mandrel is provided with a mandrel hole; the air outlets of the two-position two-way electromagnetic valve are connected to the mandrel hole through a hose.
4. The profiled braiding mandrel fixture of claim 1, wherein: the detection positioning device comprises an infrared correlation photoelectric sensor, a singlechip and a servo motor; the receiving end and the transmitting end of the infrared correlation photoelectric sensor are respectively arranged in grooves of the bottom connecting plate and the upper end disc of the mandrel, signals are fed back to the singlechip, the signals processed by the singlechip are output to control the servo motor, and the servo motor controls the industrial manipulator to rotate.
5. A method of operating a profiled braiding mandrel clamp as claimed in any one of claims 1 to 4, wherein:
1) The mandrel is clamped at a fixed position, the industrial manipulator reaches the fixed position above the mandrel, an infrared opposite-irradiation photoelectric sensor is used for detecting and positioning, signals are fed back to the singlechip, and the singlechip signal processing output control servo motor is used for controlling the industrial manipulator to rotate so as to realize the positioning and grabbing of the mandrel;
2) The air outlets of the two-position two-way electromagnetic valve penetrate into the mandrel hole through the hose, and the rubber sleeve outside the metal body of the mandrel is inflated and hardened for weaving the composite material member; after the resin is solidified, the industrial manipulator firstly picks up the upper end disk of the mandrel, the mandrel is softened by exhausting through the vent holes on the lower end disk of the mandrel, and then the industrial manipulator picks up the lower end disk of the mandrel, so that the mandrel and the woven composite material component are separated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099675.4A CN108221172B (en) | 2018-02-01 | 2018-02-01 | Special-shaped braiding mandrel clamp and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099675.4A CN108221172B (en) | 2018-02-01 | 2018-02-01 | Special-shaped braiding mandrel clamp and operation method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN108221172A CN108221172A (en) | 2018-06-29 |
| CN108221172B true CN108221172B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810099675.4A Active CN108221172B (en) | 2018-02-01 | 2018-02-01 | Special-shaped braiding mandrel clamp and operation method thereof |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109440296B (en) * | 2018-11-28 | 2020-06-19 | 中国纺织科学研究院有限公司 | Weaving station for three-dimensional automatic weaving equipment |
| CN115573093B (en) * | 2022-10-11 | 2023-06-13 | 江苏高倍智能装备有限公司 | Constant force follow-up supporting device for special-shaped workpiece of braiding machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103084899B (en) * | 2013-03-06 | 2015-04-08 | 中核（天津）机械有限公司 | Motor stator lathing clamp |
| CN103317515A (en) * | 2013-06-04 | 2013-09-25 | 宁波思进机械股份有限公司 | Cold header clamp |
| CN204565735U (en) * | 2015-05-12 | 2015-08-19 | 宁波联合蓝光科技有限公司 | A kind of fuel charger joint processing air-actuated jaw |
| CN106863840B (en) * | 2017-04-18 | 2019-07-23 | 浙江理工大学 | Based on can inflation/deflation/wick-containing axle sleeve braided fiber enhancing structure part manufacturing method |
| CN207973878U (en) * | 2018-02-01 | 2018-10-16 | 浙江理工大学 | A kind of special-shaped textile dabber clamp |
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| CN108221172A (en) | 2018-06-29 |
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